CN106840033B - A kind of profile of steel rail detection device and method based on image procossing - Google Patents
A kind of profile of steel rail detection device and method based on image procossing Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The present invention relates to a kind of profile of steel rail detection device and method based on image procossing.The device includes four sensors, sensor stand (5), pedestal (6), orbit transports roller (7) and rail (8), four sensors are separately mounted at four interior angles of sensor stand, the Z axis of each sensor coordinate system intersects at the center for the sensor stand being fixed on the base, orbit transports roller is fixed on pedestal, for supporting and conveying rail.This method is to be coordinately transformed four sensor acquired images, unification is into the same world coordinate system, using one of image as benchmark, search for the characteristic point in four images, according to characteristic point by its excess-three image to Reference Transforming, rail profile profile is obtained, the geometric dimension of profiled outline is calculated and is compared judgement with iron mark.The method can significantly improve production efficiencys, improve measurement accuracy.
Description
Technical field
The present invention relates to railway rail detection technique fields, and in particular to a kind of profile of steel rail parameter based on image procossing
Measuring device and method.
Background technique
With the continuous promotion of train running speed and density, to the stationarity of train operation, comfort, security requirement
Continuous improvement, influence factor present in the welding technique to rail is it is also proposed that carry out requirements at the higher level.Seamless welding technology has become
For mainstream, in weld job, the geometric dimension of rail profile profile is an important factor for influencing the straightness of rail.
Rail welding plant is in carrying out rail welding operation, if the inconsistent rail quality of will lead to of the size of weld both ends of the surface
Decline increases polishing workload, and influences traffic safety.
Current profile of steel rail measurement method of parameters affects measurement accuracy there are the matching precision of profile of steel rail is not high,
The present invention has carried out the operation of multiple characteristic point during demarcating, and extracts the higher characteristic point of relative accuracy, and
Using the high rectangle calibrated bolck of the linearity, the accuracy and precision of calibration are improved.
Summary of the invention
The technical problem to be solved by the present invention is providing a kind of profile of steel rail based on image procossing in view of the above
Detection device and method, to improve the precision of Image Mosaic, to improve the detection accuracy of profile of steel rail size.
The present invention solves its technical problem, and the following technical solution is employed:
Profile of steel rail detection device provided by the invention based on image procossing, it is characterized in that including four sensors, passing
Sensor bracket, pedestal, orbit transports roller and rail, in which: four sensors are laser profile sensor, they are separately mounted to
At four interior angles of sensor stand, and the Z axis of each sensor coordinate system intersects at the center of sensor stand, sensor
Bracket is fixed on the pedestal of the detection device, while orbit transports roller is fixed on pedestal, for supporting and conveying rail.
Four sensors, are all made of the linear laser distance measuring sensor of same model.
Profile of steel rail detection method provided by the invention based on image procossing, specifically: being imaged using non-contact laser
Principle acquires rail profile outline data using four three-dimensional laser profile sensors, by collected to each sensor
Image data is coordinately transformed, rotates, translates, and carries out pattern conjunction, obtains rail profile profile, the section that will be calculated
Profile geometric dimension is compared judgement with iron mark.
In the above method, before the measurement for carrying out profile of steel rail parameter using the data, first use rectangular block disconnected as rail
The calibrated bolck of facial contour detection carries out data scaling, calculates rotation angle R1, R2, R3, R4 and translational movement S1, S2, S3, S4, with
Each measurement afterwards just no longer needs to be demarcated, and need to only be placed on rail on measurement station, directly adopt calibrating parameters: rotation
Angle and translational movement obtain complete rail profile profile, to improve profile of steel rail detection efficiency.
In the above method, it can be demarcated using the preferable cuboid calibrated bolck of the linearity, specifically: by four
It is in 45 ° of positions that sensor, which is symmetrically mounted on central axes, and cuboid calibrated bolck centre-height is symmetrically installed with four sensors
The center height of the square of formation is consistent, and four sensor acquired images are then carried out coordinate rotation and are become
Processing is changed, it is unified into the same world coordinate system, using one of image as benchmark, find out the feature in four images
Its excess-three image is translated to benchmark according to characteristic point, carries out pattern conjunction, obtain calibrated bolck profiled outline, marked by point
Fixed number evidence: rotation angle peace shifting amount.
In the above method, during carrying out data scaling, it may comprise steps of:
(1) it is placed in detection station using the calibrated bolck of intended size, opens laser sensor；
(2) data coordinate system by four laser sensor outputs carries out rotation transformation, it is uniformly arrived to the same world
In coordinate system, calibrating parameters 1 are obtained, are rotation angle R1, R2, R3, R4；
(3) postrotational data are subjected to coordinate translation according to the size of calibrated bolck, obtain calibrating parameters 2, is data
Translational movement S1, S2, S3, S4.
In the above method, the rotation transformation processing includes the following steps method:
Step 1, the starting point of label acquisition data, according to top margin, bottom edge and the side of the size judgment criteria block of calibrated bolck
Side；
Step 2, the top margin of acquisition or bottom edge are subjected to linear fit:
In four laser sensors, the bottom edge of first sensor and 3rd sensor carries out linear fit, second sensor
Carry out linear fit with the top margin of the 4th sensor, since the X-direction precision of four sensors is 0.15mm, taken top margin or
The data on the bottom edge at least 5mm of the endpoint away from side is straight to take the series data after respectively giving up 50 points away from endpoint and inflection point to make fitting
Line；
Step 3: the slope for obtaining four fitting a straight lines is respectively K1、K2、K3、K4, then obtain the inclination angle of fitting a straight line
Spend θ=tan-1K, tilt angle are denoted as respectively: θ1, θ2, θ3, θ4；
According to the relative position of the bottom edge of each image or top margin and side, rotating angle is respectively R1=180 ° of-θ1, R2
=180 ° of-θ2, R3=-θ3, R4=-θ4, rotation angle is substituted into coordinate rotation formula respectively:
|x′i=xoffset+xi×cosR-yi×sinR
y′i=yoffset+xi×sin R+yi×cos R
In formula: R is rotation angle, xoffsetFor the translational movement of X-direction, yoffsetFor the translational movement of Y-direction, (xi, yi) it is to pass
The collected raw data points coordinate of sensor, (x 'i, y 'i) it is coordinate (xi, yi) with rotation angle R rotation, and with vector
(xoffset, yoffset) point coordinate after translation, before calculating data translational movement, (x in formulaoffset, yoffset)=(0,0)；
Step 4: the image after obtaining every group of data rotation, and postrotational data are unified to same world coordinate system
In.
In the above method, four coordinate systems can be carried out by translation processing according to postrotational image, specifically by one
The image of sensor remains unchanged, and the image after its excess-three sensor rotation is translated to the image of first sensor,
Spliced calibrated bolck profiled outline figure is obtained, to obtain calibrating parameters 2, i.e. data translational movement S1, S2, S3, S4；
Translation processing the following steps are included:
Step 1: the inflection point of second sensor being moved to and is overlapped with the X-coordinate of the inflection point of first sensor, Z coordinate is
The upward length of the Z coordinate of the inflection point of one sensor is that the point of the wide distance of calibrated bolck is overlapped, with the second sensing of translational movement translation
The image data of device；The inflection point of 3rd sensor is moved to and is overlapped with the Z coordinate of the inflection point of first sensor, X-coordinate is
Length is that the point of the long distance of calibrated bolck is overlapped to the X-coordinate of the inflection point of one sensor to the right, with translational movement translation third sensing
The image data of device；By the inflection point of the 4th sensor move to the X-coordinate of the inflection point of first sensor to the right length be standard
The long distance of block, the upward length of the Z coordinate of the inflection point of first sensor is that the point of the wide distance of calibrated bolck is overlapped, with the translational movement
Translate the image data of the 4th sensor；
Step 2: the fitting a straight line of the collected side of each sensor is sought with the method for linear fit in above-mentioned calibration process,
Calculate separately the friendship of the fitting a straight line of the top margin of the collected initial data of each sensor or the fitting a straight line and side on bottom edge
Point, and the point and corresponding rotation angle are substituted into coordinate rotation formula, obtain postrotational inflection point Zmax1, Zmax2, Zmax3,
Zmax4；
Step 3: the collected initial data of each sensor being subjected to multi collect, n times is acquired, takes out N group data
By the resulting inflection point Z of step 2max1, Zmax2, Zmax3, Zmax4, it is averaged respectively, obtains Avgmax1, Avgmax2, Avgmax3,
Avgmax4；
Step 4: the translational movement of data is S after the rotation of first sensor1=0, data after the rotation of second sensor
Translational movement is S2=Avgmax2(x,z)-Avgmax1(x, z+b), the translational movement of data is S after the rotation of 3rd sensor3=
Avgmax3(x,z)-Avgmax1(x+a, z), the translational movement of data is S after the rotation of the 4th sensor4=Avgmax4(x,z)-
Avgmax1(x+a,z+b)。
Above-mentioned method provided by the invention, it is described by the application in its profile size of this rail profile profile measurement
Profile size includes that rail is high, rail head is wide, the web of the rail is thick, rail bottom edge thickness, rail bottom are wide, section degree of asymmetry.
This method is in application, be to calculate original according to national standard TB/T3276-2011, TB/T2344-2012 profile size regulation
Rail profile profile removal after the completion of split is repeated the region for obtaining data by reason, wide with cubic spline curve piecewise fitting
Graphic data, calculates profile size in spline curve, acquired results repeatability preferably, measurement accuracy and repeatable accuracy be above ±
0.03。
The present invention has the advantages that below main compared with prior art:
1. controllable using the accuracy of manufacture, making the simple linearity, good rectangle calibrated bolck is demarcated as calibrating block,
Simplify calibration process, is easy to implement automatic measurement；
2. obtaining rotation angle using the method for high-precision sensor (linear laser distance measuring sensor) and linear fit and putting down
Shifting amount improves the accuracy of measurement；
3., only with the profile of steel rail data that Cubic Spline Fitting obtains, detecting steel without carrying out multiple coordinate system conversion
The profile size of rail, reduces accumulated error, improves measurement accuracy；
4. being demarcated using the preferable calibrated bolck of the linearity, installation and foozle can be compensated automatically.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the profile of steel rail detection device the present invention is based on image procossing.
Fig. 2 is schematic diagram before demarcating the present invention is based on the calibrated bolck of the profile of steel rail detection method of image procossing.
Fig. 3 is that the present invention is based on after the calibrated data rotation of calibrated bolck of the profile of steel rail detection method of image procossing
Effect picture.
Fig. 4 is that the present invention is based on the calibration of the spliced calibrated bolck of calibrated bolck of the profile of steel rail detection method of image procossing
Result figure.
Fig. 5 is that the present invention is based on the rail profile profile measured result figures of the profile of steel rail detection method of image procossing.
In figure: 1. first sensors, 2. second sensors, 3. 3rd sensors, 4. the 4th sensors, 5. sensor branch
Frame, 6. pedestals, 7. orbit transports rollers, 8. rail.
Specific embodiment
Below with reference to examples and drawings, the invention will be further described, but does not limit the present invention.
The present invention provides profile of steel rail detection detection device and method based on image procossing, utilizes device shown in FIG. 1
It realizes, which acquires outline data using the principle of triangulation of laser sensor, and 8 section wheel of rail is obtained after calibration
Wide dimension data carries out the measurement of profile of steel rail parameter using the data.
The device includes four sensors, sensor stand 5, pedestal 6, orbit transports roller 7 and rail 8, in which: four biographies
Sensor is laser profile sensor, is first sensor 1, second sensor 2,3rd sensor 3, the 4th sensor 4 respectively,
Using the linear laser distance measuring sensor (such as Gocator2350 sensor) of same model, they are separately mounted to sensor branch
At four interior angles of frame 5, and the Z axis of each sensor coordinate system intersects at the center of sensor stand, and sensor stand is solid
It is scheduled on the pedestal 6 of the detection device, while being fixed with orbit transports roller 7 on pedestal, for supporting and conveying rail 8.It is described
Four laser profile sensors, collected profiled outline data point make respectively in respective sensor coordinate system
Data scaling must be carried out before carrying out profile of steel rail detection with the device, allow the device to export complete profile of steel rail.
The present invention is during must carry out data scaling before carrying out profile of steel rail detection, comprising the following steps:
1. the calibrated bolck using intended size is placed in detection station, laser sensor is opened；
2. the data coordinate system of four laser sensor outputs is carried out rotation transformation, it is uniformly arrived to the same world and is sat
In mark system, calibrating parameters 1 are obtained, are rotation angle R1, R2, R3, R4；
3. postrotational data are carried out coordinate translation according to the size of calibrated bolck, calibrating parameters 2 are obtained, are that data are inclined
Shifting amount S1, S2, S3, S4.
Profile of steel rail detection method provided by the invention based on image procossing, is first demarcated with calibrated bolck, and rotation is calculated
Gyration R1, R2, R3, R4 and translational movement S1, S2, S3, S4, later each measurement just no longer need to be demarcated, and improve inspection
Survey efficiency.Rail section is made of straight line and circular arc, can not collect straight line portion for certain sensors when making rotation transformation
Point, increase calculation amount, and using standard rail as calibrated bolck, increased costs higher to its required precision, therefore it is of the invention
Using rectangular block as calibrating block, the linearity is good, during the calibration process convenient for calculating.
During the calibration process, as shown in Figure 2 and Figure 3, first the data coordinate system of four sensors is carried out at rotation transformation
Reason, then unifies into the same world coordinate system to be demarcated.
The rotation transformation processing includes the following steps method:
Step 1: the starting point of label acquisition data, according to top margin, bottom edge and the side of the size judgment criteria block of calibrated bolck
Side；
Step 2: the top margin of acquisition or bottom edge are subjected to linear fit:
Know that the bottom edge of sensor 1 and sensor 3 carries out linear fit, the top margin progress of sensor 2 and sensor 4 is linear
Fitting, since the X-direction precision of the sensor is 0.15mm, the data on taken top margin or bottom edge away from the endpoint on side at least 5mm,
The invention example takes the series data after respectively giving up 50 points away from endpoint and inflection point to make fitting a straight line；
Step 3: the slope for obtaining four fitting a straight lines is respectively K1、K2、K3、K4, then obtain the inclination angle of fitting a straight line
Spend θ=tan-1K, tilt angle are denoted as respectively: θ1, θ2, θ3, θ4；
According to the relative position of the bottom edge of each image or top margin and side, rotating angle is respectively R1=180 ° of-θ1, R2
=180 ° of-θ2, R3=-θ3, R4=-θ4, rotation angle is substituted into coordinate rotation formula respectively:
|x′i=xoffset+xi×cosR-yi×sin R
y′i=yoffset+xi×sin R+yi×cos R
In formula: R is rotation angle, xoffsetFor the translational movement of X-direction, yoffsetFor the translational movement of Y-direction, (xi, yi) it is to pass
The collected raw data points coordinate of sensor, (x 'i, y 'i) it is coordinate (xi, yi) with rotation angle R rotation, and with vector
(xoffset, yoffset) point coordinate after translation.
Step 4: the image after obtaining every group of data rotation, and postrotational data are unified to same world coordinate system
In.
The calibration process is to be translated four coordinate systems according to acquired image, and specific practice is will to sense
The image of device 1 remains unchanged, and the image after its excess-three sensor rotation is translated to the image of sensor 1, splicing
Schematic diagram afterwards is as shown in Figure 4.If a length of a of calibrated bolck, width b, translation processing includes the following steps method:
Step 1: analysis chart 3 is overlapped it is found that can move to the inflection point of sensor 2 with the X-coordinate of the inflection point of sensor 1, Z
Coordinate is overlapped in the point that the upward length of Z coordinate of the inflection point of sensor 1 is the wide distance of calibrated bolck, is translated and is sensed with the translational movement
The image data of device 2；The inflection point of sensor 3 is moved to and is overlapped with the Z coordinate of the inflection point of sensor 1, X-coordinate is in sensor 1
The X-coordinate of inflection point length is that the point of the long distance of calibrated bolck is overlapped to the right, with the picture number of translational movement translation sensor 3
According to；The inflection point of sensor 4 moves to length is sensor at a distance from calibrated bolck is long to the right with the X-coordinate of the inflection point of sensor 1
The upward length of the Z coordinate of 1 inflection point is that the point of the wide distance of calibrated bolck is overlapped, with the picture number of translational movement translation sensor 4
According to；
Step 2: the fitting a straight line of the collected side of each sensor is sought with the method for linear fit in above-mentioned calibration process,
Calculate separately the friendship of the fitting a straight line of the top margin of the collected initial data of each sensor or the fitting a straight line and side on bottom edge
Point, and the point and corresponding rotation angle are substituted into coordinate rotation formula, obtain postrotational inflection point Zmax1, Zmax2, Zmax3,
Zmax4；
Step 3: the collected initial data of each sensor being subjected to multi collect, n times is acquired, takes out N group data
By the resulting inflection point Z of step 2max1, Zmax2, Zmax3, Zmax4, it is averaged respectively, obtains Avgmax1, Avgmax2, Avgmax3,
Avgmax4；
Step 4: the translational movement of data after the rotation of sensor 1 are as follows: S1=0；The translational movement of data after the rotation of sensor 2
Are as follows: S2=Avgmax2(x,z)-Avgmax1(x,z+b)；The translational movement of data after the rotation of sensor 3 are as follows: S3=Avgmax3(x,z)-
Avgmax1(x+a, z), the translational movement of data after the rotation of sensor 4 are as follows: S4=Avgmax4(x,z)-Avgmax1(x+a,z+b)；
The calibration process, using a length of a=159.12mm of cross section parameter, width b=157.80mm, dimensional tolerance is
The calibrated bolck of ± 0.02mm is averaged after rotation and translation converts through repeatedly converting, and acquired results are as shown in table 1: being passed
Theoretical installation angle of the sensor on sensor stand is 45 °, and as known from Table 1, the angle for rotating angle and X-axis is not fully
45 °, this is because there is manufacture installation error, the automatic benefit to manufacture and rigging error may be implemented during system calibrating
It repays.
As shown in figure 5, being rail profile profile schematic diagram, rail to be detected, which is placed on sensor, to be surveyed in region, used
The rotation angle and translational movement of calibration carry out rotation and translation change according to the calibrating parameters in table 1 to collected profile of steel rail data
Get rail profile integrity profile in return.
Pass through its profile size of this rail profile profile measurement, comprising: rail is high, rail head is wide, the web of the rail is thick, rail bottom edge is thick
Degree, rail bottom is wide, section degree of asymmetry, according to TB/T3276-2011, TB/T2344-2012 profile size Computing Principle, by split
Rail profile profile removal after the completion repeats to obtain the region of data, with cubic spline curve piecewise fitting profile data, In
Profile size is calculated in spline curve, acquired results are as shown in table 2.As shown in Table 2, it should be examined based on the profile of steel rail of image procossing
Preferably, measurement accuracy and repeatable accuracy are above ± 0.03 to the repeatability of survey method.
1 calibration result tables of data of table
| Rotation angle (°) | X-axis offset (mm) | Z axis offset (mm) | |
| Sensor 1 | 135.0596 | 0 | 0 |
| Sensor 2 | 44.4173 | 1.2087 | -141.7731 |
| Sensor 3 | -135.0056 | 150.9700 | 5.5178 |
| Sensor 4 | -45.2616 | 154.1022 | -141.3155 |
2 profile of steel rail dimension measurement result of table (unit: mm)
Claims (7)
1. a kind of profile of steel rail detection method based on image procossing, it is characterized in that being used using non-contact laser image-forming principle
Four three-dimensional laser profile sensors acquire rail profile outline datas, by each sensor acquired image data into
Row coordinate transform, rotation, translation carry out pattern conjunction, obtain rail profile profile, the profiled outline dimensioning that will be calculated
It is very little to be compared judgement with iron mark；
Wherein, four coordinate systems are carried out by translation processing according to postrotational image, specifically protects the image of a sensor
It holds constant, the image after its excess-three sensor rotation is translated to the image of first sensor, obtains spliced mark
Quasi- block profiled outline figure, to obtain calibrating parameters 2, i.e. data translational movement S1, S2, S3, S4；
Translation processing the following steps are included:
Step 1: the inflection point of second sensor being moved to and is overlapped with the X-coordinate of the inflection point of first sensor, Z coordinate is passed first
The upward length of the Z coordinate of the inflection point of sensor is that the point of the wide distance of calibrated bolck is overlapped, with translational movement translation second sensor
Image data；The inflection point of 3rd sensor is moved to and is overlapped with the Z coordinate of the inflection point of first sensor, X-coordinate is passed first
Length is that the point of the long distance of calibrated bolck is overlapped to the X-coordinate of the inflection point of sensor to the right, with translational movement translation 3rd sensor
Image data；By the inflection point of the 4th sensor move to the X-coordinate of the inflection point of first sensor to the right length be calibrated bolck it is long
Distance, the upward length of the Z coordinate of the inflection point of first sensor is that the point of the wide distance of calibrated bolck is overlapped, with translational movement translation
The image data of 4th sensor；
Step 2: the fitting a straight line of the collected side of each sensor is sought with the method for linear fit in above-mentioned calibration process, respectively
The intersection point of the fitting a straight line of the top margin of the collected initial data of each sensor or the fitting a straight line and side on bottom edge is calculated, and
The point and corresponding rotation angle are substituted into coordinate rotation formula, obtain postrotational inflection point Zmax1, Zmax2, Zmax3, Zmax4；
Step 3: the collected initial data of each sensor being subjected to multi collect, n times is acquired, takes out the process of N group data
The resulting inflection point Z of step 2max1, Zmax2, Zmax3, Zmax4, it is averaged respectively, obtains Avgmax1, Avgmax2, Avgmax3,
Avgmax4；
Step 4: the translational movement of data is S after the rotation of first sensor1=0, the translational movement of data after the rotation of second sensor
For S2=Avgmax2(x,z)-Avgmax1(x, z+b), the translational movement of data is S after the rotation of 3rd sensor3=Avgmax3(x,
z)-Avgmax1(x+a, z), the translational movement of data is S after the rotation of the 4th sensor4=Avgmax4(x,z)-Avgmax1(x+a,z+
b)。
2. profile of steel rail detection method according to claim 1, it is characterized in that carrying out profile of steel rail parameter using the data
Measurement before, first use rectangular block as rail profile contour detecting calibrated bolck carry out data scaling, calculate rotation angle R1,
R2, R3, R4 and translational movement S1, S2, S3, S4, later each measurement just no longer need to be demarcated, and rail need to be only placed on to survey
Measure on station, directly adopt calibrating parameters: rotation angle peace shifting amount obtains complete rail profile profile, to improve rail exterior feature
Shape detection efficiency.
3. profile of steel rail detection method according to claim 2, it is characterized in that using the preferable cuboid standard of the linearity
Block demarcates it, specifically: it is in 45 ° of positions, cuboid calibrated bolck that four sensors, which are symmetrically mounted on central axes,
The center height that centre-height is symmetrically installed the square to be formed with four sensors is consistent, and then senses four
Device acquired image carries out Rotating Transition of Coordinate processing, unified into the same world coordinate system, with one of image work
On the basis of, the characteristic point in four images is found out, its excess-three image is translated to benchmark according to characteristic point, carries out figure spelling
It closes, obtains calibrated bolck profiled outline, obtain nominal data: rotation angle peace shifting amount.
4. profile of steel rail detection method according to claim 3, it is characterized in that during carrying out data scaling, including with
Lower step:
(1) it is placed in detection station using the calibrated bolck of intended size, opens laser sensor；
(2) data coordinate system by four laser sensor outputs carries out rotation transformation, it is uniformly arrived to the same world coordinates
In system, calibrating parameters 1 are obtained, are rotation angle R1, R2, R3, R4；
(3) postrotational data are subjected to coordinate translation according to the size of calibrated bolck, obtain calibrating parameters 2, translated for data
Measure S1, S2, S3, S4.
5. profile of steel rail detection method according to claim 4, it is characterised in that the described rotation transformation processing include with
Lower step method:
Step 1, the starting point of label acquisition data, according to top margin, bottom edge and the side of the size judgment criteria block of calibrated bolck；
Step 2, the top margin of acquisition or bottom edge are subjected to linear fit:
In four laser sensors, the bottom edge of first sensor and 3rd sensor carries out linear fit, second sensor and the
The top margin of four sensors carries out linear fit, since the X-direction precision of four sensors is 0.15mm, taken top margin or bottom edge
The data at least 5mm of the endpoint away from side, to take the series data after respectively giving up 50 points away from endpoint and inflection point to make fitting a straight line；
Step 3: the slope for obtaining four fitting a straight lines is respectively K1、K2、K3、K4, then obtain the tilt angle theta of fitting a straight line=
tan-1K, tilt angle are denoted as respectively: θ1, θ2, θ3, θ4；
According to the relative position of the bottom edge of each image or top margin and side, rotating angle is respectively R1=180 ° of-θ1, R2=
180°-θ2, R3=-θ3, R4=-θ4, rotation angle is substituted into coordinate rotation formula respectively:
|x′i=xoffset+xi×cosR-yi×sinR
y′i=yoffset+xi×sinR+yi×cosR
In formula: R is rotation angle, xoffsetFor the translational movement of X-direction, yoffsetFor the translational movement of Y-direction, (xi, yi) it is sensor
Collected raw data points coordinate, (x 'i, y 'i) it is coordinate (xi, yi) with rotation angle R rotation, and with vector (xoffset,
yoffset) point coordinate after translation, before calculating data translational movement, (x in formulaoffset, yoffset)=(0,0)；
Step 4: the image after obtaining every group of data rotation, and postrotational data are unified into same world coordinate system.
6. the application of any the method in claim 1 to 5, it is characterized in that this method by this rail profile profile measurement its
Application in profile size, the profile size include that rail is high, rail head is wide, the web of the rail is thick, rail bottom edge thickness, rail bottom are wide, section
Degree of asymmetry.
7. application according to claim 6, it is characterized in that according to national standard TB/T3276-2011, TB/T2344-2012 profile
Size provides Computing Principle, and the rail profile profile removal after the completion of split is repeated to the region for obtaining data, uses cubic spline
Curve segmentation be fitted profile data, in spline curve calculate profile size, acquired results repeatability preferably, measurement accuracy with again
Multiple precision is above ± 0.03.
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