CN107685747B - A kind of railway freight train limit automatic detection device - Google Patents
A kind of railway freight train limit automatic detection device Download PDFInfo
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- CN107685747B CN107685747B CN201710617326.2A CN201710617326A CN107685747B CN 107685747 B CN107685747 B CN 107685747B CN 201710617326 A CN201710617326 A CN 201710617326A CN 107685747 B CN107685747 B CN 107685747B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/02—Profile gauges, e.g. loading gauges
-
- 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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a kind of railway freight train limit automatic detection devices, to realize the automatic measurement of goods stock limit, the device includes: T-type bracket: including being located at bottom and the matched hook connector of connection hook, scalable vertical bar and cross bar between boxcar, described scalable vertical bar one end connect the other end with hook connector and cross bar passes through rotary connector and is rotatablely connected；Image acquisitions module: it is arranged on cross bar, to obtain the lorry surface image of forwardly and downwardly both direction respectively；Data processing module: including data processing terminal, the data processing terminal synchronizes shooting by triggering synchronizer control image acquisitions module firmly；Rail coordinate basis target: to establish orbit plane coordinate system, it is fitted orbit plane.Compared with prior art, the present invention has many advantages, such as that packaged type, one man operation, measurement accuracy are high.
Description
Technical field
The present invention relates to railway freight fields of measurement, detect dress automatically more particularly, to a kind of railway freight train limit
It sets.
Background technique
With the development of modern survey and draw technology and computer vision technique, photo matching is more and more with three-dimensional reconstruction
Utilization and production practices.In order to ensure the safety that rolling stock is run on rail track, prevent rolling stock from hitting neighbouring
The building and equipment of route, and to rolling stock and close to the building of route, the wheel for not allowing to surmount of equipment defined
Wide dimension line, referred to as limit.Transfinite clearance diagram and station and yard design and the limit that railway department formulates for Spillover Goods Transport
Related regulation, all using railway clearance as foundation.Some shortcomings existing for existing goods stock limit method for measurement.Shipping at present
Vehicle gauge measurement main method has artificial tape measure measurement or clearance gate three-dimensional laser measurement system.But both modes are all deposited
In certain limitation: artificial skin's ruler measurement needs more people to cooperate, and staff needs to climb down on goods stock swashes,
There are certain insecurity factor, precision is affected by multi-party factor, and (there are errors for goods stock limit for height benchmark planar survey, left
Right limit for width measurement, central axes are chosen there are error, and goods stock is mostly curved surface, and there are certain errors when tape measure measures).Clearance gate
Three-dimensional laser measurement system, warning portal position are fixed, and mobility measurements are not strong, and need centainly to be changed to goods station scene
It makes, cost is larger.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of railway freight trains
Limit automatic detection device.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of railway freight train limit automatic detection device should to realize the automatic measurement of goods stock limit
Device includes:
T-type bracket: including being located at bottom and the matched hook connector of connection hook, scalable vertical bar between boxcar
And cross bar, described scalable vertical bar one end, which connect the other end and cross bar with hook connector and rotated by rotary connector, to be connected
It connects；
Image acquisitions module: it is arranged on cross bar, to obtain the lorry table of forwardly and downwardly both direction respectively
Face picture；
Data processing module: including data processing terminal, the data processing terminal passes through triggering synchronizer control firmly
Image acquisitions module synchronizes shooting；
Rail coordinate basis target: to establish orbit plane coordinate system, it is fitted orbit plane.
The image acquisitions module includes industrial camera and downward industrial camera forward, side by side by camera collet
It is arranged on cross bar, and is communicated respectively by triggering synchronizer firmly with data processing terminal.
The industrial camera forward is equipped with 4, and resolution ratio is 5,000,000 pixels, and the downward industrial camera is equipped with 6
Platform, resolution ratio are 3,000,000 pixels.
The synchronization time of the hard triggering synchronizer reaches 10-8Second.
The device further includes the spot style monochromatic source laser being arranged at rotary connector, the data processing
Terminal controls spot style monochromatic source laser by triggering synchronizer firmly.
The camera collet uses Bidirectional rotating structure, locked by nut on each direction of rotation, realizes any
Angle shot.
The rail coordinate basis target is that a surface is equipped with the tessellated I-steel of black and white, and four corners are respectively equipped with
Buckle, angle spiral and level(l)ing bubble.
The scalable vertical bar is made of carbon materials, and the hook connector is duralumin material.
Compared with prior art, the invention has the following advantages that
One, single set up, work efficiency is high: image acquisitions module of the invention by four forward high pixel camera with
Six middle low pixel camera composition, fixations of camera downwards pass through least camera number, realize that single is set up, lorry surface
Image all acquires, to greatly improve working efficiency.
Two, reduce interference: the present invention by hardware trigger module realization synchronize it is controllable take pictures, synchronization time is reachable
10-8Second, when measurement, can greatly reduce vibration, and strong wind etc. extraneous factor is interfered.
Three, flexible rotation, fixing-stable: any angle on industrial camera cross bar may be implemented in camera collet design of the present invention
Rotation is fixed.Cross bar connector, hook connector measure the switching and fixation with limit for width measurement pattern convenient for limit for height.This outer hanging hook
Connector makes connection between device and boxcar link up with seamless matching, keeps transposition more stable when in use.
Four, improve reconstruction point cloud density: spot style monochromatic source laser of the invention is auxiliary image texture enhancing dress
It sets, in design, is distributed close camera lorry surface laser point diluter, it is closeer far from the distribution of camera lorry surface laser point,
Ensure that lorry surface characteristics point is evenly distributed, when lorry feature is unobvious, supplemented on truck body by laser one
A little beam patterns can greatly improve reconstruction point cloud density.
Five, track benchmark accuracy is high: four angles of I-steel carry screw, and use the tessellated pattern of black and white, base
In Robust Algorithm of Image Corner Extraction, avoiding shelter influences, and constructs coordinate system, and experiment shows that the track benchmark accuracy constructed is higher.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of apparatus of the present invention, and in figure, 1,2,3,4 be industrial camera forward, be denoted as Front1,
Front2, Front3, Front4,5,6,7,8,9,10 be downward industrial camera, be denoted as Down1, Down2, Down3, Down4,
Down5, Down6,11, trigger synchronizer firmly, 12, data processing terminal, 13, spot style monochromatic source laser, 14, scalable
Vertical bar, 15, I-steel, 16, hook connector.
Fig. 2 is rail coordinate basis target construction schematic diagram.
Fig. 3 is the structural schematic diagram of camera collet.
Fig. 4 is I-steel coordinate transition diagram.
Fig. 5 is invention device limit for height measurement pattern schematic diagram.
Fig. 6 is invention device limit for width measurement pattern schematic diagram.
Fig. 7 is the three-dimensional point cloud result testing image data forward intersection and restoring.
Fig. 8 is that lorry limit judges schematic diagram.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
1 device hardware platform is built；
Measurement number as few as possible is used in order to realize, the high-precision completion lorry limit for height limit for width measurement of simple and effective, this
The structure of invention as shown in Figure 1, device hardware mainly by part of data acquisition (image acquisitions module), coordinate transformation device
(rail coordinate system benchmark target, I-steel 15), (hard triggering synchronizer 11, hook connector 16, spot style are monochromatic for supplementary module
Light source laser 13) and 12 4 part compositions of data processing terminal.
Part of data acquisition, that is, industrial camera image acquisitions module, You Sitai forward high pixel camera with six downwards
Middle low pixel camera is constituted, and synchronizes controllable take pictures by hardware trigger realization.Industrial camera image collecting module, uses
It is common industrial camera, the rigid bar by being not easy deformation is connected, and camera collet uses the structure of bidirectional rotation, realizes phase
Machine any angle shot on cross bar, the structure locked on each direction of rotation using more nuts, it is ensured that in camera in cross bar
The stabilization of upper positional relationship.It after camera is fixed, is demarcated first, determines the internal and external orientation of each camera to get to 10
Spatial relation between platform camera.Camera collet configuration details is shown in attached drawing 3.
Synchronous photo taking device uses hardware trigger, and synchronization time is up to 10-8Second, vibration can be greatly reduced, strong wind etc. is outer
The interference of boundary's factor.Spot style monochromatic source laser 13 is located at part of data acquisition center, to assist image texture enhancement device,
When design, it is distributed close camera lorry surface laser point diluter, it is closeer far from the distribution of camera lorry surface laser point, in this way may be used
To ensure that lorry surface characteristics point is evenly distributed.When lorry feature is unobvious, supplemented on truck body by laser
Some beam patterns can greatly improve reconstruction point cloud density.Spot style monochromatic source laser 13 as camera model all
It is to be controlled by computer by triggering firmly.
Rail coordinate system benchmark target (I-steel 15) and removable computer terminal 12 respectively constitute rail coordinate basis part
With data processing section.Based on stereogram, the three-dimensional information using the method recovery of forward intersection is built when being with camera calibration
Vertical control target coordinate system is consistent, and the goods train surface point cloud of recovery is located in this Control coordinate system.
Since lorry limit is using track level and rail perpendicular bisector as standard, so we establish an orbit plane by target
Coordinate system.In goods station, closer range inner orbit is almost horizontal, the shape and gauge of combined standard rail, using fitting rail
The I-shaped shape target in road is fitted orbit plane.I-shaped four angles of target (I-steel) carry screw.Using gridiron pattern
Pattern, be based on Robust Algorithm of Image Corner Extraction, avoiding shelter influences, and constructs coordinate system, i-beam structure is as shown in Fig. 2.Experiment
Show that the track benchmark accuracy of this method building is higher.
2 camera angles are fixed and calibration；
Camera collet uses the structure of bidirectional rotation, camera any angle shot on cross bar is realized, in each rotation side
The structure locked upwards using more nuts, it is ensured that after camera calibration, the stabilization of camera position relationship on cross bar.Camera calibration base
It is carried out in the camera calibration method of Zhang Zhengyou, simulates the rough measurement range of lorry, the internal and external orientation of ten cameras is distinguished
It is demarcated.
3 acquisition image datas；
There are two types of the modes of measurement, i.e. limit for height measurement (attached drawing 5) and limit for width measurement (attached drawing 6) for part of data acquisition.It is primary to survey
Amount needs six camera sync pulse jammings, acquires four width forward, the downward image data of two width.Such as limit for height measures, camera
Front1, Front2, Front3, Front4, Down1, Down3 sync pulse jamming, are transmitted to computer.Front1,Front2,
Front3, Front4 rebuild train top surface 3 dimensional coil geometry for building stereogram two-by-two.Down1, Down3 are used for
It is fitted track level, establishes orbit plane coordinate system.Train top surface three-dimensional point cloud is converted to orbit plane coordinate system, is sentenced
It is disconnected whether to transfinite.A limit for height measurement is completed in one section compartment and limit for width measures twice.
Every industrial camera quality is about 150 grams；Cross bar and telescopic rod use carbon materials, guarantee hardness and rigidity simultaneously
Further decrease quality, about 3000 grams；Camera collet is connected, connector uses duralumin material, lighter weight, and has sufficiently strong
Degree, about 400 grams of quality；Other 600 grams.About 5.5 kilograms of gross mass, meet the requirement of single control and portable mobile.
4 lorries top and side three-dimensional reconstruction；
Forward four width image is denoted as Front1, Front2, Front3, Front4 respectively, is with Front1, Front2
Example, carries out following data processing.The image data to be matched for two, for the time efficiency for improving characteristic point detection, first structure
Pyramid image is built, then the region for having the division being directed to be matched.Using a kind of matching strategy based on multiple constraint, obtain as far as possible
More match points calculates three-dimensional coordinate, three-dimensional point cloud result such as 7 institute of attached drawing that forward intersection restores using known camera parameter
Show.According to vehicle body approximate range, remove in point cloud, non-truck body partial dot cloud.Same method, to Front2, Front3；
Front3,Front4；Front1,Front3；Front2,Front4；Front1, Front4 are opposite to be handled, to obtain more
Point cloud data at the top of the wider array of lorry of close covering.
When single-point limit for height limit for width measures, using the match point of top layer image as control point, selected as needed in left image
The point of required measurement calculates the match point of left image selection point based on the constraint of core line and perspective transform in right image,
Using camera calibration parameter, the three-dimensional coordinate of thorn point is calculated.
5 rail coordinate basis are established, and coordinate conversion, railway freight-car boundary measures.
Rail coordinate basis target is using the gridiron pattern texture for being easy to extract, and surface accurate is smooth, the buckle on four angles
With angle spiral and level(l)ing bubble, keep target seamless applying with track.Two downward width images are denoted as Down1, Down2 respectively, into
The following data processing of row.X-comers are extracted first, are based on core line constrained matching angle point；Then internal and external orientation is used,
Forward intersection calculates the three-dimensional coordinate of matching angle point；By all angle point three-dimensional coordinates of target plane, based on least square
Method is fitted orbit plane, the three-dimensional coordinate in X-direction and Y-direction is projected in orbit plane, fitting of distribution goes out X-axis and Y
Axis determines coordinate origin, and the normal vector for being fitted orbit plane is coordinate system Z-direction, and it is higher so to construct precision
Orbital coordinate system；Finally lorry three dimensional point cloud is transformed into partial orbit coordinate system, calculates limit for height and limit for width.It is I-shaped
The design of chessboard target can seamless applying track, construct orbital coordinate system at that time, but can effectively avoid such as link up with
The interference of equal compartments attached article, furthermore spatial relationship increases by one layer of constraint between parallel grid points, can be further improved precision.
The judgement as shown in figure 8, goods train transfinites is the process an of spatial point and the judgement of space face.In order to simplify reality
Existing difficulty, the method that the present invention judges outline measuring using a kind of projection of section.In partial orbit coordinate system, x-axis direction is
Rail direction, oyh plane are parallel to lorry cross section.When judging whether transfinites, x-axis direction does not influence boundary judgement,
When realization, it is only necessary to, the point coordinate after conversion is projected along the x-axis direction to oyh plane, in position of the oyh plane judgement point with line
Relationship is set, simplifies realize difficulty in this way, and improve judging efficiency.It operates in this way, realizes compartment surface three dimension point
Cloud is rebuild whole limit for height limit for width measurement and is judged automatically with boundary.By method as above also may be implemented single-point limit for height limit for width measure with
Boundary judges automatically.Opposite point distance measuring is calculated by calculating the three-dimensional coordinate of two single-points.
The present invention constructs a kind of railway freight train limit automatic detection device.Device hardware is mainly adopted by image data
Acquisition means (industrial camera image module), coordinate transformation device (rail coordinate system benchmark target, I-steel), supplementary module are (same
Walk device, connector, spot style monochromatic source laser) and four part compositions of data processing terminal.Data processing terminal is main
Realize lorry image acquisitions, feature point extraction with match, restore at the top of lorry and side three-dimensional point cloud, and carry out coordinate turn
Change, point cloud data is unified into railroad track coordinate system, and then realize railway freight-car boundary automatic measurement.
Claims (7)
1. a kind of railway freight train limit automatic detection device, special to realize the automatic measurement of goods stock limit
Sign is that the device includes:
T-type bracket: including being located at bottom and the matched hook connector (16) of connection hook, scalable vertical bar between boxcar
(14) and cross bar, described scalable vertical bar (14) one end connect with hook connector (16) other end pass through with cross bar it is rotatable
Connector rotation connection；
Image acquisitions module: it is arranged on cross bar, to obtain the lorry surface shadow of forwardly and downwardly both direction respectively
Picture；
Data processing module: including data processing terminal (12), the data processing terminal (12) by triggering synchronizer firmly
(11) control image acquisitions module synchronizes shooting；
Rail coordinate basis target: to establish orbit plane coordinate system, it is fitted orbit plane；
The device further includes the spot style monochromatic source laser (13) being arranged at rotary connector, the data processing
Terminal (12) passes through triggering synchronizer control spot style monochromatic source laser (13) firmly.
2. a kind of railway freight train limit automatic detection device according to claim 1, which is characterized in that the shadow
Picture data acquisition module includes industrial camera and downward industrial camera forward, is disposed side by side on cross bar by camera collet, and
And it is communicated respectively by triggering synchronizer (11) firmly with data processing terminal (12).
3. a kind of railway freight train limit automatic detection device according to claim 2, which is characterized in that it is described to
Preceding industrial camera is equipped with 4, and resolution ratio is 5,000,000 pixels, and the downward industrial camera is equipped with 6, and resolution ratio is 3,000,000 pictures
Element.
4. a kind of railway freight train limit automatic detection device according to claim 1, which is characterized in that described is hard
The synchronization time of triggering synchronizer (11) reaches 10-8Second.
5. a kind of railway freight train limit automatic detection device according to claim 2, which is characterized in that the phase
Machine collet uses Bidirectional rotating structure, locked by nut on each direction of rotation, realizes any angle shooting.
6. a kind of railway freight train limit automatic detection device according to claim 1, which is characterized in that the iron
Rail coordinate basis target is that a surface is equipped with the tessellated I-steel of black and white (15), and four corners are respectively equipped with buckle, angle spiral
And level(l)ing bubble.
7. a kind of railway freight train limit automatic detection device according to claim 1, which is characterized in that described can
Flexible vertical bar (14) are made of carbon materials, and the hook connector is duralumin material.
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| CN109269464B (en) * | 2018-09-25 | 2020-06-16 | 武汉船用机械有限责任公司 | Detection tool and detection method for motor support |
| CN109740524B (en) * | 2018-12-29 | 2021-02-02 | 斑马网络技术有限公司 | Monocular vision vehicle monitoring method and device |
| CN109813293B (en) * | 2019-03-08 | 2020-11-03 | 福建省特种设备检验研究院 | Crane track detection method based on three-point measurement method |
| CN111768417B (en) * | 2020-06-23 | 2023-12-05 | 中南大学 | Railway wagon overrun detection method based on monocular vision 3D reconstruction technology |
| CN114719776B (en) * | 2022-04-11 | 2023-06-13 | 中车株洲电力机车有限公司 | Calibration tool and calibration method for railway vehicle body contour detection system |
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| RU2311311C2 (en) * | 2006-01-20 | 2007-11-27 | Производственный кооператив "Научно-производственный комплекс "Автоматизация" | Method of and system for remote checking of rail car loads for falling within clearance limits |
| CN101082489A (en) * | 2007-07-11 | 2007-12-05 | 武汉立得空间信息技术发展有限公司 | railroad clearance high speed dynamic detecting device |
| CN201901143U (en) * | 2010-12-21 | 2011-07-20 | 郑州峰华电子有限责任公司 | Railway clearance measuring vehicle |
| CN102941864B (en) * | 2012-11-09 | 2015-03-25 | 武汉翔翼科技有限公司 | Train loading state high-definition monitoring and overloading detection method |
| CN103223955B (en) * | 2013-03-27 | 2016-05-04 | 南车株洲电力机车有限公司 | A kind of detection method of vehicle gauge and device |
| CN203310400U (en) * | 2013-06-06 | 2013-11-27 | 中特物流有限公司 | Limit detection system |
| CN203772242U (en) * | 2014-02-28 | 2014-08-13 | 北京金日恒升科技有限公司 | Subway limit measuring device |
| CN203949625U (en) * | 2014-05-16 | 2014-11-19 | 南京南车浦镇城轨车辆有限责任公司 | A kind of Metro Clearance pick-up unit based on laser measurement |
| CN104374335B (en) * | 2014-11-20 | 2017-09-05 | 中车青岛四方机车车辆股份有限公司 | Rail vehicle Clearance Detection |
| CN104655049A (en) * | 2015-03-16 | 2015-05-27 | 中国兵器工业集团第二一四研究所苏州研发中心 | Portable goods limit measurement instrument |
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