CN110849299B - Track unevenness measuring device and method based on image processing - Google Patents

Track unevenness measuring device and method based on image processing Download PDF

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CN110849299B
CN110849299B CN201911151751.2A CN201911151751A CN110849299B CN 110849299 B CN110849299 B CN 110849299B CN 201911151751 A CN201911151751 A CN 201911151751A CN 110849299 B CN110849299 B CN 110849299B
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track
laser
horizontal
flat plate
trolley
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CN110849299A (en
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吴剑锋
刘斌斌
汪瑞恒
王立翌
张林樾
梁平昊
江林
程渝
仇超
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Southeast University
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Southeast University
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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
    • G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a track unevenness measurementThe device comprises an opaque flat plate, a laser and a horizontal ray reference point thereof, a trolley and an attitude sensor thereof, a semitransparent flat plate, a camera, a suspension bracket, a connecting part, a light bar and an attitude sensor thereof, a horizontal distance measuring sensor, a vertical distance measuring sensor and a linear track to be measured. The laser is fixed at the opaque flat plate to emit horizontal laser, the semitransparent flat plate and the camera are fixed on the trolley to receive and detect the laser, and the distance between the current laser point on the semitransparent flat plate and the suspension point of the light bar is recorded; dolly attitude sensor measures the angle of pitch of the dolly𝛼 X Roll angle𝛽 X . Accordingly, a rail can be obtainedXHeight difference of the rail relative to the start of the rail∆H X The rail track measurement device effectively reduces the number of devices and the cost, can quickly and accurately measure the unevenness of the rail relative to the reference horizontal plane, and avoids the defects of high cost, large traditional manual measurement error and the like of large-scale rail detection trains.

Description

Track unevenness measuring device and method based on image processing
Technical Field
The invention relates to the field of image processing, in particular to a measuring device and a measuring method for track unevenness based on image processing.
Background
For a long time, railway transportation is a life line for national economic construction, and bears nearly 70% of freight volume and 60% of passenger volume in China. In the 21 st century, with the development of high-speed and heavy-load railway transportation in China, the density of traffic flow on a railway bridge is continuously increased, and the axle load and the running speed of a train passing through the railway bridge are also continuously increased. Taking the Nanjing Yangtze river bridge railway bridge as an example, the total throughput of the whole-year railway bridge in 1999 reaches 4.5 ten thousand lines, and the average number of the railway bridges passes through about 120 lines every day; by 2017, the average daily throughput reaches more than 300 rows, wherein the number of motor train units is 36. On the existing general speed railway lines of Jinghuso line, Jingjiu line, Jingguang line and the like in China, bridges spanning Yangtze river and yellow river mostly adopt steel truss girder open bridge floor systems, such as Wuhan Changjiang river bridges, Nanjing Changjiang river bridges, Jiujiang Yangtze river bridges, Wuhan Changjiang river bridges, Jinan yellow river bridges and the like. At the present stage, most of the steel truss open bridge floors in China are paved by adopting the wood sleepers because the wood bridge sleepers have the advantages of light weight, simple paving, easy replacement and the like. However, due to the defects of poor weather resistance, low hardness and the like of the wooden sleeper, in the using process, along with the continuous increase of the density of trains on the bridge, the state of a track on the bridge deck is easily changed due to frequent train load action, so that the durability use of the wooden sleeper is influenced, and in addition, the deterioration speed of the wooden sleeper is accelerated and the failure rate is increased due to the influence of environments such as weather, temperature, humidity and the like. The problems of bridge sleeper through crack, decay around the nail hole, decay inside the bridge sleeper and the like are caused, so that the bearing capacity of the bridge sleeper is reduced, and the quality of the open bridge deck track is reduced. The continuous amplification of the coupling effect of the two can not only influence the stability of the train and the comfort of passengers, but also can cause serious accidents such as snake-shaped instability, rail climbing, derailment and the like.
In order to adapt to the rapid development of railways in China, keep the open bridge deck track in a good state for a long time and meet the conditions of safe and stable running of trains, the height of the open bridge deck bridge sleeper needs to be rapidly measured and evaluated, and the inspection and replacement strength of the open bridge deck bridge sleeper is enhanced. At present, the manual observation method is still adopted in the height measurement of the bridge sleeper of the domestic open bridge floor, the deformation of the bridge sleeper is measured by adopting the traditional measurement mode of manual pull ruler, the time and the labor are consumed, and the influence of weather is easily caused. The large-scale rail detecting vehicle special for the rail has high precision, but has higher use cost, influences the railway transportation and is not beneficial to the popularization and the use in railway sections in China. Therefore, it is necessary to further study the measurement method of the fluctuation condition of the track relative to the reference horizontal plane, and further apply the measurement method to daily detection of the open bridge floor of the long-span steel truss girder, so that the detection efficiency can be improved, and the labor intensity of workers can be reduced.
Disclosure of Invention
The invention provides an image processing-based track unevenness measuring device and method, which can be used for realizing the rapid and accurate measurement of the fluctuation of a track relative to a reference horizontal plane, and further can be applied to the daily detection of a large-span steel truss girder open bridge floor, so that the detection efficiency is improved, and the labor intensity of workers is reduced.
The invention adopts the following technical scheme:
the invention creates an image processing-based track unevenness measuring device which comprises an opaque flat plate, a laser and a horizontal ray reference point thereof, a trolley and an attitude sensor thereof, a semitransparent flat plate, a camera, a suspension bracket, a universal joint, a light bar and an attitude sensor thereof, a horizontal distance measuring sensor, a vertical distance measuring sensor and a linear track to be measured.
The laser is fixedly installed at one end of the track, a laser horizontal ray reference point is arranged at the other end of the track, laser from the laser to the laser horizontal reference point is emitted along the direction of the linear track, the direction of the laser is parallel to the horizontal plane, the opaque flat plate is installed below the laser, and the plane of the opaque flat plate is perpendicular to the linear track and the horizontal plane. The trolley is arranged on the linear track to be measured, the semitransparent flat plate and the support are perpendicular to the trolley plane and are arranged, the semitransparent flat plate plane is parallel to the support plane, the camera is arranged on the trolley and is arranged on one side of the reference point of the horizontal ray of the laser relative to the semitransparent flat plate plane, the plane of the camera is perpendicular to the trolley plane and is parallel to the semitransparent flat plate plane, and the planes of the camera, the semitransparent flat plate plane and the support plane are perpendicular to the linear track. The trolley attitude sensor and the semitransparent flat plate are installed together. One end of the light rod is hung on the hanging support through a universal joint of the cross shaft, the plane of the cross shaft is parallel to the horizontal plane, one shaft in the cross shaft is parallel to the direction of the linear track, and the hanging center point is positioned right below the horizontal laser. The light bar attitude sensor is arranged on the light bar and used for detecting whether the light bar is parallel to the gravity direction or not, and the horizontal distance measuring sensor and the vertical distance measuring sensor are arranged at the other end of the light bar. The horizontal distance measuring sensor measures distance along the track to the direction of the opaque flat plate, and the vertical distance measuring sensor measures distance along the direction of gravity.
Taking the horizontal plane of the horizontal laser as a reference horizontal plane, taking the track at the laser installation position as the track starting position, and taking the distance between the track starting position and the horizontal plane as H0. The placement position of the semitransparent flat plate can receive laser in the horizontal direction, and the placement position of the camera can clearly observe the position of the laser on the semitransparent flat plate;
the horizontal distance X between the light bar and the opaque flat plate is measured by the horizontal distance measuring sensor, and the distance from the vertical distance measuring sensor to the central point of the light bar is fixed to be L1The distance H between the rail and the rail in the gravity direction can be measured1X(ii) a The laser is fixed at the opaque flat plate to emit horizontal laser, the semi-transparent flat plate and the camera are fixed on the trolley to receive and detect the laser, and the distance L between the current laser point on the semi-transparent flat plate and the suspension point of the light bar is recorded2X(ii) a Trolley attitude sensor measures pitching angle alpha of trolleyXRoll angle betaX。
The invention discloses a measuring method of an orbit unevenness measuring device based on image processing, which comprises the following steps:
step 1: the trolley moves on the track along a straight line, when the pitch angle and the roll angle measured by the light bar attitude sensor are both 0 degree, the vertical distance measuring sensor measures the distance between the trolley and the track in the gravity direction, and the horizontal distance measuring sensor measures the distance between the trolley and the opaque flat plate in the horizontal direction and adopts the measured data. At this time, the distance between the horizontal distance measuring sensor and the opaque flat plate in the horizontal direction is X, and the distance between the vertical distance measuring sensor and the track in the gravity direction is H1X(ii) a The attitude sensor of the trolley measures the pitching angle alpha of the trolleyXRoll angle betaXThe distance between the current laser point on the semitransparent plate and the suspension point of the light bar is recorded by the camera to be L2X；
The height difference between the suspension point of the light bar and the current laser point is H2X；
H2X＝L2X×cosαX×cosβX
The height difference between the X position of the track and the reference horizontal plane is H3X；
H3X＝H1X+L1+H2X；
Undulation at track X by Δ H relative to the start of the trackX；
ΔHX＝H0–H3X；
Step 2: the position of the measured track can be determined by X, Δ HXThe height difference of the track X relative to the starting position of the track can be determined, the trolley moves along the linear track, and multi-point data are collected, so that the unevenness of the track relative to a reference horizontal plane is drawn.
If the measuring track is a double track, the trolley respectively measures along the two tracks, and the respective unevenness condition of the two tracks of the double track can be measured.
The invention has the following effective effects:
(1) this patent considers the situation when the vehicle body is tilted forward and backward and tilted left and right. Because the track is uneven, the vehicle body may pitch back and forth or roll side to side during the straight-line movement of the vehicle along the track. The invention installs a vertical distance measuring sensor and a horizontal distance measuring sensor at one end of a light bar, installs a swing attitude sensor on the light bar, and hangs the other end of the light bar on a trolley by a cross universal joint so as to lead the light bar to swing back and forth and left and right. When the attitude sensor measures that the pitch angle and the roll angle are both 0 degree, the vertical distance measuring sensor measures the distance between the vertical distance measuring sensor and the track in the gravity direction, and the horizontal distance measuring sensor measures the distance between the horizontal distance measuring sensor and the flat plate in the horizontal direction, and the measured data are adopted. The trolley attitude sensor and the semitransparent flat plate are installed together to measure the pitch angle and the roll angle of the trolley. By means of suspending and installing the vertical distance measuring sensor and the horizontal distance measuring sensor, errors caused by pitching around and rolling left and right of the vehicle body can be eliminated.
(2) Discussing the unevenness condition of the track, the measuring device realized by the patent can measure the fluctuation condition of the linear track, and the invention can further obtain the space fluctuation condition of the track relative to the reference horizontal plane by taking the horizontal plane where the horizontal laser is positioned as the reference horizontal plane; measuring the distance between the horizontal distance measuring sensor and the flat plate in the horizontal direction, and determining the specific position of the measured track; the fluctuation condition of a certain track relative to a reference horizontal plane can be obtained, and therefore the accurate unevenness of the track can be obtained.
(3) The fluctuation delta H of the track relative to the start of the track is realized without destroying the structure of the track to be detectedXThe measurement difficulty is reduced by converting the measurement quantity into the quantity convenient to measure.
(4) The invention takes into account that the application range relates to rails, so that the length direction is far larger than the width direction in the measuring direction, even the data in the width direction does not need to be considered, and only the data in the length direction needs to be collected. Through the selective use of laser beam calibration, the cost is lower, and the linear propagation characteristic of light, the calibration of once to the benchmark can provide the measurement standard of longer distance, reduces the number of times of demarcating the benchmark, can increase the convenience of measurement process to a certain extent.
(5) The measuring device only comprises two distance measuring sensors, a laser ray horizontal reference point, a camera, two attitude sensors, a flat plate, a light bar and a cross axle universal joint, and effectively reduces the number of devices and the cost on the premise of ensuring the measuring precision. In addition, resources of large rail detection trains in China are very limited, the traditional measurement mode of manual pull gauges is time-consuming and labor-consuming, and manual measurement errors are easily introduced. By adopting the measuring device, the unevenness condition of the track relative to a reference horizontal plane can be measured quickly and accurately.
Drawings
FIG. 1 is a schematic structural diagram of an orbit unevenness measuring device based on image processing.
FIG. 2 is a schematic side view of an apparatus for measuring unevenness of a track based on image processing.
Fig. 3 is a schematic diagram of the height difference between the current laser point and the suspension center point.
Fig. 4 is a schematic view of the measuring device without a reference level.
The numbers in the figures are as follows: 1. an opaque plate; 2. a laser; 3. a horizontal ray reference point; 4. a trolley; 5. a trolley attitude sensor; 6. a translucent plate; 7. a camera; 8. a suspension bracket; 9. a cross-pin universal joint; 10. a light bar; 11. a light bar attitude sensor; 12. a horizontal ranging sensor; 13. a vertical ranging sensor; 14. a linear rail to be measured; 15. hanging the central point; 16. a reference level; 17. the current laser spot.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings:
fig. 1 is a schematic structural diagram of a measuring device. As shown in figure 1, the measuring device comprises an opaque flat plate (1), a laser (2) and a horizontal ray reference point (3) thereof, a trolley (4) and a posture sensor (5) thereof, a semitransparent flat plate (6), a camera (7), a suspension bracket (8), a universal joint cross (9), a light bar (10) and a posture sensor (11) thereof, a horizontal distance measuring sensor (12), a vertical distance measuring sensor (13) and a linear track (14) to be measured.
The laser is fixedly installed at one end of the track, a laser horizontal ray reference point is arranged at the other end of the track, laser from the laser to the laser horizontal reference point is emitted along the direction of the linear track, the direction of the laser is parallel to the horizontal plane, the opaque flat plate is installed below the laser, and the plane of the opaque flat plate is perpendicular to the linear track and the horizontal plane. The trolley is arranged on the linear track to be measured, the semitransparent flat plate and the support are perpendicular to the trolley plane and are arranged, the semitransparent flat plate plane is parallel to the support plane, the camera is arranged on the trolley and is arranged on one side of the reference point of the horizontal ray of the laser relative to the semitransparent flat plate plane, the plane of the camera is perpendicular to the trolley plane and is parallel to the semitransparent flat plate plane, and the planes of the camera, the semitransparent flat plate plane and the support plane are perpendicular to the linear track. The trolley attitude sensor and the semitransparent flat plate are installed together. One end of the light rod is hung on the hanging support through a universal joint of the cross shaft, the plane of the cross shaft is parallel to the horizontal plane, one shaft in the cross shaft is parallel to the direction of the linear track, and the hanging central point (15) is positioned right below the horizontal laser. The light bar attitude sensor is arranged on the light bar and used for detecting whether the light bar is parallel to the gravity direction or not, and the horizontal distance measuring sensor and the vertical distance measuring sensor are arranged at the other end of the light bar. The horizontal distance measuring sensor measures distance along the track to the direction of the opaque flat plate, and the vertical distance measuring sensor measures distance along the direction of gravity.
Fig. 2 is a schematic side view of a measuring device. As shown in figure 2, the horizontal plane of the horizontal laser is taken as a reference horizontal plane (16), the track where the laser is installed is taken as the initial position of the track, and the distance between the initial position of the track and the horizontal plane is H0. The distance from the vertical distance measuring sensor to the central point of the light bar is fixed to be L1The distance H between the rail and the rail in the gravity direction can be measured1XAnd the horizontal distance measuring sensor measures the horizontal distance X between the horizontal distance measuring sensor and the opaque flat plate. The laser is fixed at the opaque flat plate to emit horizontal laser, the semitransparent flat plate and the camera are fixed on the trolley to receive and detect the laser, and the distance L between the current laser point (17) on the semitransparent flat plate and the suspension point of the light bar is recorded2X(ii) a Trolley attitude sensor measures pitching angle alpha of trolleyXRoll angle betaX。
The trolley moves on the track along a straight line, and the light bar can swing back and forth and left and right due to the fact that the track is uneven. When the pitch angle and the roll angle measured by the light bar attitude sensor are both 0 degree, the vertical distance measuring sensor measures the distance between the light bar attitude sensor and the track in the gravity direction, and the horizontal distance measuring sensor measures the distance between the light bar attitude sensor and the opaque flat plate in the horizontal direction, and measured data are adopted. At this time, the distance between the horizontal distance measuring sensor and the opaque flat plate in the horizontal direction is X, and the distance between the vertical distance measuring sensor and the track in the gravity direction is H1X. The attitude sensor of the trolley measures the pitching angle alpha of the trolleyXRoll angle betaX. The camera records that the distance between the current laser point on the semitransparent flat plate and the suspension point of the light bar is L2X。
The height difference between the suspension point of the light bar and the current laser point is H2XAs shown in fig. 3;
H2X＝L2X×cosαX×cosβX
the height difference between the X position of the track and the reference horizontal plane is H3X；
H3X＝H1X+L1+H2X；
Undulation at track X by Δ H relative to the start of the trackX；
ΔHX＝H0–H3X；
Step 2: the position of the measured track can be determined by X, Δ HXThe height difference of the track X relative to the starting position of the track can be determined, the trolley moves along the linear track, and multi-point data are collected, so that the unevenness of the track relative to a reference horizontal plane is drawn.
If the measuring track is a double track, the trolley respectively measures along the two tracks, and the respective unevenness condition of the two tracks of the double track can be measured.
If the horizontal plane is not referred to, the track cannot be accurately uneven. As shown in fig. 4, the rail is inclined at a fixed angle, and the rail to be measured can be considered to be flat without a reference to a horizontal plane. At the same time, the distance measured by the vertical distance measuring sensor will remain unchanged while the trolley moves on the rail, but the rail to be measured is inclined with respect to the reference level. Therefore, to discuss the unevenness of the rail, a horizontal plane must be selected as a reference plane.

Claims (7)

1. The utility model provides a track unevenness measuring device based on image processing, includes opaque dull and stereotyped, laser instrument and horizontal ray reference point, dolly and attitude sensor, translucent flat board, camera, suspension bracket, adapting unit, light bar and attitude sensor, horizontal range finding sensor, perpendicular range finding sensor, the straight line track that awaits measuring, its characterized in that: the laser is fixedly arranged at one end of the track, a laser horizontal ray reference point is arranged at the other end of the track, laser from the laser to the laser horizontal reference point is emitted along the direction of the linear track, the direction of the laser is parallel to the horizontal plane, the opaque flat plate is arranged below the laser, and the plane of the opaque flat plate is vertical to the linear track and the horizontal plane at the same time; the trolley is arranged on the linear track to be measured, the semitransparent flat plate and the support are perpendicular to the plane of the trolley and are arranged, the plane of the semitransparent flat plate is parallel to the plane of the support, the camera is arranged on the trolley and is positioned on one side of a horizontal ray reference point of the laser relative to the plane of the semitransparent flat plate, the plane of the camera is perpendicular to the plane of the trolley and is parallel to the plane of the semitransparent flat plate, and the imaging plane of the camera, the plane of the semitransparent flat plate and the; the trolley attitude sensor and the semitransparent flat plate are arranged together; one end of the light bar is hung on the hanging bracket through a connecting component, and the hanging center point is positioned right below the horizontal laser; the light bar attitude sensor and the horizontal distance measuring sensor are arranged on the light bar, and the vertical distance measuring sensor is arranged at the other end of the light bar.
2. The image processing-based orbit unevenness measuring apparatus according to claim 1, wherein: the trolley travelling track is a single track.
3. The image processing-based orbit unevenness measuring apparatus according to claim 1, wherein: the connecting part is a cross axle universal joint, the plane of the cross axle is parallel to the horizontal plane, and one axle in the cross axle is parallel to the direction of the linear track.
4. The image processing-based orbit unevenness measuring apparatus according to claim 1, wherein: the connecting part is two hinges, the first hinge is hung on the suspension bracket, the rotating shaft is parallel or vertical to the direction of the linear track, the second hinge is hung on the first hinge, and the rotating shafts of the two hinges are vertical to each other.
5. The image processing-based orbit unevenness measuring apparatus according to claim 1, wherein: the horizontal distance X between the light bar and the opaque flat plate is measured by the horizontal distance measuring sensor, and the distance from the vertical distance measuring sensor to the central point of the light bar is fixed to be L1The distance H between the rail and the rail in the gravity direction can be measured1X(ii) a The laser is fixed at the opaque flat plate to emit horizontal laser, the semitransparent flat plate and the camera are fixed on the trolley to receive and detect the laser, and the semi-transparent flat plate records the laserDistance L between current laser point and light bar suspension center point on transparent flat plate2X(ii) a Trolley attitude sensor measures pitching angle alpha of trolleyXRoll angle betaX。
6. The measurement method of the track unevenness measurement apparatus based on image processing according to claim 1, characterized in that: the method comprises the following steps:
step 1: the measuring device takes the horizontal plane of the horizontal laser as a reference horizontal plane, takes the track at the laser installation position as the track starting position, and takes the distance between the track starting position and the horizontal plane as H0(ii) a The placement position of the semitransparent flat plate can receive laser in the horizontal direction, and the placement position of the camera can clearly observe the position of the laser on the semitransparent flat plate;
step 2: the trolley moves linearly on the track, when the pitch angle and the roll angle measured by the light bar attitude sensor are both 0 degree, the vertical distance measuring sensor measures the distance between the trolley and the track in the gravity direction, and when the horizontal distance measuring sensor measures the distance between the trolley and the opaque flat plate in the horizontal direction, the measured data are adopted; at this time, the distance between the horizontal distance measuring sensor and the opaque flat plate in the horizontal direction is X, and the distance between the vertical distance measuring sensor and the track in the gravity direction is H1X(ii) a The attitude sensor of the trolley measures the pitching angle alpha of the trolleyXRoll angle betaXThe distance between the current laser point on the semitransparent plate and the suspension point of the light bar is recorded by the camera to be L2X；
The height difference between the suspension point of the light bar and the current laser point is H2X；
H2X＝L2X×cosαX×cosβX；
The height difference between the X position of the track and the reference horizontal plane is H3X；
H3X＝H1X+L1+H2X；
Undulation at track X by Δ H relative to the start of the trackX；
ΔHX＝H0–H3X；
And step 3: the position of the measured track can be determined by X, Δ HXThe height difference of the track X relative to the starting position of the track can be determined, the trolley moves along the linear track, and multi-point data are collected, so that the unevenness of the track relative to a reference horizontal plane is drawn.
7. The measurement method according to claim 6, characterized in that: the travelling track of the trolley is a double track; the trolley is respectively measured along the two rails, so that the respective unevenness of the two rails of the double tracks can be measured.
CN201911151751.2A 2019-11-22 2019-11-22 Track unevenness measuring device and method based on image processing Active CN110849299B (en)

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