CN104501768A - Rail rigidity measuring method based on machine vision - Google Patents
Rail rigidity measuring method based on machine vision Download PDFInfo
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- CN104501768A CN104501768A CN201410400026.5A CN201410400026A CN104501768A CN 104501768 A CN104501768 A CN 104501768A CN 201410400026 A CN201410400026 A CN 201410400026A CN 104501768 A CN104501768 A CN 104501768A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
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- Length Measuring Devices By Optical Means (AREA)
- Machines For Laying And Maintaining Railways (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a rail rigidity measuring method based on machine vision. Through a ranging method of laser and visual sensor, vertical deflection of a steel rail is obtained, so as to obtain rail rigidity. Through measuring the distance from a visual sensor to the cross section of the steel rail, and compensating measuring errors generated by up-down vibration of a vehicle and inclination angle measurement, the vertical deflection of the steel rail is obtained, so as to obtain rail rigidity. The method supports dynamic acquisition. The method uses a cross section ranging way. Compared with a conventional single-point ranging method, the method reduces and even eliminates influences of nonuniform abrasion on the surface of the steel rail, irregular weld zones, irregular rail, and other factors on measuring results to a large extent. On the basis of rapid measurement, the method accurately measures the rail rigidity, and indirectly reduces consumption of cost.
Description
Technical field
The present invention relates to a kind of orbit rigidity measuring method.
Background technology
Orbit rigidity refers to the vertical load (unit: kN/mm) for making needed for the sinking of rail generation unit, and the unit that wherein rail produces sinks to referring to the specific vertical deflection that rail occurs under the effect of vertical pressure load.
Orbit rigidity is the important parameter affecting track structure vibration and distortion, train operational safety, stationarity and railway maintenance maintenance load, rational orbit rigidity can not only ensure train safe, run stably, effectively can also slow down wheel-rail interaction, alleviate the dynamic stress of track structure, keep the geometry of track in good condition, thus alleviate the maintenance workload of rail.
Multiple method is had to can be used for the measurement of race orthogonal rigidity at present, have for static discrete measurement, have for successive dynamic measuring, but these measuring methods are generally the orbit rigidity survey method based on the range finding of the single-point such as accelerometer or displacement transducer, and the race orthogonal deflection that existing successive dynamic measuring method is measured is except comprising track except the vertical deformation under pressure load, also include Rail Surface irregular wear, weld metal zone irregularity and track residual deformation uneven etc. formed without the static track irregularity displayed during wheel load effect.
External at present track loads car and mainly contains the track that North America railway association (AAR) develops and load car, and the track of Japan's development loads car, and the RSMV rail stiffness excitations car of Sweden's development and sectional track load car.
The TLV (track loading vehicle) of AmericanTTCI can be used for the side of track and the measurement of vertical stiffness, it utilizes the 5th to take turns (loading wheel) work, static or in advancing, can the vertical force of different frequency and horizontal force be applied to track structure and measure track response, test tracks gauge hold facility, lateral stability and derailing performance.The loading frame of TLV loads actuator load application by two Plumb load actuator, two horizontal actuator and two widening of gauges, loads car and provides load by computer-controlled electro-hydraulic system, maximum mobile test speed 56km/h.This measuring system needs to carry out twice measurement on the same track, and twice used load is different, and first time pinpoints the problems, second time orientation problem.
Sweden RSMV (Rolling Stiffness Measurement Vehicle) comprises two Plumb load actuator and a transverse direction loads actuator, and hydraulic cylinder is housed, can to rail head or directly to sleeper/railway roadbed load application, the rigidity of track passes through acting force and the accelerometer data calculating orbit rigidity of measurement.
China 20 end of the century, portable circuit dynamic load laboratory vehicle (TLV) the orbit rigidity system that China Academy of Railways Sciences CARS (China Academy of Railway Sciences) develops.This system can be measured with the speed per hour of 60km/h.It adopts two chord measurement, namely adopts chord length identical, and loads the two cover chord measurement systems that wheel wheel is loaded with very big-difference, successively measure the difference of track settlement amount and the difference of vertical load of same position, thus obtain orbit rigidity.
Traditional orbit rigidity measures the vertical deformation amount adopting the mode of single-point range finding (by the equipment such as accelerometer or displacement transducer) to obtain firm rail, due to Rail Surface irregular wear, weld metal zone irregularity, measure the reason such as vibrations of carrier, these class methods error in kinetic measurement situation is larger; The present invention utilizes digital camera imaging principle, mode that a camera forms one group of range measurement system obtains the vertical deformation amount of firm track to adopt two laser instruments to add, because this measuring method directly measures the distance of rail transversal section range sensor, namely reduce and even eliminate Rail Surface irregular wear, weld metal zone irregularity, track irregularity to the impact of measurement result.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of orbit rigidity measuring method based on machine vision, reduces and even eliminates Rail Surface irregular wear, weld metal zone irregularity, track irregularity to the impact of measurement result.
For solving the problems of the technologies described above, the invention provides a kind of orbit rigidity measuring method based on machine vision, the measurement mechanism related to comprises two word line laser device and a vision sensor, is arranged on the pressure transducer on train wheel or accelerometer; Described vision sensor is arranged on the measurement carrier directly over orbital plane, and the visual zone of described vision sensor in orbital plane is positioned at outside the line of deflection radius of track; Described two word line laser device are arranged on the both sides of described vision sensor respectively, described two word line laser device and described vision sensor are arranged on same level, and two wordline laser are all positioned at the visual zone of described vision sensor in the imaging of orbital plane; Its measuring process comprises the following steps:
I, the setting height(from bottom) H recording described vision sensor distance rail level, laser instrument are apart from the horizontal range L of described vision sensor
1, L
2, the exit facet of laser instrument and the angle theta of surface level
1, θ
2; Opening pressure sensor or accelerometer, measure and obtain the pressure load F that wheel is applied to rail; Open described two word line laser device and described vision sensor simultaneously, described two word line laser device send two wordline laser respectively, article two, a wordline laser drops in the visual zone of described vision sensor, the image in described vision sensor vertical collection orbital plane;
Ii, processing described visual zone image, extract two word line laser device respectively in the imaging of described visual zone from described visual zone image, is two curved laser rays;
Iii, calculate minimum distance d between described two laser rays;
Iv, according to the distance h' described in following formulae discovery between vision sensor and orbital plane,
V, amount of deflection y according to following formulae discovery load center
r, y
r=H-h';
Vi, according to following formulae discovery rail rigidity k,
wherein k is orbit rigidity, and F is the pressure load that wheel is applied to rail, and y is pressure load is in F situation, the rail vertical deformation amount of load center.
Preferably, described vision sensor is face sensor array camera.
In measuring process, vibrations and rotary motion can be there is in carrier car, the vertical range of this type of athletic meeting break sensor and wheel and road surface contact point is constant hypothesis, but the vertical tremor displacement of carrier car is undertaken monitoring and compensating by accelerometer or displacement transducer; Vehicle body rotates the change that (pitching) causes distance, is monitored, and compensate the distance error caused by angular transducer.Therefore the scheme optimized further is, measurement carrier installs accelerometer or displacement transducer, angular transducer; If the horizontal range at camera distance load wheels center is S, the carrier vertical tremor distance that sensor records is h
s, measure carrier along the angle of pitch β of direction of traffic, then the coverage h=h'*cos β-S*tan β-h of camera distance rail level
s; In described step v, then calculate the amount of deflection of load center with y
r=H-h substitutes.
The present invention, by the distance measuring method of " laser instrument+vision sensor ", obtains the vertical deformation amount of rail, and then obtains orbit rigidity.By measuring the distance of vision sensor distance rail transversal section, and the measuring error that car body vertical tremor, measurement inclination angle produce is compensated, thus obtain the vertical deformation amount of rail, and then obtain orbit rigidity.
The present invention supports dynamic acquisition, the mode that the present invention adopts transversal section to find range, compared with traditional single-point distance measuring method, reduce to a great extent and even eliminate the impact of measurement result by factors such as Rail Surface irregular wear, weld metal zone irregularity, track irregularities, on the basis of Quick Measurement, Measurement accuracy orbit rigidity, indirectly reduces the consumption to cost.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is further described in detail.
Fig. 1 is the orbit rigidity measurement procedure figure of the specific embodiment of the invention.
Fig. 2 is two laser instruments of the specific embodiment of the invention and the range measurement system schematic diagram of a face array camera composition.
Fig. 3 is the schematic diagram of rail buckle line and measurement value sensor.
Fig. 4 is geometric relationship figure between vision sensor, laser instrument.
Embodiment
The measuring system that this embodiment relates to comprises two word line laser device and a camera, and camera is as machine vision sensor.As shown in the figure, camera is fixed by structural member with measurement carrier, camera is arranged on directly over rail level, and camera is keeping being synchronized with the movement with wheel perpendicular on direction of traffic.Two word line laser device and described vision sensor are arranged on same level.Two word line laser device are intersected respectively and are sent a wordline laser, and camera just photographs two imagings of wordline laser on rail in orbit, is the laser rays shown in Fig. 2.Wherein, the laser rays on the left side is the imaging of right side of camera one word line laser device, and the laser rays on the right is the imaging of left side of camera one word line laser device.Article two, the distance that laser rays is nearest is d.
As shown in Figure 3, suppose that the vertical range between camera relative wheel and road surface contact point is constant H, when relative deformation's (difference of the deformation of rail amount of pressure load application point and the deformation of rail amount of camera position) of rail changes, two laser rays also can change in the distance of Rail Surface thereupon.When the distance of camera and Rail Surface increases, laser rays also can increase in the distance of Rail Surface, and on the contrary, when the distance on camera and road surface reduces, laser rays also can reduce in the distance of Rail Surface thereupon.
Ideally, measure carrier shockproof and rotate; Or put aside the vibrations and rotation of measuring carrier.Following relation is there is between each measured value shown in Fig. 3.
h＝H-y
r(1)
y
r＝y
camera-y
wheel(2)
Wherein, H is the vertical range of camera relative wheel and rail contact point, y
rfor relative deformation (difference of the relative deformation of the deformation of rail amount of camera position and the deformation of rail amount of wheel position), y
camerafor the deformation of rail amount of camera correspondence position, y
wheelfor the deformation of rail amount of wheel position.In this embodiment, the span of H is about 150mm ~ 600mm.
Of the present invention based in the orbit rigidity measuring method of machine vision, if camera is arranged on outside line of deflection radius, namely the horizontal range of camera distance train wheel is 1.5m ~ 3m, and now the deformation of rail amount of camera correspondence position is approximately 0, i.e. y
camera≈ 0.The now difference y of the relative deformation of the deformation of rail amount of camera position and the deformation of rail amount of wheel position
r=H-h=-y
wheel, be the deformation of rail amount of wheel position.
By geometry principle, the distance of the laser rays utilizing camera to obtain, can obtain the height of camera distance rail.The geometric relationship of sensor as shown in Figure 4.
(L
1+l
1)tanθ
1＝h (3)
(L
2+l
2)tanθ
2＝h (4)
d＝l
1+l
2(5)
Wherein L
1, L
2for the horizontal range of laser instrument and camera, in the present embodiment, L
1, L
2span is about 200mm ~ 800mm; θ
1, θ
2for the angle of laser instrument and surface level, θ
1, θ
2span be about 30 ° ~ 60 °; l
1, l
2for the projection of laser rays on rail in the horizontal direction with the distance of camera; H is the vertical range of camera to Rail Surface.
But in measuring process, can there is vibrations and rotary motion in carrier car, the vertical range that camera relative wheel and road surface contact point are broken in this type of athletic meeting is constant hypothesis.But, the vertical tremor displacement of camera carrier is undertaken monitoring and compensating by accelerometer or displacement transducer; The rotation (pitching) of camera carrier causes the change of distance, monitors by angular transducer, and compensates the distance error caused.
Under the support of above-mentioned measuring principle, shown in composition graphs 1, measuring method is described in detail.
1, laser rays image is obtained
Utilize the instrument installations shown in figure that laser instrument and face array camera are installed, and record the setting height(from bottom) H of camera distance rail level, the horizontal range L of laser instrument distance camera
1, L
2, laser instrument and surface level angle theta
1, θ
2.In track stiffness measurement process, open measuring surface array camera, gather laser rays image, thus obtain laser rays image.The pressure load F that wheel is applied to rail is obtained by setting pressure sensor or accelerometer etc. on train wheel.
2, laser rays is extracted
If select black and white camera, then laser rays is brighter in the picture, namely gray-scale value is higher, by the gray feature of statistics laser rays image, calculate gray threshold, again the gray-scale value of pixel each in original image and given Gray-scale value are compared, the pixel being greater than gray threshold is labeled as laser rays, thus extracts laser rays; If select color camera, then there is obvious color characteristic in the picture in laser rays, by carrying out Color Space Clustering to image, thus extracts laser rays.
3, laser rays distance is calculated
Represent by the row location of pixels average of respective laser rays the location of pixels that respective laser rays is expert at, namely first obtain the row location of pixels representative of laser rays in each row pixel, thus obtain the unique location of pixels of two laser rays in each row pixel; Calculate the location of pixels difference of two laser rays in each row pixel again, and as the pixel distance of single file laser rays; In all row laser rays pixel distances, choose one section that the change of laser rays pixel distance less and pixel distance is less, calculate the pixel distance d' of laser rays pixel distance average as two laser rays of this section, the setting height(from bottom) H of combining camera, camera lens focal distance f, photosensitive size w, the resolution A of camera on laser rays range finding direction, then the object distance of two laser rays
4, the distance of camera and rail level is calculated
Utilize the horizontal range L of the distance d of the setting height(from bottom) H of camera distance rail level, laser rays, laser instrument distance camera
1, L
2, laser instrument and surface level angle theta
1, θ
2, calculate the distance h' of camera along camera light direction of principal axis and rail level in conjunction with formula (7)
5, range finding compensates
Suppose that the horizontal range at camera distance load wheels center is S, the carrier vertical tremor distance that sensor records is h
s, measure the angle of pitch β (inclination angle along direction of traffic) of carrier, then the coverage h of camera distance rail level is
h＝h'*cosβ-S*tanβ-h
s(8)
6, amount of deflection is obtained
Supposing the measuring point place that camera is corresponding, there is not deformation in rail, and namely the deformation of rail amount of camera correspondence position is 0, then the amount of deflection y of now load center
rfor
y
r＝H-h (9)
7, rail rigidity is calculated
Defined from orbit rigidity, the vertical load (unit: kN/mm) needed for the sinking of rail generation unit instigated by track.
Wherein k is orbit rigidity, and F is the pressure load that wheel is applied to rail, y
runder pressure load is F situation, the rail vertical deformation amount of load center.
The present invention supports dynamic acquisition, the mode that the present invention adopts transversal section to find range, compared with traditional single-point distance measuring method, reduce to a great extent and even eliminate the impact of measurement result by factors such as Rail Surface irregular wear, weld metal zone irregularity, track irregularities, on the basis of Quick Measurement, Measurement accuracy orbit rigidity, indirectly reduces the consumption to cost.
It should be noted last that, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (3)
1. based on an orbit rigidity measuring method for machine vision, it is characterized in that, the measurement mechanism related to comprises two word line laser device and a vision sensor, is arranged on the pressure transducer on train wheel or accelerometer; Described vision sensor is arranged on the measurement carrier directly over orbital plane, and the visual zone of described vision sensor in orbital plane is positioned at outside the line of deflection radius of track; Described two word line laser device are arranged on the both sides of described vision sensor respectively, described two word line laser device and described vision sensor are arranged on same level, and two wordline laser are all positioned at the visual zone of described vision sensor in the imaging of orbital plane; Its measuring process comprises the following steps:
I, the setting height(from bottom) H recording described vision sensor distance rail level, laser instrument are apart from the horizontal range L of described vision sensor
1, L
2, the exit facet of laser instrument and the angle theta of surface level
1, θ
2; Opening pressure sensor or accelerometer, measure and obtain the pressure load F that wheel is applied to rail; Open described two word line laser device and described vision sensor simultaneously, described two word line laser device send two wordline laser respectively, article two, a wordline laser drops in the visual zone of described vision sensor, the image in described vision sensor vertical collection orbital plane;
Ii, process described visual zone image, from described visual zone image, extract two word line laser device respectively in the imaging of described visual zone, be i.e. two curved laser rays;
Iii, calculate minimum distance d between described two laser rays;
Iv, according to the distance h' described in following formulae discovery between vision sensor and orbital plane,
V, amount of deflection y according to following formulae discovery load center
r, y
r=H-h';
Vi, according to following formulae discovery rail rigidity
2. the orbit rigidity measuring method based on machine vision according to claim 1, is characterized in that, described vision sensor is face sensor array camera.
3. the orbit rigidity measuring method based on machine vision according to claim 1 and 2, is characterized in that, measurement carrier installs accelerometer or displacement transducer, angular transducer; If the horizontal range at camera distance load wheels center is S, the carrier vertical tremor distance that sensor records is h
s, measure carrier along the angle of pitch β of direction of traffic, then the coverage h=h'*cos β-S*tan β-h of camera distance rail level
s;
The amount of deflection y of load center in described step v
rcomputing formula with y
r=H-h substitutes.
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| CN108633303A (en) * | 2017-01-25 | 2018-10-09 | 松下知识产权经营株式会社 | Rigid measurement device and rigid assay method |
| CN108982140A (en) * | 2018-07-02 | 2018-12-11 | 西安交通大学 | A kind of rocket sledge track road spectrum reproducing apparatus and its method |
| CN109653045A (en) * | 2019-01-28 | 2019-04-19 | 武汉武大卓越科技有限责任公司 | Gauge measurement method and device |
| CN109946708A (en) * | 2017-12-21 | 2019-06-28 | 北京万集科技股份有限公司 | A kind of method for detecting lane lines and device based on laser radar scanning |
| CN113124998A (en) * | 2021-03-26 | 2021-07-16 | 中铁二院工程集团有限责任公司 | Rail rigidity time-frequency measurement method based on P2 force vibration |
| CN117433450A (en) * | 2023-12-20 | 2024-01-23 | 派姆特科技(苏州)有限公司 | Cross line three-dimensional camera and modeling method |
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| CN108128323A (en) * | 2016-08-30 | 2018-06-08 | 大连民族大学 | With the selection method of the relevant laser image characteristic quantity of rail wear amount |
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| CN109946708A (en) * | 2017-12-21 | 2019-06-28 | 北京万集科技股份有限公司 | A kind of method for detecting lane lines and device based on laser radar scanning |
| CN109946708B (en) * | 2017-12-21 | 2021-07-02 | 北京万集科技股份有限公司 | Lane line detection method and device based on laser radar scanning |
| CN108982140A (en) * | 2018-07-02 | 2018-12-11 | 西安交通大学 | A kind of rocket sledge track road spectrum reproducing apparatus and its method |
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| CN109653045A (en) * | 2019-01-28 | 2019-04-19 | 武汉武大卓越科技有限责任公司 | Gauge measurement method and device |
| CN113124998A (en) * | 2021-03-26 | 2021-07-16 | 中铁二院工程集团有限责任公司 | Rail rigidity time-frequency measurement method based on P2 force vibration |
| CN113124998B (en) * | 2021-03-26 | 2022-09-20 | 中铁二院工程集团有限责任公司 | Rail rigidity time-frequency measurement method based on P2 force vibration |
| CN117433450A (en) * | 2023-12-20 | 2024-01-23 | 派姆特科技(苏州)有限公司 | Cross line three-dimensional camera and modeling method |
| CN117433450B (en) * | 2023-12-20 | 2024-04-19 | 派姆特科技(苏州)有限公司 | Cross line three-dimensional camera and modeling method |
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Address after: 430223 Hubei science and Technology Park, East Lake Development Zone, Wuhan, China Patentee after: Wuhan Optical Valley excellence Technology Co.,Ltd. Address before: 430223 No.6, 4th Road, Wuda Science Park, Donghu New Technology Development Zone, Wuhan City, Hubei Province Patentee before: WUHAN WUDA ZOYON SCIENCE AND TECHNOLOGY Co.,Ltd. |