CN102602425A - Locomotive limiting system and calibration method thereof - Google Patents
Locomotive limiting system and calibration method thereof Download PDFInfo
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Abstract
The invention discloses a locomotive limiting system and a calibration method thereof. The locomotive limiting system is characterized in that platform supports are mounted at two ends of a moving platform, a large lead screw is penetratingly mounted on the platform supports, a large guide rail is mounted on the moving platform, a first panel is mounted on the large guide rail and moves on the large guide rail under the traction of the large lead screw, a moving bottom plate is mounted on the first panel, bottom plate supports are mounted at two ends of the moving bottom plate, a small lead screw and a small guide rail are mounted on the moving bottom plate, a second panel is mounted on the small guide rail, and the second panel moves on the small guide rail under the traction of the small lead screw. An L-shaped support is mounted on the second panel, a laser distance measuring sensor is mounted on the L-shaped support, a large motor is mounted on the platform supports through a first motor support and is in transmission by the aid of matching of a coupler therein and the large lead screw, a small motor is mounted on the bottom plate supports through a second motor support and is in transmission by the aid of matching of a coupler therein and the small lead screw.
Description
Technical field
The present invention relates to the demarcation field, particularly a kind of vehicle gauge of the locomotive system and calibration method thereof.
Background technology
The vehicle gauge of the locomotive problems of measurement is the significant problem that needs to be resolved hurrily under the train speed raising background.The more conventional dimensional measurement of this type problems of measurement faces a more complicated technology difficult problem; Outstanding behaviours is aspect following two: the one, need take into account two aspects of measuring speed and survey precision; In the compartment key position section gauge of more than 20 meter long at a joint, realize high-acruracy survey, have very big difficulty; The 2nd, the high complexity in tested crucial cross section, most of traditional contact type measurement means are because the limitation of self can't be accomplished measuring task efficiently, accurately.
Contactless measurement has obtained fast development in recent years, and it has survey precision height, advantage of high measuring efficiency, but does not become the main stream approach that vehicle gauge of the locomotive is measured as yet.At present; The system that domestic railway interests carries out the vehicle gauge of the locomotive measurement still adopts traditional contact type measurement system; Most typical is at rail upper fixed door shape support frame; And a vertically fixing respectively only axle turnable moving gauge is dull and stereotyped on the support frame both sides, and dell is dull and stereotyped along place an only axle turnable moving gauge perpendicular to the rail direction below rail.Current measuring methods is through measuring the distance between car body outside face and the dull and stereotyped border, just can obtaining the distance of car body and existing gauge standard.
Shortcoming and defect below the contriver finds to exist at least in the prior art in realizing process of the present invention:
Existing gauge system measurement method is according to inspection requirements, pointwise, progressively uses the Steel Ruler hand dipping, problem such as it is slow to have speed, and precision is low, and labour intensity is big.
Summary of the invention
The invention provides a kind of vehicle gauge of the locomotive system and calibration method thereof, the present invention has improved measuring speed and precision, has reduced labour intensity, sees hereinafter for details and describes:
A kind of vehicle gauge of the locomotive system comprises: door shape support frame, at two heel post medial surfaces, upper cross-beam lower surface and the lower crossbeam upper surface installation and moving platform of said door shape support frame; Each erecting stage support at the two ends of said mobile platform passes said platform support big leading screw is installed, and big guide rail is installed on said mobile platform; On the said big guide rail first flat board is installed, said first flat board is through moving on the said big guide rail of being pulled in of said big leading screw; On said first flat board movable base plate is housed, mount holder is respectively installed at the two ends of said movable base plate; Little leading screw and little guide rail are installed on said movable base plate, on said little guide rail, second flat board are installed, said second flat board is through moving on the said little guide rail of being pulled in of said little leading screw; L type support is installed on said second flat board, on the said L type support laser range sensor is installed; On said platform support, through first electric machine support big motor is installed, said big motor cooperates with said big leading screw through the in-to-in drive coupling realizes transmission; On said mount holder, through second electric machine support small machine is installed, said small machine cooperates with said little leading screw through the in-to-in drive coupling realizes transmission.
Said mobile platform is made up of the stepped flat board of piece.
It is stepped one-body molded that said movable base plate becomes.
Said method comprising the steps of:
(1) calliper that has the fixed vertical position to concern that the other end moves at an end is fixed on the parallel rail, obtains and calculate the intersection equation L of the said parallel rail first upper surface C1 and the first medial surface C2;
Wherein, C1 is A1x+B1y+C1z=1, and C2 is A2x+B2y+C2z=1, calculates the intersection equation L of the parallel rail first upper surface C1 and the first medial surface C2 through C1 and C2:
(A1, B1 C1) are the normal vector of the said first upper surface C1; (A2, B2 C2) are the normal vector of the said first medial surface C2;
(2) said calliper fixed end is changed to said parallel rail opposite side and fix, repeated execution of steps (1) is obtained the intersection equation L ' of the said parallel rail second upper surface C1 ' and the second medial surface C2 ';
Wherein, (A1 ', B1 ', C1 ') be the normal vector of the said second upper surface C1 '; (A2 ', B2 ', C2 ') be the normal vector of the said second medial surface C2 '; (x, y z) are L, and L ' goes up any point coordinate;
(3) confirm said parallel rail upper surface normal vector by said intersection equation L and L '; Equation demarcation in parallel rail upper surface is the XOY face of parallel rail system of axes; Again split A0 ' x+B0 ' y+C0 ' z=1 of the parallel rail first medial surface C2 and the second medial surface C2 ' is demarcated and is the XOZ face, with cross arbitrary said laser range sensor target seat zero point and with the 3rd all vertical plane reference A0 " x+B0 " y+C0 of parallel rail upper surface XOY and split XOZ " z=1 is the YOZ plane;
Wherein, said parallel rail upper surface normal vector is specially:
(A0.B0.C0)＝((A1，B1，C1)×(A2，B2，C2))×((A1′，B1′，C1′)×(A2′，B2′，C2′))
Said parallel rail upper surface equation is specially: A0x+B0y+C0z=1;
(4) translation through system of axes and rotation transformation with the tracker coordinate system transformation to the rail plane coordinate system;
(5) through said rail plane coordinate system obtain said laser range sensor target point initial position and with its as the calculation starting point; Send the continuous gauging instruction through upper computer; Make said laser range sensor Chang Liang; Move said laser range sensor to preset height; Said laser tracker is measured the coordinate of preset range on target point coordinate on the said laser range sensor of current location and the radiation direction, goes out equations of light ray by the coordinate fitting of the preset range of measuring, and calculates the vertical offset that the current location target is put light;
(6) send movement instruction through said upper computer; Said laser range sensor is moved to the other end of said little leading screw; Said laser tracker is measured the preset range target point coordinate in the said laser range sensor motion process; Return zero by the said laser range sensor of said PC control again; And control the other end that said laser range sensor moves to said big leading screw, and measure the target point coordinate of preset range in the said laser range sensor motion process equally, simulate the direction vector of said little leading screw and said big leading screw respectively by the target point coordinate that records for twice;
(7) repeated execution of steps (5) and step (6) are obtained the initial position target point coordinate, current location target point of other 5 laser range sensors direction vector to the vertical offset of light, the ray vectors in the equations of light ray, said little leading screw and said big leading screw;
(8) said upper computer is handled calibrating parameters; Again demo plant is fixed on the tripod; Read the laser point three-dimensional coordinate of current location through said upper computer, and obtain the D coordinates value of three tracker ball seat centers on the said demo plant current location with said laser tracker;
(9) D coordinates value of three laser tracker ball seat centers of the geometry site of the said demo plant gauge point of said laser tracker basis demarcation in advance and three tracker ball seat centers and current location is obtained the three-dimensional coordinate of gauge point;
The three-dimensional coordinate of the gauge point of (10) said vehicle gauge of the locomotive system being measured and the three-dimensional coordinate of the gauge point that said laser tracker is measured are compared, and obtain error.
The said calliper that has the fixed vertical position to concern that the other end moves at an end is fixed on the parallel rail, and the intersection equation L that obtains and calculate the said parallel rail first upper surface C1 and the first medial surface C2 is specially:
The calliper that has the fixed vertical position to concern that the other end moves at an end is fixed on the parallel rail; Calliper lower surface and lateral surface are fitted with rail upper surface and medial surface respectively; Calibrate the coordinate of 4 target seats under the laser tracker system of axes with laser tracker; According to the geometric relationship of 4 target seats demarcating in advance and calliper lower surface and lateral surface, obtain the calliper lower surface equation and lateral surface equation and calculate the intersection equation L of the parallel rail first upper surface C1 and the first medial surface C2.
Said coordinate transform formula is (x ', y ', z ', 1)=(x, y, z, 1) * T (x0 ,-y0 ,-z0,1) * R
Wherein (A0 ', B0 ', C0 ')=(A2+A2 '/2, B2+B2 '/2, C2+C2 '/2); (A0 ", B0 ", C0 ")=(A0, B0; C0) * (A0 ', B0 ', C0 '), T (x0 ;-y0 ,-z0,1) and R are respectively translation matrix and the rotation matrix that the laser tracker coordinate is tied to the rail plane coordinate system, and then obtain the rail plane coordinate system.
Said demo plant is specially: the three-dimensional structure formula of step comprises: first terrace and second terrace, and said first terrace is provided with two ball seats; Said second terrace is provided with a ball seat and laser pick-off cross mark, and said ball seat is used to place the laser tracker bead; Said laser pick-off cross mark is used to receive the laser point of said laser range sensor.
The beneficial effect of technical scheme provided by the invention is:
The invention provides a kind of vehicle gauge of the locomotive system and calibration method thereof; The present invention has designed a kind of vehicle gauge system; And on the basis of vehicle gauge system; Confirm parallel rail upper surface normal vector through intersection equation L and L '; Equation demarcation in parallel rail upper surface is the XOY face of parallel rail system of axes, and the split of the more parallel rail first medial surface C2 and the second medial surface C2 ' being demarcated is the XOZ face, is the YOZ plane with arbitrary laser range sensor target seat zero point of mistake and with the 3rd all vertical plane reference of parallel rail upper surface XOY and split XOZ; The coordinate transform that is tied to the rail system of axes by the laser tracker coordinate can obtain the rail system of axes, calibrates big or small guide rail direction vector then, and ray vectors and target are put the vertical vector of radiation direction; Accomplish the system of having eliminated like this error that causes is installed, can survey precision be brought up to ± 0.5mm through experiment showed, the method; Adopt this calibration method; Improved the flexibility that cubing is demarcated greatly, measured, reduced labour intensity through the big or small guide rail movable sensor of precision.
Description of drawings
Fig. 1 is the structural representation of a kind of vehicle gauge of the locomotive provided by the invention system;
Fig. 2 is a scheme drawing of setting up the rail system of axes provided by the invention; Fig. 3 is the scheme drawing of demo plant provided by the invention;
Fig. 4 is the diagram of circuit that is used for the calibration method of vehicle gauge of the locomotive system provided by the invention.
In the accompanying drawing, the list of parts of each label representative is following:
1: door shape support frame; 2: mobile platform;
3: platform support; 4: big leading screw;
5: big guide rail; 6: the first flat boards;
7: movable base plate; 8: mount holder 8;
9: little leading screw; 10: little guide rail;
11: the second flat boards; 12:L type support;
13: laser range sensor; 14: the first electric machine supports;
15: big motor; 16: the second electric machine supports;
17: small machine.
The specific embodiment
For making the object of the invention, technical scheme and advantage clearer, will combine accompanying drawing that embodiment of the present invention is done to describe in detail further below.
In order to improve measuring speed and survey precision, reduce labour intensity, the embodiment of the invention provides a kind of vehicle gauge of the locomotive system, sees hereinafter for details and describes:
Referring to Fig. 1, the left side is the entire system framework, and the right side is a partial enlarged drawing.Because the vehicle gauge of the locomotive system architecture has symmetry, only the structure on right side has been carried out local amplification here.
A kind of vehicle gauge of the locomotive system comprises: door shape support frame 1, at two heel post medial surfaces, upper cross-beam lower surface and the lower crossbeam upper surface installation and moving platform 2 of door shape support frame 1; Each erecting stage support 3 at the two ends of mobile platform 2 passes platform support 3 big leading screw 4 is installed, and big guide rail 5 is installed on mobile platform 2; Be equipped with first dull and stereotyped 6, the first dull and stereotyped 6 on the big guide rail 5 through motion on the big guide rail 5 of being pulled in of big leading screw 4; On first dull and stereotyped 6 movable base plate 7 is housed, mount holder 8 is respectively installed at the two ends of movable base plate 7; Little leading screw 9 and little guide rail 10 are installed on movable base plate 7, second dull and stereotyped 11, the second dull and stereotyped 11 motion on the little guide rail 10 through being pulled in of little leading screw 9 is being installed on the little guide rail 10; On second dull and stereotyped 11 L type support 12 is installed, on the L type support 12 laser range sensor 13 is installed; On platform support 3, through first electric machine support 14 big motor 15 is installed, big motor 15 cooperates with big leading screw 4 through the in-to-in drive coupling realizes transmission; On mount holder 8, through second electric machine support 16 small machine 17 is installed, small machine 17 cooperates with little leading screw 9 through the in-to-in drive coupling realizes transmission.
Wherein, when specifically realizing, mobile platform 2 is made up of 2 stepped flat boards.
Wherein, when specifically realizing, big leading screw 4 passes 2 platform supports 3, and the matching and fixing through bearing is on platform support 3.
Wherein, when specifically realizing, first flat board 6 cooperates with big guide rail 5 and big leading screw 4 through slide block and nut.
Wherein, when specifically realizing, 7 one-tenth of movable base plates are stepped one-body molded.
In order to improve measuring speed and survey precision, reduce labour intensity, referring to Fig. 2, Fig. 3 and Fig. 4, the embodiment of the invention provides a kind of calibration method based on the vehicle gauge of the locomotive system, sees hereinafter for details and describes:
101: the calliper that has the fixed vertical position to concern that the other end moves at an end is fixed on the parallel rail, obtains and calculate the intersection equation L of the parallel rail first upper surface C1 and the first medial surface C2;
Wherein, C1 is A1x+B1y+C1z=1, and C2 is A2x+B2y+C2z=1, calculates the intersection equation L of the parallel rail first upper surface C1 and the first medial surface C2 through C1 and C2:
Wherein, (A1, B1 C1) are the normal vector of the first upper surface C1; (A2, B2 C2) are the normal vector of the first medial surface C2;
Wherein, This step 101 is specially: the calliper that has the fixed vertical position to concern that the other end moves at an end is fixed on the parallel rail; Calliper lower surface and lateral surface are fitted with rail upper surface and medial surface respectively; Calibrate the coordinate of 4 target seats under the laser tracker system of axes with laser tracker; According to the geometric relationship of 4 target seats demarcating in advance and calliper lower surface and lateral surface, obtain the calliper lower surface equation and lateral surface equation and calculate the intersection equation L of the parallel rail first upper surface C1 and the first medial surface C2.
102: the calliper fixed end is changed to parallel rail opposite side fix, repeated execution of steps 101 is obtained the intersection equation L ' of the parallel rail second upper surface C1 ' and the second medial surface C2 ':
Wherein, (A1 ', B1 ', C1 ') be the normal vector of the second upper surface C1 '; (A2 ', B2 ', C2 ') be the normal vector of the second medial surface C2 '; (x, y, z) be straight line L or, L ' goes up any point coordinate.
103: confirm parallel rail upper surface normal vector by intersection equation L and L '; Equation demarcation in parallel rail upper surface is the XOY face of parallel rail system of axes; Again split A0 ' x+B0 ' y+C0 ' z=1 of parallel rail first medial surface and second medial surface is demarcated and is the XOZ face, with cross 13 target seat zero points of laser range sensor and with the 3rd all vertical plane A0 " x+B0 " y+C0 of parallel rail horizontal surface XOY and split XOZ " it is the YOZ plane that z=1 demarcates;
Wherein, parallel rail upper surface normal vector is specially:
(A0.B0.C0)＝((A1，B1，C1)×(A2，B2，C2))×((A1′，B1′，C1′)×(A2′，B2′，C2′))
Parallel rail upper surface equation is specially: A0x+B0y+C0z=1.
104: translation through system of axes and rotation transformation with the tracker coordinate system transformation to the rail plane coordinate system;
Wherein, the coordinate transform formula is (x ', y ', z ', 1)=(x, y, z, 1) * T (x0 ,-y0 ,-z0,1) * R
Wherein (A0 ', B0 ', C0 ')=(A2+A2 '/2, B2+B2 '/2, C2+C2 '/2); (A0 ", B0 ", C0 ")=(A0, B0; C0) * (A0 ', B0 ', C0 '), T (x0 ;-y0 ,-z0,1) and R are respectively translation matrix and the rotation matrix that the laser tracker coordinate is tied to the rail plane coordinate system, and then obtain the rail plane coordinate system.
105: through the rail plane coordinate system obtain laser range sensor 13 target point initial positions and with its as the calculation starting point; Send the continuous gauging instruction through upper computer; Make laser range sensor 13 Chang Liang; Move laser range sensor 13 to preset height; Laser tracker is measured the coordinate of preset range on target point coordinate on the current location laser range sensor 13 and the radiation direction, goes out equations of light ray by the coordinate fitting of the preset range of measuring, and calculates the vertical offset that the current location target is put light;
Wherein, preset range confirms that according to the needs in the practical application embodiment of the invention is that example describes with 6 to 10 points, and when specifically realizing, the embodiment of the invention does not limit this.
Wherein, preset height is set according to the needs in the practical application, and the preset height in the embodiment of the invention is chosen as 1m, and when specifically realizing, the embodiment of the invention does not limit this.
106: send movement instruction through upper computer; Laser range sensor 13 is moved to the other end of little leading screw 9; Preset range target point coordinate in laser tracker Laser Measurement distance measuring sensor 13 motion processes; Again by PC control laser range sensor 13 times zero; And control laser range sensor 13 moves to the other end of big leading screw 4, measures the target point coordinate of preset range in Laser Measurement distance measuring sensor 13 motion processes equally, simulated the direction vector of little leading screw 9 and big leading screw 4 respectively by the target point coordinate that records for twice;
107: repeated execution of steps 105 and step 106, the initial position target point coordinate, current location target point that obtains other 5 laser range sensors 13 is to the vertical offset of light, the direction vector of ray vectors, little leading screw 9 and big leading screw 4 in the equations of light ray;
Table 1 calibrating parameters
108: upper computer is handled calibrating parameters; Again demo plant is fixed on the tripod; Read the laser point three-dimensional coordinate of current location through upper computer, and obtain the D coordinates value of three tracker ball seat centers on the demo plant current location with laser tracker;
Wherein, when specifically realizing, the embodiment of the invention is not done special setting to the checking position, sets according to the needs in the practical application.Demo plant in the embodiment of the invention is specially: the three-dimensional structure formula of step, and comprising: first terrace and second terrace, first terrace are provided with two ball seats; Second terrace is provided with a ball seat and laser pick-off cross mark, and ball seat is used to place the laser tracker bead; The laser pick-off cross mark is used to receive the laser point of laser range sensor.
109: the D coordinates value of three tracker ball seat centers of the demo plant gauge point that the laser tracker basis is demarcated in advance and the geometry site of three laser tracker ball seat centers and current location is obtained the three-dimensional coordinate of gauge point;
Wherein, During concrete the realization; Survey precision for further verification system; Can adopt and repeatedly measure checking; For example: when adopting three checkings; Comprise: current location checking, demo plant move the checking at the first threshold and the second threshold value place respectively along radiation direction, read the laser point three-dimensional coordinate at first threshold place and D coordinates value and the laser point three-dimensional coordinate at the second threshold value place and the D coordinates value of three tracker ball seat centers of three tracker ball seat centers respectively, obtain the three-dimensional coordinate of three gauge points according to the D coordinates value of three tracker ball seat centers at the D coordinates value of the D coordinates value of three tracker ball seat centers of geometry site, current location, three tracker ball seats center, first threshold place and the second threshold value place.
Wherein, the value of the first threshold and second threshold value is set according to the needs in the practical application, and the embodiment of the invention is 20mm with the first threshold, and second threshold value is that 40mm is that example describes, and when specifically realizing, the embodiment of the invention does not limit this.
110: the three-dimensional coordinate of the gauge point that the vehicle gauge of the locomotive system is measured and the three-dimensional coordinate of the gauge point that laser tracker is measured are compared, and obtain error.
Wherein, the experimental verification data of 6 laser range sensors are recorded in table 2 (a) respectively, (b), (c), (d), (e), (f) in.
No. 1 confirmatory experiment data of table 2 (a)
No. 2 confirmatory experiment data of table 2 (b)
No. 3 confirmatory experiment data of table 2 (c)
No. 4 confirmatory experiment data of table 2 (d)
No. 5 confirmatory experiment data of table 2 (e)
No. 6 confirmatory experiment data of table 2 (f)
Laser tracker in this method can adopt the AT901-LR product of Leica company, can certainly adopt accurately calibrating instrument such as other existing laser tracker or theodolite.After laser tracker was put well, laser tracker had been set up self system of axes, and can not move laser tracker.
Through analysis to above-mentioned data, can directly obtain survey precision and bring up to ± 0.5mm, satisfied the needs in the practical application.
In sum; The embodiment of the invention provides a kind of vehicle gauge of the locomotive system and calibration method thereof; On the basis of vehicle gauge system; Confirm parallel rail upper surface normal vector through intersection equation L and L '; Equation demarcation in parallel rail upper surface is the XOY face of parallel rail system of axes, and the split of the more parallel rail first medial surface C2 and the second medial surface C2 ' being demarcated is the XOZ face, is the YOZ plane with arbitrary laser range sensor target seat zero point of mistake and with the 3rd all vertical plane reference of parallel rail upper surface XOY and split XOZ; The coordinate transform that is tied to the rail system of axes by the laser tracker coordinate can obtain the rail system of axes, calibrates big or small guide rail direction vector then, and ray vectors and target are put the vertical vector of radiation direction; Accomplish the system of having eliminated like this error that causes is installed, can survey precision be brought up to ± 0.5mm through experiment showed, the method; Adopt this calibration method; Improved the flexibility that cubing is demarcated greatly, measured, reduced labour intensity through the big or small guide rail movable sensor of precision.
It will be appreciated by those skilled in the art that accompanying drawing is the scheme drawing of a preferred embodiment, the invention described above embodiment sequence number is not represented the quality of embodiment just to description.
The above is merely preferred embodiment of the present invention, and is in order to restriction the present invention, not all within spirit of the present invention and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. vehicle gauge of the locomotive system comprises: door shape support frame is characterized in that, at two heel post medial surfaces, upper cross-beam lower surface and the lower crossbeam upper surface installation and moving platform of said door shape support frame; Each erecting stage support at the two ends of said mobile platform passes said platform support big leading screw is installed, and big guide rail is installed on said mobile platform; On the said big guide rail first flat board is installed, said first flat board is through moving on the said big guide rail of being pulled in of said big leading screw; On said first flat board movable base plate is housed, mount holder is respectively installed at the two ends of said movable base plate; Little leading screw and little guide rail are installed on said movable base plate, on said little guide rail, second flat board are installed, said second flat board is through moving on the said little guide rail of being pulled in of said little leading screw; L type support is installed on said second flat board, on the said L type support laser range sensor is installed; On said platform support, through first electric machine support big motor is installed, said big motor cooperates with said big leading screw through the in-to-in drive coupling realizes transmission; On said mount holder, through second electric machine support small machine is installed, said small machine cooperates with said little leading screw through the in-to-in drive coupling realizes transmission.
2. a kind of vehicle gauge of the locomotive according to claim 1 system is characterized in that said mobile platform is made up of the stepped flat board of piece.
3. a kind of vehicle gauge of the locomotive according to claim 1 system is characterized in that it is stepped one-body molded that said movable base plate becomes.
4. a calibration method that is used for the described a kind of vehicle gauge of the locomotive of claim 1 system is characterized in that, said method comprising the steps of:
(1) calliper that has the fixed vertical position to concern that the other end moves at an end is fixed on the parallel rail, obtains and calculate the intersection equation L of the said parallel rail first upper surface C1 and the first medial surface C2;
Wherein, C1 is A1x+B1y+C1z=1, and C2 is A2x+B2y+C2z=1, calculates the intersection equation L of the parallel rail first upper surface C1 and the first medial surface C2 through C1 and C2:
(A1, B1 C1) are the normal vector of the said first upper surface C1; (A2, B2 C2) are the normal vector of the said first medial surface C2;
(2) said calliper fixed end is changed to said parallel rail opposite side and fix, repeated execution of steps (1) is obtained the intersection equation L ' of the said parallel rail second upper surface C1 ' and the second medial surface C2 ';
Wherein, (A1 ', B1 ', C1 ') be the normal vector of the said second upper surface C1 '; (A2 ', B2 ', C2 ') be the normal vector of the said second medial surface C2 '; (x, y z) are L, and L ' goes up any point coordinate;
(3) confirm said parallel rail upper surface normal vector by said intersection equation L and L '; Equation demarcation in parallel rail upper surface is the XOY face of parallel rail system of axes; Again split A0 ' x+B0 ' y+C0 ' z=1 of the parallel rail first medial surface C2 and the second medial surface C2 ' is demarcated and is the XOZ face, with cross arbitrary said laser range sensor target seat zero point and with the 3rd all vertical plane reference A0 " x+B0 " y+C0 of parallel rail upper surface XOY and split XOZ " z=1 is the YOZ plane;
Wherein, said parallel rail upper surface normal vector is specially:
(A0.B0.C0)＝((A1，B1，C1)×(A2，B2，C2))×((A1′，B1′，C1′)×(A2′，B2′，C2′))
Said parallel rail upper surface equation is specially: A0x+B0y+C0z=1;
(4) translation through system of axes and rotation transformation with the tracker coordinate system transformation to the rail plane coordinate system;
(5) through said rail plane coordinate system obtain said laser range sensor target point initial position and with its as the calculation starting point; Send the continuous gauging instruction through upper computer; Make said laser range sensor Chang Liang; Move said laser range sensor to preset height; Said laser tracker is measured the coordinate of preset range on target point coordinate on the said laser range sensor of current location and the radiation direction, goes out equations of light ray by the coordinate fitting of the preset range of measuring, and calculates the vertical offset that the current location target is put light;
(6) send movement instruction through said upper computer; Said laser range sensor is moved to the other end of said little leading screw; Said laser tracker is measured the preset range target point coordinate in the said laser range sensor motion process; Return zero by the said laser range sensor of said PC control again; And control the other end that said laser range sensor moves to said big leading screw, and measure the target point coordinate of preset range in the said laser range sensor motion process equally, simulate the direction vector of said little leading screw and said big leading screw respectively by the target point coordinate that records for twice;
(7) repeated execution of steps (5) and step (6) are obtained the initial position target point coordinate, current location target point of other 5 laser range sensors direction vector to the vertical offset of light, the ray vectors in the equations of light ray, said little leading screw and said big leading screw;
(8) said upper computer is handled calibrating parameters; Again demo plant is fixed on the tripod; Read the laser point three-dimensional coordinate of current location through said upper computer, and obtain the D coordinates value of three tracker ball seat centers on the said demo plant current location with said laser tracker;
(9) D coordinates value of three laser tracker ball seat centers of the geometry site of the said demo plant gauge point of said laser tracker basis demarcation in advance and three tracker ball seat centers and current location is obtained the three-dimensional coordinate of gauge point;
The three-dimensional coordinate of the gauge point of (10) said vehicle gauge of the locomotive system being measured and the three-dimensional coordinate of the gauge point that said laser tracker is measured are compared, and obtain error.
5. method according to claim 4; It is characterized in that; The said calliper that has the fixed vertical position to concern that the other end moves at an end is fixed on the parallel rail, and the intersection equation L that obtains and calculate the said parallel rail first upper surface C1 and the first medial surface C2 is specially:
The calliper that has the fixed vertical position to concern that the other end moves at an end is fixed on the parallel rail; Calliper lower surface and lateral surface are fitted with rail upper surface and medial surface respectively; Calibrate the coordinate of 4 target seats under the laser tracker system of axes with laser tracker; According to the geometric relationship of 4 target seats demarcating in advance and calliper lower surface and lateral surface, obtain the calliper lower surface equation and lateral surface equation and calculate the intersection equation L of the parallel rail first upper surface C1 and the first medial surface C2.
6. method according to claim 5 is characterized in that, said coordinate transform formula is (x ', y ', z ', 1)=(x, y, z, 1) * T (x0 ,-y0 ,-z0,1) * R
Wherein (A0 ', B0 ', C0 ')=(A2+A2 '/2, B2+B2 '/2, C2+C2 '/2); (A0 ", B0 ", C0 ")=(A0, B0; C0) * (A0 ', B0 ', C0 '), T (x0 ;-y0 ,-z0,1) and R are respectively translation matrix and the rotation matrix that the laser tracker coordinate is tied to the rail plane coordinate system, and then obtain the rail plane coordinate system.
7. method according to claim 5 is characterized in that, said demo plant is specially: the three-dimensional structure formula of step comprises: first terrace and second terrace, and said first terrace is provided with two ball seats; Said second terrace is provided with a ball seat and laser pick-off cross mark, and said ball seat is used to place the laser tracker bead; Said laser pick-off cross mark is used to receive the laser point of said laser range sensor.
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| CN111780687A (en) * | 2020-08-05 | 2020-10-16 | 中国铁道科学研究院集团有限公司 | Calibrating device of profile detection system and working method thereof |
| CN111780687B (en) * | 2020-08-05 | 2022-02-22 | 中国铁道科学研究院集团有限公司 | Calibrating device of profile detection system and working method thereof |
| CN114719776A (en) * | 2022-04-11 | 2022-07-08 | 中车株洲电力机车有限公司 | Calibration tool and calibration method for rail vehicle body contour detection system |
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