CN109653045A - Gauge measurement method and device - Google Patents
Gauge measurement method and device Download PDFInfo
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- CN109653045A CN109653045A CN201910078759.4A CN201910078759A CN109653045A CN 109653045 A CN109653045 A CN 109653045A CN 201910078759 A CN201910078759 A CN 201910078759A CN 109653045 A CN109653045 A CN 109653045A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B35/00—Applications of measuring apparatus or devices for track-building purposes
- E01B35/02—Applications of measuring apparatus or devices for track-building purposes for spacing, for cross levelling; for laying-out curves
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Abstract
The embodiment of the present invention provides a kind of gauge measurement method and device, this method comprises: continuously measuring the altitude data for obtaining rail to be measured using line scanning three-dimensional measurement sensor, rail includes left side rail and right side rail；Positioning obtains rail tread data and rail head inside edge data in altitude data；According to rail tread data and rail head inside edge data acquisition rail inside edge point, rail inside edge point includes the second inside edge point positioned at the first inside edge point of left side rail and positioned at right side rail；It regard the distance between the first inside edge point and the second inside edge point as gauge.The embodiment of the present invention continuously measures the altitude data for obtaining rail to be measured by line scanning three-dimensional measurement sensor, obtains gauge based on altitude data；Since line scanning three-dimensional measurement sensor is in the intensive of cross-sectional direction sampled point, influence of the Rail Surface fluctuating texture to measurement result is reduced, improves measurement accuracy compared with the existing technology.
Description
Technical field
The present embodiments relate to field of measuring technique, more particularly, to a kind of gauge measurement method and device.
Background technique
Gauge is an important parameter in rail geometric dimension, grasps gauge information in time to guaranteeing that traffic safety has
Significance.The non-contact gauge detection method of early stage is measured using photoelectric sensor and servo mechanism, but this side
Method is vibrated, climatic effect is big and servo mechanism is easily damaged.In recent years in the prior art, there is use four laser
Rangefinder is detected under rail level respectively to the distance at track checking car center at 16mm, and then calculates gauge.But the measurement method is to adopt
With single-point ranging scheme, it is affected by Rail Surface fluctuating texture (such as iron rust), can not effectively be rejected in measuring point
Measurement error, therefore the precision of measurement result can not ensure in certain environments.
Summary of the invention
To solve the above-mentioned problems, the embodiment of the present invention provides one kind and overcomes the above problem or at least be partially solved
State the gauge measurement method and device of problem.
According to a first aspect of the embodiments of the present invention, a kind of gauge measurement method is provided, this method comprises: scanning using line
Three-dimensional measurement sensor continuously measures the altitude data for obtaining rail to be measured, and rail includes left side rail and right side rail；In height
Number of passes positioning in obtains rail tread data and rail head inside edge data；According to rail tread data and rail head inside edge
Data acquisition rail inside edge point, rail inside edge point include positioned at the first inside edge point of left side rail and positioned at the right side
Second inside edge point of side rail；It regard the distance between the first inside edge point and the second inside edge point as gauge.
Second aspect according to embodiments of the present invention provides a kind of rail gauge measuring apparatus, which includes: that line scanning is three-dimensional
Measurement sensor, mileage coder and measurement carrier；Mileage coder and at least one line scanning three-dimension sensor are set to survey
Loading gage body；Measurement carrier along rail to be measured for moving；Line scanning three-dimensional measurement sensor is made of laser and three-dimensional camera,
For emitting a word laser rays to rail, and obtain the altitude data of the corresponding Rail Surface profile of laser rays；Line scanning is three-dimensional
Measurement sensor is covered in the bottom of rail in the measurement range of the cross-sectional direction of rail；Mileage coder is for recording measurement
The mileage information that carrier is travelled along rail.
According to a third aspect of the embodiments of the present invention, a kind of electronic equipment, including memory, processor and storage are provided
On a memory and the computer program that can run on a processor, processor is realized various such as first aspect when executing program
Gauge measurement method provided by any possible implementation in possible implementation.
Gauge measurement method provided in an embodiment of the present invention and device, it is continuous by using line scanning three-dimensional measurement sensor
Measurement obtains the altitude data of rail to be measured, and obtains gauge based on altitude data；Since line scanning three-dimensional measurement sensor exists
The intensive of cross-sectional direction sampled point reduces influence of the Rail Surface fluctuating texture to measurement result, therefore relative to existing
There is technology to improve measurement accuracy.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.It should be evident that the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these figures.
Fig. 1 is the flow diagram of gauge measurement method provided in an embodiment of the present invention；
Fig. 2 is measurement scheme schematic diagram provided in an embodiment of the present invention；
Fig. 3 is rail tread provided in an embodiment of the present invention, the rail head inside edge band of position and rail head inside lower edge
The schematic diagram of point；
Fig. 4 is pretreated rail Measure section schematic diagram provided in an embodiment of the present invention；
Fig. 5 turns gray scale signal for rail three-dimensional data after pretreatment provided in an embodiment of the present invention or elevation point cloud data
Figure；
Fig. 6 is rail tread provided in an embodiment of the present invention and rail head inside edge position data schematic diagram；
Fig. 7 is the gauge schematic diagram of calculation result provided in an embodiment of the present invention based on section；
Fig. 8 is modified gauge schematic diagram of calculation result provided in an embodiment of the present invention；
Fig. 9 is the entity structure schematic diagram of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical solution in the embodiment of the present invention is explicitly described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
The embodiment of the present invention provides a kind of gauge measurement method, and referring to Fig. 1, this method includes but is not limited to:
Step 10 continuously measures the altitude data for obtaining rail to be measured, rail packet using line scanning three-dimensional measurement sensor
Include left side rail and right side rail.
Wherein, line scanning three-dimensional measurement sensor can be made of three-dimensional camera, laser and controller, and line scanning is three-dimensional
Sensor can obtain the elevation of Rail Surface corresponding to laser rays using principle of triangulation.Line scanning three-dimensional measurement can be sensed
Device is set to measurement carrier (such as trolley), which can move along rail.Line scanning three-dimensional measurement sensor is in X-direction
Measurement range should at least cover the bottom of rail.The section survey direction of line scanning three-dimensional measurement sensor and rail it is cross-section
Face direction is parallel, namely perpendicular to the direction of traffic of measurement carrier.In measurement process, mobile vehicle can be driven to transport along rail
Dynamic, line scanning three-dimensional measurement sensor can continuously be measured in the motion process of measurement carrier, to obtain the height of rail
Number of passes evidence.
Step 20, positioning obtains rail tread data and rail head inside edge data in altitude data.
Specifically, the altitude data obtained in step 10 is the altitude data of entire rail, and rail is by multiple portions
Composition, wherein rail tread is the part that rail is contacted with wheel.It in this step, will be on the inside of rail tread data and rail head
Edge data is extracted from elevation.
Step 30, according to rail tread data and rail head inside edge data acquisition rail inside edge point, on the inside of rail
Marginal point includes the second inside edge point positioned at the first inside edge point of left side rail and positioned at right side rail.
Wherein, inside edge point is the point nearest apart from orbit centre in a cross section of rail.Left side rail and the right side
An inside edge point is respectively provided on the rail of side.
Step 40 regard the distance between the first inside edge point and the second inside edge point as gauge.
Wherein, the distance between the first inside edge point and the second inside edge point are Euclidean distance.The distance is two
Distance of a inside edge point in cross-sectional direction (i.e. X-direction in Fig. 2).Since line scanning three-dimensional measurement sensor is continuous
The altitude data obtained is measured, therefore the gauge for obtaining and being located at track difference mileage can be calculated.
Gauge measurement method provided in an embodiment of the present invention is continuously measured by using line scanning three-dimensional measurement sensor and is obtained
The altitude data of rail to be measured is obtained, and gauge is obtained based on altitude data；Since line scanning three-dimensional measurement sensor is in cross section
The intensive of direction sampled point reduces influence of the Rail Surface fluctuating texture to measurement result, therefore compared with the existing technology
Improve measurement accuracy.
Content based on the above embodiment provides one kind and positions acquisition in altitude data as a kind of alternative embodiment
The method of rail tread data and rail head inside edge data, including but not limited to following steps:
Step 21, by elevation variation characteristic, Primary Location obtains potential rail tread data and rail in altitude data
Head inside edge data；Wherein, elevation variation characteristic includes that the elevation of rail tread data and rail head inside edge data is opposite
Higher feature, rail head data occur the feature jumped on elevation with web of the rail data and rail head lower edge Curvature varying is larger
At least one of feature.
Specifically, the principle of this step is relatively high, rail head shapes, line scanning three-dimensional measurement biography using rail head elevation
Sensor installation site and the relative distance relationship of rail positioning rail tread and rail head inside edge.Specifically, in rail tread
And in the data acquisition of rail head of rail inside edge, and rail head measurement data relatively high first with its elevation and the web of the rail are surveyed
Amount data occur jumping on elevation or rail head on the inside of the biggish feature of lower edge Curvature varying, the potential rail tread of Primary Location
And rail head of rail inside edge data characteristics point.
Step 22 removes potential rail tread by the distance between line scanning three-dimensional measurement sensor and rail relationship
Foreign matter area data in data and rail head inside edge data obtains rail tread data and rail head inside edge data.
Specifically, using relative distance relationship (the i.e. rail of line scanning three-dimensional measurement sensor mounting location and rail
Approximate location in X-direction measurement range), remove foreign matter area data caused by the foreign matters such as the lamps and lanterns in track plates region.
It can be improved the precision of gauge measurement by the rejecting of foreign matter area data.
Content based on the above embodiment, as a kind of alternative embodiment, by line scanning three-dimensional measurement sensor with
The distance between rail relationship remove the foreign matter area data in potential rail tread data and rail head inside edge data it
Before, further includes: pass through continuity of the rail head data on cross-sectional direction and the width range feature on cross-sectional direction, removal
Noise region data in potential rail tread data and rail head inside edge data.That is, using rail head of rail data in cross
The width range feature of continuity and X-direction on section direction removes partial noise region.
Content based on the above embodiment provides a kind of according to rail tread data and rail as a kind of alternative embodiment
The method of head inside edge data acquisition rail inside edge point, the principle of this method is: rail tread and rail based on acquisition
Head inside edge data, first calculate rail tread elevation, comprehensive true in conjunction with the elevation of down contour point (being denoted as A) on the inside of rail head
The tyre tread and rail inside edge point set S being positioned in setting range under rail tread (such as 16mm)；It is selected from set S again
The point in X-direction near orbit centre is selected, is put using this as the rail inside edge point for participating in gauge calculating.Specifically, should
Method includes but is not limited to following steps:
Step 31, the tyre tread elevation that rail is calculated according to rail tread data and rail head inside edge data.
In this step, content based on the above embodiment, as a kind of alternative embodiment, which is specifically included:
Small range filtering processing is carried out to rail tread data and rail head inside edge data；By the rail tread after filtering processing
Highest elevation in data and rail head inside edge data in the corresponding elevation of each data point is as tyre tread elevation.In other words, may be used
Small range filtering first is carried out to the rail tread of acquisition and rail head inside edge data；Then, by the rail after being filtered
The highest height of elevation is as tyre tread elevation in tyre tread and rail head inside edge data.
Step 32 is determined according to the elevation of down contour point on the inside of tyre tread elevation and rail head positioned at setting range under rail tread
Interior tyre tread and rail inside edge point set；Wherein, down contour point is the rail tread data and the rail on the inside of rail head
The minimum point of elevation in the data of head inside edge.
Specifically, the A point on the inside of rail head in down contour point, that is, Fig. 3, the elevation of the point are after being filtered in the steel
The minimum point of elevation in rail tyre tread data and rail head inside edge data.
Content based on the above embodiment provides a kind of according in tyre tread elevation and rail head as a kind of alternative embodiment
The elevation of side down contour point determines the method for being located at tyre tread and rail inside edge point set under rail tread in setting range,
Including but not limited to following steps:
The elevation of down contour point on the inside of tyre tread elevation and rail head is made poor, acquisition depth displacement by step 321.Above-mentioned depth displacement
H can be denoted as.
Step 322 calculates according to depth displacement, standard elevation difference and setting range and obtains elevation range.Specifically, standard is high
Path difference is rail head inside down contour point A point in standard rail head size to the height difference H of tyre tread.It is understood that H is one
The definite value of standard, and h is the random value obtained based on measured value.The elevation range T intercepted under setting rail tread elevationHElevation
Range can be calculated by following formula:
TH=a*w1+h/H*a*w2
In formula, a is setting range, such as a=16；Wherein, w1=0.7, w1=0.3.
Elevation is located at the group of data points under rail tread within the scope of elevation into tyre tread and rail inside edge by step 323
Point set.In other words, set S is T under rail treadHTyre tread and rail inside edge point in range.
Step 33 selects on cross-sectional direction in tyre tread and rail inside edge point set near the center of track
Data point, using data point as rail inside edge point.
Content based on the above embodiment, as a kind of alternative embodiment, positioning obtains rail tread in altitude data
Before data and rail head inside edge data, a kind of pretreated method is also provided, this method includes but is not limited to: passing through calibration
Altitude data is carried out the conversion of image space coordinate to object coordinates by file, and demarcating file is for recording image space coordinate and object coordinates
Between transformational relation.
Specifically, before carrying out rail tread and the acquisition of rail head inside edge point, altitude data can be pre-processed.
Pretreatment may include coordinate conversion and outlier processing two parts.Wherein, for coordinate conversion portion: (i.e. by the data of measurement
Altitude data) (pass through calibration by the conversion of demarcating file progress image space coordinate to object coordinates and obtain measurement data in object
(X, Z) coordinate of side).The demarcating file can obtain in the following way: online scanning three-dimensional measurement sensor is mounted on measurement
After carrier, before gauge measurement, pass through the method for calibration, the transformational relation of record image space coordinate to object coordinates.
Content based on the above embodiment, as a kind of alternative embodiment, on the inside of by the first inside edge point and second
The distance between marginal point also provides the method that a kind of pair of measurement result is modified as after gauge, including but not limited to:
Median filter process is carried out to gauge data acquisition system, obtains and refers to gauge；Wherein, gauge data acquisition system includes multiple positions in rail
The corresponding gauge of measuring point at different mileages；Gauge corresponding for each measuring point carries out outlier processing.It is described different
Constant value processing includes: to be compared gauge with reference to gauge, obtains difference value；If difference value is greater than discrepancy threshold, will survey
The gauge of point replaces with reference to gauge or deletes the gauge of measuring point.Gauge data after the outlier processing are filtered
Wave obtains final gauge measurement result.
Specifically, it is influenced due to the rail data of measurement by Rail Surface fluctuating texture and measurement posture, based on single
There are biggish measurement errors for the gauge of section calculation, therefore need to be modified to the gauge based on section calculation.It was correcting
Cheng Zhong, the gauge data of first rejecting abnormalities, then to the gauge data filtering after abnormality processing, and then obtain the rail of final (amendment)
Away from measurement result.Specifically: original gauge data are filtered first, obtain refer to gauge, then analyze original gauge with
With reference to the difference value D of gauge, deletes difference value and be greater than TDMeasured value (or surveyed with the replacement of the reference gauge value of current measuring point is current
The original measurement value of point), then to the gauge data filtering after abnormality processing, and then obtain the gauge measurement knot of final (amendment)
Fruit.The filters such as mean filter, gaussian filtering can be selected in gauge data filtering.Make measurement result by rail table by above-mentioned amendment
The influence of face fluctuating texture and measurement posture is smaller, and measurement result is reliable and stable, strong antijamming capability.
In conclusion gauge measurement method provided in an embodiment of the present invention at least has the advantages that
(1) since line scanning three-dimensional measurement sensor is in the intensive of cross-sectional direction sampled point, Rail Surface is reduced
Influence of the fluctuating texture to measurement result, while can accurately obtain tyre tread and rail inner side edge under rail tread within the scope of 16mm
Multiple measuring points of edge mention conducive to the accurate minimum range found under rail surface within the scope of 16mm between two bursts of rail action edges
The high accuracy based on section calculation gauge；
(2) since (measurement moving direction) sampled point is very intensive in the Y direction for line scanning three-dimensional measurement sensor, to being based on
The gauge of section calculation is corrected, and is influenced measurement result by Rail Surface fluctuating texture and measurement posture smaller, is surveyed
It is reliable and stable to measure result, strong antijamming capability；
(3) it realizes that contactless rail gauge rapidly, continuously, dynamically measures, improves detection efficiency.
The embodiment of the present invention also provides a kind of gauge measurement of gauge measurement method provided for any of the above-described embodiment
Device, the device include: line scanning three-dimensional measurement sensor, mileage coder and measurement carrier；Mileage coder and at least one
A line scanning three-dimension sensor is set to measurement carrier；Measurement carrier along rail to be measured for moving；Line scanning three-dimensional measurement is surveyed
Quantity sensor is made of laser and three-dimensional camera, and line scanning three-dimensional measurement sensor is used to emit a word laser rays to rail,
And obtain the altitude data of the corresponding Rail Surface profile of a word laser rays；Line scanning three-dimensional measurement sensor is in the cross-section of rail
The bottom of the measurement range covering rail in face direction；Mileage coder is used to record the mileage letter that measurement carrier is travelled along rail
Breath.
Wherein, above-mentioned rail gauge measuring apparatus is used to measure the three-dimensional information of rail.Line scanning three-dimensional measurement sensor can be
A set of line scanning three-dimensional measurement sensor can also be more set line scanning three-dimensional measurement sensors.Line scanning three-dimensional measurement sensor
It is made of three-dimensional camera, laser, controller, using principle of triangulation, obtains the elevation of Rail Surface corresponding to laser rays
Data.Line scanning three-dimensional measurement sensor rail cross-sectional direction (X-direction) measurement accuracy be higher than 1mm (resolution ratio <
1mm), line scanning three-dimensional measurement sensor need to cover rail foot in the measurement range of rail cross-sectional direction (X-direction).Mileage
Encoder is used to record the mileage information that measurement carrier is exercised.Measurement carrier can move on rail along rail direction, transport
Dynamic speed can be 0km/h~300km/h.The sample frequency > 1000Hz/s of line scanning three-dimensional measurement sensor.Line scanning three
The measurement accuracy that measurement sensor is tieed up in elevation direction (Z-direction) is higher than 1mm (resolution ratio < 1mm).Line scanning three-dimensional measurement sensing
Device installation region is above rail.The section survey direction of line scanning three-dimensional measurement sensor is rail cross-sectional direction, that is, is hung down
Directly in direction of traffic.
In order to illustrate above-mentioned gauge measurement method provided in an embodiment of the present invention and rail gauge measuring apparatus, have below with one
The example of body is illustrated:
Using a set of line scanning three-dimensional measurement sensor, rail three-dimensional information is obtained, wherein three-dimensional measurement sensor is installed
In the intermediate region of rail X-direction, in Z-direction apart from rail tread about 1950mm；Line scanning three-dimensional measurement sensor is in rail
The measurement accuracy of cross-sectional direction (X-direction) is 0.9mm, is about 0.2mm in the theoretical measurement accuracy of elevation direction (Z-direction).
Scanning three-dimensional measurement sensor covers rail foot region in the measurement range of rail cross-sectional direction (X-direction).Line scanning three
Tie up the sample frequency > 13000Hz/s of measurement sensor.Test object is 50kg/m standard rail in experiment.
The flow chart of data processing of gauge calculation method is as follows:
Step 1, data prediction.The data of measurement are subjected to the conversion of image space coordinate to object coordinates by demarcating file
(measurement data is obtained in (X, Z) coordinate of object space by calibration)；Wherein demarcating file, online scanning three-dimensional measurement sensor
After being mounted on measurement carrier, before gauge measurement, by the method for calibration, the conversion for recording image space coordinate to object coordinates is closed
System；Remove the zero point exceptional value in measurement data again, pretreated rail profile data as shown in figure 4, pretreatment after rail
Three-dimensional data is as shown in Figure 5.
Step 2, rail tread and rail head inside edge position acquisition.In rail tread and rail head of rail inside edge data
In acquisition process, and rail head measurement data relatively high first with its elevation is jumped on elevation with web of the rail measurement data
Feature, the potential rail tread of Primary Location and rail head of rail inside edge data characteristics point；Rail head of rail data are recycled to exist
The width range feature of continuity and X-direction on cross-sectional direction removes partial noise region；Finally, utilizing line scanning three
Dimension measurement sensor installation site and rail relative distance relationship (left side rail X-direction measurement range be about 50mm~
350mm, right side rail are about 1450mm~1750mm in X-direction measurement range), remove lamps and lanterns, the foreign matter etc. in rail plate region
Noise region data；The rail tread and rail head inside edge position data of acquisition are as shown in Figure 6.
Step 3, the rail inside edge point for participating in gauge calculating accurately extract.It can be first to the rail tread of acquisition and rail head
Inside edge data carry out small range filtering；Rail tread height is calculated, in the rail tread and rail head after being filtered
The highest height of elevation is as tyre tread height in side edge data；The elevation of down contour point (being denoted as A) is through filtering on the inside of rail head
The minimum point of elevation in rail head inside edge data that treated；In conjunction with the height of down contour point on the inside of rail tread height and rail head
Journey, it is comprehensive to determine the tyre tread and rail inside edge point set S being located under rail tread within the scope of 16mm, method particularly includes: first
The depth displacement h of down contour point A and tyre tread elevation on the inside of rail head in measurement data are calculated, in combined standard rail area of bed in rail head
Side down contour point A then sets the elevation range T intercepted under rail tread elevation to the height difference H of rail headH(TH=16*w1+h/
H*16*w2, wherein w1=0.7, w1=0.3) (unit: mm), i.e. set S are T under rail treadHTyre tread and rail in range
Inside edge point.
Step 4, the gauge based on section calculate.The steel that gauge calculates is participated according to left and right rail is obtained in step 3 respectively
Rail inside edge point calculates two marginal points in the Euclidean distance of X-direction；Calculated result is as shown in Figure 7；
Step 5, measurement result amendment.Since the rail data of measurement are by Rail Surface fluctuating texture and the shadow for measuring posture
It rings, there are biggish measurement errors for the gauge based on single section calculation, therefore need to repair to the gauge based on section calculation
Just.In makeover process, the gauge data of first processing exception, specific steps are as follows: first in original gauge data progress
Value filtering (radius 10) obtains and refers to gauge, then analyzes original gauge and the difference value D with reference to gauge, if current measuring point
Difference value D is greater than TD(TD=1.5mm), the original measurement value of current measuring point is replaced with the reference gauge value of current measuring point.It is finally right
It is 20 mean filters that gauge data after outlier processing, which carry out radius, and then obtains the gauge measurement result of final (amendment).
Modified gauge calculated result is as shown in Figure 8.
The embodiment of the invention provides a kind of electronic equipment, as shown in figure 9, the equipment includes: processor (processor)
901, communication interface (Communications Interface) 902, memory (memory) 903 and communication bus 904,
In, processor 901, communication interface 902, memory 903 completes mutual communication by communication bus 904.Processor 901 can
To call the computer program that can be run on memory 903 and on processor 901, to execute the rail of the various embodiments described above offer
Distance measurement method, for example, the altitude data for obtaining rail to be measured, steel are continuously measured using line scanning three-dimensional measurement sensor
Rail includes left side rail and right side rail；Positioning obtains rail tread data and rail head inside edge data in altitude data；
According to rail tread data and rail head inside edge data acquisition rail inside edge point, rail inside edge point includes being located at a left side
First inside edge point of side rail and the second inside edge point positioned at right side rail；It will be in the first inside edge point and second
The distance between side edge point is used as gauge.
In addition, the logical order in above-mentioned memory 903 can be realized by way of SFU software functional unit and conduct
Independent product when selling or using, can store in a computer readable storage medium.Based on this understanding, originally
Substantially the part of the part that contributes to existing technology or the technical solution can be in other words for the technical solution of invention
The form of software product embodies, which is stored in a storage medium, including some instructions to
So that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation of the present invention
The all or part of the steps of example method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can be with
Store the medium of program code.
The embodiments such as electronic equipment described above are only schematical, wherein unit as illustrated by the separation member
It may or may not be physically separated, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Certain Part Methods of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of gauge measurement method characterized by comprising
The altitude data for obtaining rail to be measured is continuously measured using line scanning three-dimensional measurement sensor, the rail includes left side steel
Rail and right side rail；
Positioning obtains rail tread data and rail head inside edge data in the altitude data；
According to the rail tread data and rail head inside edge data acquisition rail inside edge point, on the inside of the rail
Marginal point includes the second inside edge point positioned at the first inside edge point of the left side rail and positioned at the right side rail；
It regard the distance between the first inside edge point and the second inside edge point as gauge.
2. the method according to claim 1, wherein the positioning in the altitude data obtains rail tread
Data and rail head inside edge data, comprising:
By elevation variation characteristic, Primary Location is obtained on the inside of potential rail tread data and rail head in the altitude data
Edge data；Wherein, the elevation variation characteristic includes the height of the rail tread data and rail head inside edge data
There is the feature jumped on elevation in the relatively high feature of journey, rail head data and web of the rail data and rail head lower edge curvature becomes
Change at least one of biggish feature；
The potential rail is removed by the distance between the line scanning three-dimensional measurement sensor and the rail relationship to step on
Foreign matter area data in face data and rail head inside edge data obtains the rail tread data and rail head inside edge number
According to.
3. according to the method described in claim 2, it is characterized in that, described pass through the line scanning three-dimensional measurement sensor and institute
It states the distance between rail relationship and removes foreign matter region in the potential rail tread data and rail head inside edge data
Before data, further includes:
By continuity of the rail head data on cross-sectional direction and the width range feature on cross-sectional direction, institute is removed
State the noise region data in potential rail tread data and rail head inside edge data.
4. the method according to claim 1, wherein described according in the rail tread data and the rail head
Side edge data acquisition rail inside edge point, comprising:
The tyre tread elevation of the rail is calculated according to the rail tread data and rail head inside edge data；
It is determined according to the elevation of down contour point on the inside of the tyre tread elevation and rail head and is located at stepping in setting range under rail tread
Face and rail inside edge point set；Wherein, down contour point is the rail tread data and the rail head on the inside of the rail head
The minimum point of elevation in the data of inside edge；
Selection is on cross-sectional direction near the data at the center of track in the tyre tread and rail inside edge point set
Point, using the data point as the rail inside edge point.
5. according to the method described in claim 4, it is characterized in that, described according in the rail tread data and the rail head
Side edge data calculate the tyre tread elevation of the rail, comprising:
Small range filtering processing is carried out to the rail tread data and rail head inside edge data；
Each data point in the rail tread data and rail head inside edge data after filtering processing is corresponding
Highest elevation in elevation is as the tyre tread elevation.
6. according to the method described in claim 4, it is characterized in that, described according to lower edge on the inside of the tyre tread elevation and rail head
The elevation of point determines the tyre tread and rail inside edge point set being located under rail tread in setting range, comprising:
It is poor that the elevation of down contour point on the inside of the tyre tread elevation and the rail head is made, and obtains depth displacement；
It calculates according to the depth displacement, standard elevation difference and the setting range and obtains elevation range；
Elevation is located at the group of data points under rail tread within the scope of the elevation into the tyre tread and rail inside edge point set
It closes.
7. the method according to claim 1, wherein the positioning in the altitude data obtains rail tread
Before data and rail head inside edge data, further includes:
The altitude data is subjected to the conversion of image space coordinate to object coordinates by demarcating file, the demarcating file is for remembering
Record the transformational relation between the image space coordinate and the object coordinates.
8. the method according to claim 1, wherein described will be in the first inside edge point and described second
The distance between side edge point is as after the gauge, further includes:
Median filter process is carried out to gauge data acquisition system, obtains and refers to gauge；Wherein, the gauge data acquisition system includes described
Multiple corresponding gauges of measuring point at different mileages in rail；
The gauge corresponding for each measuring point, carries out outlier processing；The outlier processing includes: by the rail
Away from being compared with described with reference to gauge, difference value is obtained；If the difference value is greater than discrepancy threshold, by the rail of the measuring point
Described with reference to gauge or the gauge of the measuring point is deleted away from replacing with；
Gauge data after outlier processing are filtered, final gauge measurement result is obtained.
9. a kind of rail gauge measuring apparatus for the described in any item gauge measurement methods of claim 1-8, which is characterized in that packet
It includes: line scanning three-dimensional measurement sensor, mileage coder and measurement carrier；The mileage coder and at least one described line are swept
It retouches three-dimension sensor and is set to the measurement carrier；
The measurement carrier along rail to be measured for moving；
The line scanning three-dimensional measurement sensor is made of laser and three-dimensional camera, and the line scanning three-dimensional measurement sensor is used
In emitting a word laser rays to the rail, and the high number of passes of the corresponding Rail Surface profile of the word laser rays is obtained
According to；The measurement range of cross-sectional direction of the line scanning three-dimensional measurement sensor in the rail is covered in the bottom of the rail
Portion；
The mileage coder is used to record the mileage information that the measurement carrier is travelled along the rail.
10. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor realizes that gauge is surveyed as described in any one of claim 1 to 8 when executing described program
The step of amount method.
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