CN101947962B - Rapid non-contact measuring method of railway intrusion boundary - Google Patents
Rapid non-contact measuring method of railway intrusion boundary Download PDFInfo
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- CN101947962B CN101947962B CN2010102664028A CN201010266402A CN101947962B CN 101947962 B CN101947962 B CN 101947962B CN 2010102664028 A CN2010102664028 A CN 2010102664028A CN 201010266402 A CN201010266402 A CN 201010266402A CN 101947962 B CN101947962 B CN 101947962B
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- 230000000007 visual effect Effects 0.000 abstract 2
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Abstract
The invention provides a rapid non-contact measuring method of railway intrusion boundary, and specifically relates to the method of automatically measuring the distance between objects such as a railway station and the like and a gauge center and the height of the objects relative to a rail surface based on a structured light three-dimensional visual detection technology. In the method, on the basis of a principle of structured light three-dimensional visual measurement, a linear-structured laser and a camera are employed, wherein, the linear-structured laser emits a laser line which is vertical to the rail surface, the camera acquires an image illuminated by the laser line, and a microprocessor calculates the distance between the objects such as the railway station and the like and the gauge center and the height of the objects relative to the rail surface according to spatial three-dimensional relation, thus realizing non-contact, high-speed and high-precision measurement.
Description
Technical field
The present invention is a kind of method of measurement of invading the boundary based on the quick contactless railway of structured light three-dimensional vision detection technique, belongs to the test technique automatic field.
Background technology
In recent years, domestic railway repeatedly raises speed, the particularly operation of EMU, and the moving velocity of train is more and more faster, and this also has higher requirement to the safety of railway.When platform, electric wire or other objects invade the space of train driving, can cause serious safety misadventure.The measurement of therefore, railway being invaded the boundary is extremely important.
To the measurement that platform is invaded the boundary, the platform measuring scale of railway interests's existing machinery formula is used to measure distance and the height between rail face and the platform plane between gauge center and the platform side.Because the structural reason of platform measuring scale own, device are relatively heavier, use comparatively complicacy, precision is also not high enough.Need operate and read take off data by the people during measurement, efficiency of measurement is low, and labour intensity is big.
Because the development of Eltec, detection technique, make the quick measurement that railway is invaded the boundary become possibility.
Summary of the invention
Technical matters: the purpose of this invention is to provide the method for measurement that a kind of quick contactless railway of high-speed, high precision is invaded the boundary, be used for the distance at object such as self-measuring railroad platform and gauge center and with respect to the height of rail face.
Technical scheme: the present invention adopts the structured light three-dimensional vision detection technique; By emission of linear structural laser device and the perpendicular laser rays of rail face; The image of camera collection laser rays irradiation concerns that according to space three-dimensional the distance between objects such as calculating railroad platform and the gauge center reaches the height with respect to the rail face by microprocessor.
The method of measurement that quick contactless railway of the present invention is invaded the boundary is: this method adopts emission of linear structural laser device and the perpendicular laser rays of rail face; The image of camera collection laser rays irradiation place; According to two-dimensional coordinate under the computer picture system of axes and the transformational relation between the three dimensional space coordinate under the world coordinate system, the object and the distance between the gauge center that obtain laser rays irradiation place reach the height with respect to the rail face:
Emission of microprocessor control line structure laser and the perpendicular laser rays of rail face; Camera is sent the image that collects into microprocessor and is handled; Calculate according to the two-dimensional coordinate under the computer picture system of axes and the transformational relation between the three dimensional space coordinate under the world coordinate system by microprocessor laser rays irradiation place object and gauge center distance and with respect to the height of rail face, and send read out instrument with result of a measurement.Linear structural laser device and camera are fixed in the two ends of crossbeam; When two special mould clamps of crossbeam through its two ends are fixed between the two rails; Assurance linear structural laser device and camera are all confirmed with respect to the position A and the B of two rail line of centerss and rail face; Can be through measure demarcating, simultaneously, with the mid point O of AB line initial point as world coordinate system;
Wherein the method for measurement of microprocessor is specific as follows:
1) opens the linear structural laser device, make its emission and the perpendicular laser rays of rail face;
2) open camera, take the image of laser rays irradiation place;
3) closed line structure laser, camera are taken and step 2) image at same position place;
4) microprocessor receives two width of cloth images that camera collection arrives;
5), extract the laser rays in the image with two width of cloth image subtractions;
6) according to two-dimensional coordinate under the computer picture system of axes and the transformational relation between the three dimensional space coordinate under the world coordinate system, convert the two-dimensional coordinate of putting on the laser rays in the image under the world coordinate system three-dimensional coordinate; Can obtain point on the laser rays position in world coordinate system thus with respect to two rail centers and rail face;
7) object of judgement laser rays irradiation place has or not the scope of invading train driving;
8) send read out instrument to show result of a measurement.
Contactless platform measurement mechanism of the present invention comprises linear structural laser device, camera, microprocessor, read out instrument, crossbeam, special mould clamp and power supply; Wherein, The input of linear structural laser device connects the mouth of microprocessor; The input end of the output termination microprocessor of camera; The output termination read out instrument of microprocessor, linear structural laser device and camera are fixed in the two ends of crossbeam, and linear structural laser device, camera and crossbeam are all concerned with the position that the gauge line of centers keeps confirming.
Beneficial effect: the present invention has adopted the structured light three-dimensional vision detection technique; Can noncontact, measure the object of rail both sides and the height between the distance between the gauge center and rail face and the platform plane at a high speed, accurately; Overcome the defective of prior mechanical platform measuring scale, greatly improved efficiency of measurement and survey precision.
Description of drawings
Fig. 1 is the perspective model of line structured light vision sensor.
Fig. 2 is a measurement mechanism scheme drawing of the present invention.Among the figure, 1. being the linear structural laser device, 2. is camera, 3. is microprocessor, 4. is read out instrument, 5. be crossbeam, 6. be special mould clamp, and 7. be rail.The special mould clamp at crossbeam two ends can be fixed on this crossbeam in the rail plane reliably, makes laser line generator and camera be in the gauge center in the rail plane simultaneously.Special mould clamp wherein can adopt X type spring jig as shown in Figure 3, also can adopt colyliform jig as shown in Figure 4.
Fig. 3 is the scheme drawing of X type special mould clamp in the measurement mechanism of the present invention.Among the figure, a is the rigidity straight-bar, and b is a bearing, and c is fixing bayonet socket, and d is a spring.The rigidity straight-bar of two equal length, there is via hole its center, is connected through bearing b and also can in a plane, rotates.The rigidity straight-bar is connected with a spring respectively in the bearing both sides, makes two straight-bars that the trend of closing up arranged.Fixedly the shape of bayonet socket is identical with the side of rail, makes bayonet socket to fit tightly with the rail side.When adopting said structure, can guarantee that X type jig is fixed in the rail plane reliably, and the center of bearing is just on the line of centers of two rails.
Fig. 4 is the scheme drawing of colyliform jig in the measurement mechanism of the present invention.Among the figure, e is a wheel, and f is a crossbeam, and g is a pipe link, and h is a rail.Wherein the gabarit of wheel can be so that wheel and rail fit tightly, and side travel can not take place.Pipe link can connect crossbeam and wheel reliably, and guarantees that crossbeam all confirms with respect to the distance of two rail line of centerss and rail face, can be through measuring demarcation, with this location criteria as vision measurement.
Fig. 5 is a measurement mechanism position view of the present invention.Among the figure, 7. being rail, 8. is platform, 1. is the linear structural laser device, 2. is camera, and plane G is the rail plane, and plane Γ is the plane that is vertically intersected on two rail line of centerss with plane G, and plane F is a laser plane, and L is the intersection of laser plane F and platform side.When the X type special mould clamp of crossbeam through two ends is fixed in plane G, can so just confirm the position of linear structural laser device and camera so that crossbeam, laser line generator and camera all are positioned on the two rail line of centerss of plane G.
The specific embodiment
The method of measurement that quick contactless railway of the present invention is invaded the boundary adopts emission of linear structural laser device and the perpendicular laser rays of rail face; The image of camera collection laser rays irradiation place; According to two-dimensional coordinate under the computer picture system of axes and the transformational relation between the three dimensional space coordinate under the world coordinate system, the object and the distance between the gauge center that obtain laser rays irradiation place reach the height with respect to the rail face:
1 emission and the perpendicular laser rays of rail face of microprocessor 3 control line structure lasers; Camera 2 is sent the image that collects into microprocessor 3 and is handled; Calculate according to the two-dimensional coordinate under the computer picture system of axes and the transformational relation between the three dimensional space coordinate under the world coordinate system by microprocessor 3 laser rays irradiation place object and gauge center distance and with respect to the height of rail face, and send read out instrument 4 with result of a measurement.Linear structural laser device 1 and camera 2 are fixed in the two ends of crossbeam 5; When two special mould clamps 6 of crossbeam 5 through its two ends are fixed between the two rails; Guarantee that linear structural laser device 1 and position A and the B of camera 2 with respect to two rail line of centerss and rail face confirm; Can demarcate through measuring; Simultaneously, with the mid point O of A and B line initial point as world coordinate system;
Wherein the method for measurement of microprocessor 3 is specific as follows:
1) opens the linear structural laser device, make its emission and the perpendicular laser rays of rail face;
2) open camera, take the image of laser rays irradiation place;
3) closed line structure laser, camera are taken and step 2) image at same position place;
4) microprocessor receives two width of cloth images that camera collection arrives;
5), extract the laser rays in the image with two width of cloth image subtractions;
6) according to two-dimensional coordinate under the computer picture system of axes and the transformational relation between the three dimensional space coordinate under the world coordinate system, convert the two-dimensional coordinate of putting on the laser rays in the image under the world coordinate system three-dimensional coordinate; Can obtain point on the laser rays position in world coordinate system thus with respect to two rail centers and rail face;
7) object of judgement laser rays irradiation place has or not the scope of invading train driving;
8) send read out instrument to show result of a measurement.
As shown in Figure 1, pick up camera 3D vision measurement model is the basis usually with the pin-hole model.World coordinate system is consistent with the sensor light plane coordinate system, is made as O
w-x
wy
wz
w, its O
w-x
wy
wOverlap with optical plane.Photo coordinate system is O
I-X
IY
I, O wherein
IBeing the intersection point of optical axis with the picture plane, is the optical centre on picture plane.O
IAnd O
cBetween be the effective focal length of object lens imagings apart from f.O wherein
IX
IAxle is along pixel horizontal direction, O
IY
IAxle is perpendicular to O
IX
IAxle.In computer picture,, be that initial point is set up image coordinate system Ouv promptly usually with the point of the O among Fig. 2 with the point in the upper left corner initial point as image coordinate.Camera coordinate system O
c-x
cy
cz
c, O wherein
cPoint is imaging center of perspecitivity, i.e. the optics principal point of object lens, O
cz
cBe the camera objective optical axis, perpendicular to CCD as the plane.O
cx
cAxle and O
cy
cAxle is parallel to O respectively
IX
IAxle and O
IY
IAxle.
With the line-structured light is example, and a word line laser projects an optical plane and target to be measured meets at line L.P
wBe on the straight line L a bit, P
wAt world coordinate system O
w-x
wy
wz
w, camera coordinate system O
c-x
cy
cz
cAnd the respective coordinates under the computer graphic photo coordinate system Ouv is respectively (x
w, y
w, z
w), (x
c, y
c, z
c) and (x
I, y
I).Then the two-dimensional coordinate transformational relation under three dimensional space coordinate under the world coordinate system and the computer picture system of axes is shown below:
Wherein, s is a correction factor; R is a rotation matrix, and T is a translation vector, and R and T have determined direction and the position of pick up camera with respect to world coordinate system.Matrix A is the inner parameter matrix of linear system, wherein u
0And v
0Be O
ICoordinate under the computer picture coordinate, α and β are the scaled factor (or be called effective focal length) of horizontal axis of ordinate corresponding to focal distance f, and c is the two coordinate axle out of plumb factors.
Promptly can obtain three dimensional space coordinate and the two-dimensional coordinate transformational relation under the computer picture system of axes under the world coordinate system through prior demarcation like this, obtain the coordinate put in the three dimensional space by the respective coordinates of putting on the computer picture easily.
Claims (1)
1. method of measurement that quick contactless railway is invaded the boundary; It is characterized in that this method adopts emission of linear structural laser device and the perpendicular laser rays of rail face; The image of camera collection laser rays irradiation place; According to two-dimensional coordinate under the computer picture system of axes and the transformational relation between the three dimensional space coordinate under the world coordinate system, the object and the distance between the two rail line of centerss that obtain laser rays irradiation place reach the height with respect to the rail face:
Microprocessor (3) control line structure laser (1) emission and the perpendicular laser rays of rail face; Camera (2) is sent the image that collects into microprocessor (3) and is handled; Calculate according to the two-dimensional coordinate under the computer picture system of axes and the transformational relation between the three dimensional space coordinate under the world coordinate system by microprocessor (3) laser rays irradiation place object and two rail line of centerss distance and with respect to the height of rail face, and send read out instrument (4) with result of a measurement; Linear structural laser device (1) and camera (2) are fixed in the two ends of crossbeam (5); When two special mould clamps (6) of crossbeam (5) through its two ends are fixed between the two rails; Demarcate through measuring; Guarantee that linear structural laser device (1) all confirms with respect to the position A of two rail line of centerss and rail face and camera (2) the position B with respect to two rail line of centerss and rail face; Simultaneously, with the mid point O of AB line initial point as world coordinate system;
Wherein the method for measurement of microprocessor (3) is specific as follows:
1) opens the linear structural laser device, make its emission and the perpendicular laser rays of rail face;
2) open camera, take the image of laser rays irradiation place;
3) closed line structure laser, camera are taken and step 2) image at same position place;
4) microprocessor receives two width of cloth images that camera collection arrives;
5), extract the laser rays in the image with two width of cloth image subtractions;
6) according to two-dimensional coordinate under the computer picture system of axes and the transformational relation between the three dimensional space coordinate under the world coordinate system, convert the two-dimensional coordinate of putting on the laser rays in the image under the world coordinate system three-dimensional coordinate; Can obtain point on the laser rays position in world coordinate system thus with respect to two rail line of centerss and rail face;
7) object of judgement laser rays irradiation place has or not the scope of invading train driving;
8) send read out instrument to show result of a measurement.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102664028A CN101947962B (en) | 2010-08-27 | 2010-08-27 | Rapid non-contact measuring method of railway intrusion boundary |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102664028A CN101947962B (en) | 2010-08-27 | 2010-08-27 | Rapid non-contact measuring method of railway intrusion boundary |
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| CN101947962B true CN101947962B (en) | 2012-01-25 |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102506684B (en) * | 2011-10-13 | 2013-08-28 | 上海铁路局科学技术研究所 | Digital display type station limit measuring scale and measuring method thereof |
| TWI461656B (en) | 2011-12-01 | 2014-11-21 | Ind Tech Res Inst | Apparatus and method for sencing distance |
| CN102607439A (en) * | 2012-02-17 | 2012-07-25 | 上海交通大学 | System and method for carrying out on-line monitoring on railway wheel-rail contact relationship on basis of structured light |
| CN104142127B (en) * | 2014-07-07 | 2017-12-05 | 北京福斯达轨道交通技术有限公司 | A kind of railway wheel diameter dynamic measurement device and method |
| CN104457588A (en) * | 2014-12-18 | 2015-03-25 | 西南交通大学 | Method for detecting mounting height of key position |
| CN104457586A (en) * | 2014-12-18 | 2015-03-25 | 西南交通大学 | System for detecting mounting height of key position of train |
| CN104764405A (en) * | 2014-12-18 | 2015-07-08 | 成都铁安科技有限责任公司 | System for detecting the installation height of key part of train |
| CN104457587A (en) * | 2014-12-18 | 2015-03-25 | 成都主导科技有限责任公司 | Method for detecting mounting height of key position |
| CN105043272A (en) * | 2015-08-21 | 2015-11-11 | 天津市耀辉光电技术有限公司 | Stepped surface height difference measurement device |
| CN106441148A (en) * | 2016-08-31 | 2017-02-22 | 成都铁安科技有限责任公司 | Fixing method, fixing frame and train wheel outline measuring system |
| CN109283187A (en) * | 2018-10-12 | 2019-01-29 | 成都精工华耀科技有限公司 | A kind of lightweight track two dimension and three-dimensional fusion imaging system |
| CN109849972A (en) * | 2019-02-12 | 2019-06-07 | 西安思科赛德电子科技有限公司 | The online form regulation system and its method of adjustment of intelligent detecting video acquisition system |
| CN111717240B (en) * | 2020-06-28 | 2022-05-27 | 上海应用技术大学 | Mine car derailment detection method and system based on image recognition |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2895178Y (en) * | 2005-12-02 | 2007-05-02 | 济南蓝动激光技术有限公司 | Hand multifunctional laser contact net detecting instrument |
| JP2008107291A (en) * | 2006-10-27 | 2008-05-08 | East Japan Railway Co | Device and method for measuring platform of railroad |
| JP5033520B2 (en) * | 2007-07-10 | 2012-09-26 | 東日本旅客鉄道株式会社 | Distance measuring method and distance measuring device |
| CN101424510B (en) * | 2007-10-31 | 2012-07-04 | 保定市天河电子技术有限公司 | Detecting method and system for overrun of train |
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