CN106885532B - A kind of detection method of high-precision rail geometric profile - Google Patents
A kind of detection method of high-precision rail geometric profile Download PDFInfo
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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
- 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
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
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Abstract
The invention belongs to photoelectric detection technology fields, are related to a kind of detection method of high-precision rail geometric profile, the analysis suitable for railway track distance and path wear.The present invention constructs combined measurement system using multiple lasers and multiple cameras, and by the integrated treatment of combined calibrating and acquisition data to measuring system, high-precision obtains rail geometric profile characteristic point in the dynamic 3 D coordinate system of two no overlaps.This detection device installs simple and flexible, and detection accuracy is high, can calibrate the world coordinates of bilateral rail simultaneously, the effective three dimensional detection for completing rail geometric profile.The features such as present invention has installation simple and flexible, and detection accuracy is high, can calibrate the world coordinates of bilateral rail simultaneously.
Description
Technical field
The invention belongs to photoelectric detection technology fields, are related to a kind of detection method of high-precision rail geometric profile, fit
Analysis for railway track distance and path wear.
Background technique
Railway is the main artery of national communication transport, assumes responsibility for 70% or more passenger and freight task, route is all
The basis of rail transport and soul.The geometric dimension of railroad track is for guaranteeing that train operational safety and comfort have especially
Important meaning.Currently, China railways works department still mainly uses artificial detection method to the detection of track geometry profile,
This measurement method work amount is big, measuring speed is slow, low efficiency, is difficult to control measurement accuracy.
Laser camera shooting type detection method is to realize a kind of new method of rail geometric profile detection, it is by laser and camera
Deng composition, the principle of rail geometric profile is detected as shown in Figure 1.Laser leads in the rail upslide outgoing laser beam of detection
It crosses and the one or more image of camera shooting is handled to restore rail under regulation coordinate system (where generally taking rail
World coordinate system xyz) in three-dimensional information, then scene information is identified and is understood.Thus, it is several to become future track
The development trend of what outline detection system.
The difficult point of laser camera shooting type detection method is that experimental situation difficulty, installation accuracy are difficult to ensure, changes relationship crowd
It is more.If successively demarcate each camera according to traditional determination transformational relation, then between calibration for cameras and camera and single rail it
Between positional relationship poor robustness and there are problems that error propagation though being not need to rely on scene and calibration object, obtain
Solution precision it is low.Traditional scaling method is the scaling method based on active vision, need to control and take the photograph on active vision platform
Camera does opposite movement, and the requirement to device is relatively high, and installation accuracy not can guarantee.Traditional scaling method can only be to bilateral
Rail is separately demarcated, if position of the rail in different coordinates can only be obtained, the corresponding characteristic point of gauge geometric profile also position
In different coordinates, the geometric profile detection of rail system can not be carried out.
Summary of the invention
In view of the deficiencies of the prior art, the present invention constructs combined measurement system using multiple lasers and multiple cameras, leads to
It crosses the combined calibrating to measuring system and acquires the integrated treatment of data, high-precision obtains the dynamic 3 D coordinate of two no overlaps
Rail geometric profile characteristic point in system.This detection device installs simple and flexible, and detection accuracy is high, can calibrate bilateral iron simultaneously
The world coordinates of rail, the effective three dimensional detection for completing rail geometric profile.
The technical scheme is that
A kind of detection method of high-precision rail geometric profile, which is characterized in that specific method is: according to rail geometry
The requirement of detection, the parameter for completing laser, camera and lifting platform are chosen.4 laser line generators and 4 cameras are selected, by rigid
Property support frame realize coupling for laser line generator and camera.Level calibration plate is placed in lifting platform surface, is emitted by measuring system
Line laser projects to and forms laser rays on scaling board, pictorial diagram such as Fig. 2, and red laser line is located at black calibration plate, the two in figure
With in object space world coordinate system.Meanwhile line laser projects and forms contour line on rail, pictorial diagram such as Fig. 3, contour line position in figure
In object space world coordinate system.The height for adjusting lifting platform, is incident upon on the laser rays and rail on scaling board by cameras record
Contour line and demarcate hole image.The geometric center of prescribed level scaling board is the origin for providing world coordinate system, pixel
The center in face is the origin of image space coordinate system, and u, v axis are parallel to the corresponding axis of photo coordinate system.According to calibration hole in object space and
The coordinate of image space resolves camera internal and external orientation.Contour line is formed on measuring system emission lines laser projection to track, by phase
The image of machine record contour line.The image space coordinate of laser rays and contour line, exterior orientation in combining camera are extracted by image procossing
The object coordinates of element resolving laser rays and contour line.By being fitted object space laser rays, lasing area is obtained under world coordinate system
Normal vector, and then obtain its spin moment.Using spin matrix, the object coordinates of rail contour line are converted, calculate profile
The standard coordinate of line.
It is complete according to the requirement that rail geometry detects in a kind of detection method of above-mentioned high-precision rail geometric profile
It is chosen at the parameter of laser, camera and lifting platform, including following sub-step:
Step 2.1, the required precision detected according to rail geometry, chooses the important indicator parameter of camera: camera resolution
Can control within the scope of 0.1mm/pixel, the range of camera lens F number is 2.2~8, the entrance pupil control of camera 6cm~
9cm, then it is 13.2mm~72mm that camera focus f range, which can be obtained, and field depth is 100mm~150mm.
Step 2.2, according to the requirement of picture quality and laser image coordinate extraction accuracy, by selecting the angle of divergence to compare
Its line width of small laser control is no more than 1mm, and optical maser wavelength is in visible light wave range.
Step 2.3, according to the detection requirement for height of rail, lifting platform stroke should cover the altitude range of rail 176mm.
In a kind of detection method of above-mentioned high-precision rail geometric profile, 4 laser line generators and 4 cameras are selected,
Coupling for laser line generator and camera, including following sub-step are realized by rigid cage:
Step 3.1, the parameter request based on laser line generator and camera selects 4 laser line generators and 4 cameras, each line
At a sub- measuring system, the sub- measuring system of every two constitutes left side subsystem and right side subsystem for laser and camera combination,
For measuring left and right rail geometric profile, each laser line generator requires to place in the same plane, and modes of emplacement is shown in Fig. 2 institute
Show.
Step 3.2,4 cameras are coupled by rigid cage, are required according to the depth of field of camera, camera is in support frame
Position must satisfy:
Δ l=max (lcos ω)-min (lcos ω),
Wherein, Δ l is the depth of field, and l is camera entrance pupil at a distance from rail, and ω is a bit on camera entrance pupil and rail profile
The angle of line and optical axis.
Step 3.3, laser line generator is mounted in rigid cage, adjusts the position of laser line generator, enable laser beam
Track level is enough completely covered, and guarantees that the lasing area of each rail on both sides is coplanar and vertical with track level as far as possible.
In a kind of detection method of above-mentioned high-precision rail geometric profile, level calibration plate is placed in lifting platform table
Face passes through cameras record laser rays and mark by adjusting the height of lifting platform on measuring system emission lines laser projection to scaling board
Determine the image in hole, including following sub-step:
Step 4.1, the level calibration plate as composed by the through-hole that a × b diameter is d, the cross between adjacent through-holes are made
To with longitudinal pitch be dx mm and dy mm.The geometric center of prescribed level scaling board is the origin for providing world coordinate system, note
Coordinate is (x on scaling boardij,yij), wherein i < a, j <b.
Step 4.2, level calibration plate is placed on high-precision lifting platform, guarantees that 4 laser can be presented in scaling board simultaneously
The initial position of line, high-precision lifting platform should be flushed with rail bottom end, and being denoted as height herein is 0.
Step 4.3, by the laser beam projection to scaling board of 4 laser line generators transmitting, change the height z of lifting platforms, zs
=(s-1) × dz, dz are the step-length of height change, and s=1,2,3..., int (H/dz)+1, H are the height of rail, and int is indicated
Rounding operation function.Principle is shown in Fig. 4.As can be known from Fig. 4, in the course of work of the invention, laser and camera are mounted on rail
Two sides, scaling board is placed on lifting platform with one lifting of lifting platform, and position of the laser rays on scaling board is with lifting platform
Level Change, rail are placed on the lower section of lifting platform, not mobile with lifting platform.
Step 4.4, while adjusting lifting platform height, by the image of cameras record scaling board and laser rays, it is marked
Image name is respectively BstAnd Lst, wherein t=1,2,3,4.
In a kind of detection method of above-mentioned high-precision rail geometric profile, according to calibration hole object space and image space seat
Mark resolves image side's positional relationship, including following sub-step:
Step 5.1, using the thresholding method and gravity model appoach in image processing algorithm, to image BstIt carries out processing and extracts water
Through hole center position on flat scaling board obtains the image space coordinate (u of all through-holesij,vij)；
Step 5.2, according to the object coordinates image space coordinate of through-hole, image side transformation pass is acquired by being demarcated with multinomial
System, resolves the internal and external orientation of camera, they meet following relationship:
fst=([uij e,uij e-1vij 1,uij e-2vij 2...vij e,uij e-1...vij e-1,...u,v,1]T)'·[xij,yij]T
Wherein, a11,a12...a1mAnd b21,b22...b2mFor the internal and external orientation of camera, e is time of fitting of a polynomial
Number, m < (a × b).
In a kind of detection method of above-mentioned high-precision rail geometric profile, measuring system emission lines laser projection to rail
Contour line is formed on road, by the image of 4 cameras record contour lines, marking its image name is Gj。
In a kind of detection method of above-mentioned high-precision rail geometric profile, laser rays and wheel are extracted by image procossing
The image space coordinate of profile, combining camera internal and external orientation resolve the object coordinates of laser rays and contour line.
Step 7.1, angle point can be made full use of to extract the image space coordinate of laser rays.The scaling board and laser that camera takes
Effect schematic diagram such as Fig. 5 of laser rays on the be incident upon scaling board of device, circular hole is scaling board through-hole in figure, and straight line is laser
Laser rays on be incident upon scaling board first extracts each laser rays with Threshold segmentation and gravity model appoach and demarcates the picture at the center of through-hole
Square coordinate: (uxs,vxs) and (uks,vks)。
It step 7.2, can be by the image space of scaling board through-hole since all reference points in image side are respectively positioned on same laser rays
Coordinate (uks,vks) by each column fitting straight line, by the image space coordinate fitting laser rays of laser rays, and ask itself and each calibration hole
The intersection point of vertical line, as image space reference point, object reference point coordinate can be obtained by being substituted into image areal coordinate transformational relation, fitting
Straight line obtains object space laser rays.
Step 7.3, using the center of thresholding method and gravity model appoach Extracting contour, the image space coordinate of contour line is obtained
(uls,vls), the object coordinates (x of contour line can be obtained in the internal and external orientation of combining camerals,yls,zls,)。
It obtains and swashs by being fitted object space laser rays in a kind of detection method of above-mentioned high-precision rail geometric profile
Normal vector of the smooth surface under world coordinate system, and then its spin moment is obtained, including following sub-step:
Step 8.1, resulting object space laser rays is fitted object space lasing area, obtains the normal vector of object space lasing areaWherein αtIt is the angle of t-th object space lasing area normal vector and world coordinate system x-axis, βtIt is
The angle of t-th object space lasing area normal vector and world coordinate system y-axis, γtIt is that t-th of object space lasing area normal vector and the world are sat
The angle of mark system z-axis.
Step 8.2, non-coplanar and out of plumb bring error is compensated using the methods of spin matrix.Calculate laser plane institute
Corresponding relationship, that is, spin matrix M of the determining rectangular coordinate system in space to world coordinate systemt, see Fig. 6:
In a kind of detection method of above-mentioned high-precision rail geometric profile, spin matrix M is utilizedt, by rail contour line
Object coordinates converted, calculate the standard coordinate of contour line, space coordinate conversion is shown in Fig. 6, profile coordinate (yb,zb):
yb=M21·xp+M22·yp+M23·zp
zb=M31·xp+M32·yp+M33·zp
Wherein MqvIndicate the q row v column element of Metzler matrix, xp、yp、zpFor the object coordinates of contour line.
Rail geometric profile detection method designed by this patent is different from common detecting methods, and major advantage has: camera
Between there is no public view field, but the calibration of four cameras and four lasers can be carried out simultaneously, output rail geometric profile exists
The coordinate of the same world coordinate system, the efficient detection for completing rail geometric profile.Lasing area is also used as to calibration object,
By the non-coplanar installation error of spin matrix compensation laser installation out of plumb, the detection essence of rail geometric profile is improved
Degree.
Detailed description of the invention:
Fig. 1 Laser video camera method rail geometric profile detection principle diagram；
Fig. 2 laser rays pictorial diagram；
Fig. 3 contour line pictorial diagram；
Fig. 4 rail geometric profile detection system；
Fig. 5 image space laser line coordinates extracts schematic diagram；
Fig. 6 space coordinate transformation；
Fig. 7 camera；
Fig. 8 laser；
Fig. 9 calibration experiment and gauge measurement experiment scene；
The image space image of Figure 10 scaling board；
The image space image of Figure 11 laser rays；
Image space calibration point extracts (z=80mm) on the left of Figure 12；
Figure 13 rail profile picture；
Figure 14 object space laser rays；
Figure 15 object space lasing area；
The part Figure 16 rail profile diagram.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment:
1. the parameter for completing laser, camera and lifting platform is chosen, including following son according to the requirement that rail geometry detects
Step:
(1.1) required precision detected according to rail geometry, chooses the important indicator parameter of camera: resolution ratio 1628 ×
1236,1/1.8 inch of image planes size.Number=3.27 F, using f=28mm tight shot.The depth of field is in 106mm.See Fig. 7.
(1.2) according to the requirement of picture quality and laser image coordinate extraction accuracy, the line width of laser is selected to be less than
1mm, optical maser wavelength 632nm, is shown in Fig. 8.
(1.3) according to the detection requirement for height of rail, lifting platform stroke is more than the altitude range of 176mm.
2. select 4 laser line generators and 4 cameras, coupling for laser line generator and camera is realized by rigid cage, is wrapped
Include following sub-step:
(2.1) parameter request based on laser line generator and camera selects 4 laser line generators and 4 cameras, each line laser
At a sub- measuring system, the sub- measuring system of every two constitutes left side subsystem and right side subsystem, is used for for device and camera combination
Left and right rail geometric profile is measured, each laser line generator requires to place in the same plane.
(2.2) 4 cameras are coupled by rigid cage, are required according to camera depth of field value, and each camera is l away from rail
The line of any and the angle of optical axis are 60 ° on=880mm, machine entrance pupil and rail profile.
(2.3) laser line generator is mounted in rigid cage, adjusts the position of laser line generator, enable laser beam complete
All standing track level, and guarantee that the lasing area of each rail on both sides is coplanar and vertical with track level as far as possible, testing ground
Such as Fig. 9.
3. level calibration plate is placed in lifting platform surface, by adjusting on measuring system emission lines laser projection to scaling board
The height for saving lifting platform passes through the image of cameras record laser rays and calibration hole, including following sub-step:
(3.1) the level calibration plate as composed by the through-hole that 18 × 12 diameters are 3mm, the cross between adjacent through-holes are made
To with longitudinal pitch be 10mm and 20mm., it is specified that the geometric center point of level calibration plate is the original for providing world coordinate system
Point remembers that coordinate is (x on scaling boardij,yij), wherein i < 18, j < 12.
(3.2) level calibration plate is placed on high-precision lifting platform, guarantees that 4 laser rays can be presented in scaling board simultaneously,
The initial position of high-precision lifting platform should be flushed with rail bottom end, and being denoted as height herein is 0.It is horizontal during lifting of lifting table
One lifting of scaling board, and rail is not gone up and down.See Fig. 9 calibration experiment and gauge measurement experiment scene；
(3.3) by the laser beam projection to scaling board of 4 laser line generators transmitting, change the height z of lifting platforms, zs=
(s-1) × 10mm, s=1,2,3..., 19.
(3.4) while adjusting lifting platform height, by the image of cameras record scaling board and laser rays, its image is marked
Title is respectively BstAnd Lst, wherein t=1,2,3,4, wherein BstIt is the image space image of scaling board, pictorial diagram is shown in Figure 10, LstIt is
The image space image of laser rays, pictorial diagram are shown in Figure 11.
4. resolving image side's positional relationship, including following sub-step in the coordinate of object space and image space according to calibration hole:
(4.1) thresholding method in image processing algorithm and gravity model appoach are used, it is specified that image space coordinate is in the center of camera
Origin, to image BstThe through hole center position on processing extraction level calibration plate is carried out, the image space coordinate of all through-holes is obtained
(uij,vij), Figure 12 is left side calibration region in zsCalibration point extraction effect figure under=80mm height.Wherein Red Cross is is mentioned
The scaling board through-hole taken, blue line are laser rays.
(4.2) according to the object coordinates of through-hole, image space coordinate, it is shown in Table 1, wherein (u, v) is image space coordinate, (x, y) is object
Square coordinate.Image side's transformation relation is acquired by binary cubic polynomial, resolves the internal and external orientation f of camerast, it is shown in Table 2:
The object coordinates of 1 through-hole of table, image space coordinate
| u | v | x | y |
| 45 | 45 | -36.242390915411 | -36.2423909154110 |
| 95 | 95 | -33.4705548055907 | -33.4705548055907 |
| 145 | 145 | -30.5944998783789 | -30.5944998783789 |
| 195 | 195 | -27.5993957110939 | -27.5993957110939 |
| 245 | 245 | -24.470411881054 | -24.4704118810540 |
| 295 | 295 | -21.1927179655773 | -21.1927179655773 |
| 345 | 345 | -17.7514835419822 | -17.7514835419822 |
| 395 | 395 | -14.1318781875868 | -14.1318781875868 |
| 395 | 395 | -10.319071479709 | -10.3190714797094 |
| 445 | 445 | -6.29823299566822 | -6.29823299566822 |
| 495 | 495 | -2.05453231278153 | -2.05453231278153 |
| 545 | 545 | 2.42686099163246 | 2.42686099163246 |
| 595 | 595 | 7.16077734025551 | 7.16077734025551 |
2 binary cubic equation fitting coefficient table of table
Wherein, a11,a12...a1mAnd b21,b22...b2mFor the internal and external orientation of camera.
5. form contour line on measuring system emission lines laser projection to track, by the image of 4 cameras record contour lines,
Marking its image name is Gj.See Figure 13.
6. extracting the image space coordinate of laser rays and contour line by image procossing, combining camera internal and external orientation, which resolves, to swash
The object coordinates of light and contour line.
(6.1) angle point can be made full use of to extract the image space coordinate of laser rays.Since all reference points in image side are respectively positioned on
On same laser rays, therefore each laser rays first can be extracted with Threshold segmentation and gravity model appoach and demarcate the image space seat at the center of through-hole
Mark: (uxs,vxs) and (uks,vks)。
(6.2) by the image space coordinate (u of scaling board through-holeks,vks) and be fitted straight line by each column, by the picture of laser rays
Square coordinate fitting laser rays, and the intersection point of itself and each calibration hole vertical line, as image space reference point are asked, substituted into image areal coordinate
Transformational relation can obtain object reference point coordinate, and fitting a straight line obtains object space laser rays.See Figure 14.
(6.3) using the center of thresholding method and gravity model appoach Extracting contour, the image space coordinate (u of contour line is obtainedls,
vls), the object coordinates (x of contour line can be obtained in the internal and external orientation of combining camerals,yls,zls,)。
7. obtaining normal vector of the lasing area under world coordinate system, and then obtain its rotation by fitting object space laser rays
Square, including following sub-step:
(7.1) resulting object space laser rays is fitted object space lasing area, sees Figure 15, the normal vector for obtaining object space lasing area is
n1=(1, -0.0028,0.0016), n2=(1, -0.0209,0.0037).Wherein n1Three coordinate values be lasing area respectively
Normal vector and world coordinate system x, y, the angle of z-axis, n2Ibid.
(7.2) non-coplanar and out of plumb bring error is compensated using the methods of spin matrix.Calculate laser plane institute really
Corresponding relationship, that is, spin matrix of the fixed rectangular coordinate system in space to world coordinate system:
8. utilizing spin matrix M, the object coordinates of rail contour line are converted, the standard coordinate of contour line, portion are calculated
Divide rail profile diagram such as Figure 16, wherein characteristic point coordinate: H=(- 31.689mm, 160mm), V=(- 12.167mm,
172.310mm)。
The calibration of this programme different from common multi-vision visual demarcate, first is that this patent system be to lasing area be imaged, second is that
Different cameral does not have public view field.Therefore this patent proposes to carry out lasing area calibration using the method for lifting of lifting table scaling board
And the transformational relation of image planes to world coordinates is demarcated, and is finally specifically calculated with the method for fitting of a polynomial, is missed to installation
Difference carries out projection process, and has carried out experimental verification, reaches required precision.It is good to solve present in technical background mainly
Problem, this method simple and flexible precision is high, effective to complete the calibration of peg model high accuracy three-dimensional.
Specific embodiments are merely illustrative of the spirit of the present invention described in this patent.Technology belonging to the present invention
The technical staff in field can make various modifications or additions to the described embodiments or by a similar method
Substitution, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (5)
1. a kind of detection method of high-precision rail geometric profile, it is characterised in that: the following steps are included:
4 laser line generators and 4 cameras are connected by rigid cage, realization laser line generator couples with camera, line laser
Device and camera form measuring system；
Level calibration plate is placed in lifting platform surface, by the laser line generator emission lines laser projection of measuring system to level calibration
Laser rays is formed on plate, line laser, which projects, forms contour line on rail；
Adjust the height of lifting platform, the contour line and mark being incident upon on the laser rays and rail on scaling board by cameras record
Determine the image in hole；
The geometric center of prescribed level scaling board is the origin for providing world coordinate system, and the center of pixel faces is image space coordinate system
Origin；
The image space coordinate of laser rays and contour line is extracted by image procossing；
The object coordinates of combining camera internal and external orientation resolving laser rays and contour line；
By being fitted object space laser rays, normal vector of the lasing area under world coordinate system is obtained, and then obtain its spin moment；It utilizes
Spin matrix converts the object coordinates of rail contour line, calculates the standard coordinate of contour line；
The connection method of the laser line generator, camera and rigid cage are as follows: each laser line generator and camera combination are at one
Sub- measuring system, the sub- measuring system of every two constitute left side subsystem and right side subsystem, and left side subsystem, right side subsystem are used
In measurement left and right rail geometric profile, each laser line generator requires to place in the same plane；
4 cameras are coupled by rigid cage, and camera must satisfy in the position of support frame:
,
Wherein, ΔlFor the depth of field,lIt is camera entrance pupil at a distance from rail, ω is the line of camera entrance pupil with any on rail profile
With the angle of optical axis；
Laser line generator is mounted in rigid cage, track level can be completely covered in the laser beam of laser line generator, and each
The lasing area of rail on both sides is coplanar and vertical with track level.
2. the detection method of high-precision rail geometric profile according to claim 1, it is characterised in that: the camera
Resolution ratio is within the scope of 0.1mm/pixel, camera lensFSeveral ranges is 2.2 to 8, and the entrance pupil of camera is controlled 6 cmExtremely
9cm, then camera focus can be obtainedfRange is 13.2mmTo 72mm, field depth is 100mm to 150mm；The laser line generator
Line width is no more than 1mm, and optical maser wavelength is in visible light wave range；The lifting platform stroke is more than or equal to 176mm.
3. the detection method of high-precision rail geometric profile according to claim 1, it is characterised in that: the adjusting
The altitude record laser rays and contour line specific steps of lifting platform are as follows:
It will the level calibration plate as composed by the through-hole that a × b diameter is d；
Level calibration plate is placed on high-precision lifting platform, guarantees that 4 laser rays can be presented in scaling board simultaneously, high-precision is gone up and down
The initial position of platform should be flushed with rail bottom end；
By on the laser beam projection to scaling board of 4 laser line generators transmitting, change the height of lifting platform；
While adjusting lifting platform height, by the image of cameras record scaling board and laser rays.
4. the detection method of high-precision rail geometric profile according to claim 1, it is characterised in that: described passes through
Image procossing extracts the specific steps of the image space coordinate of laser rays and contour line are as follows:
Using the thresholding method and gravity model appoach in image processing algorithm, processing is carried out to image and extracts leading on level calibration plate
Hole center obtains the image space coordinate of all through-holes；
According to the object coordinates image space coordinate of through-hole, is demarcated with multinomial and acquire image side's transformation relation, resolve the interior of camera
Elements of exterior orientation.
5. the detection method of high-precision rail geometric profile according to claim 1, it is characterised in that: the combination
Camera internal and external orientation resolves comprising the concrete steps that for the object coordinates of laser rays and contour line:
The image space coordinate of laser rays is extracted using angle point；
The image space coordinate of scaling board through-hole is fitted straight line by each column, by the image space coordinate fitting laser rays of laser rays, and
The intersection point of itself and each calibration hole vertical line, as image space reference point are asked, object space can be obtained by being substituted into image areal coordinate transformational relation
Reference point coordinate, fitting a straight line obtain object space laser rays；
Using the center of thresholding method and gravity model appoach Extracting contour, obtain the image space coordinate of contour line, combining camera it is interior
The object coordinates of contour line can be obtained in elements of exterior orientation.
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| CN111197957B (en) * | 2018-11-19 | 2021-12-21 | 大族激光科技产业集团股份有限公司 | Line structure cursor positioning platform, using method and calibration system |
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