CN115056818A - Asynchronous control method and device for 3D measurement module and three-dimensional detection system for rail vehicle - Google Patents
Asynchronous control method and device for 3D measurement module and three-dimensional detection system for rail vehicle Download PDFInfo
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Abstract
The application relates to a 3D measurement module asynchronous control method, a device and a rail vehicle three-dimensional detection system, wherein the method comprises the following steps: a speed parameter acquisition step, namely detecting the speed parameter of relative movement between the measured object and at least the 3D measuring module in real time through a speed measuring unit; a trigger signal acquisition step, namely calculating trigger pulse frequency in real time through a trigger unit according to the speed parameters and the acquisition resolution of the 3D measurement module and outputting differential trigger pulses based on the trigger pulse frequency; a speed information acquisition step of outputting the speed parameter as a speed pulse signal through a speed detection processing unit; and an asynchronous control step, wherein the differential trigger pulse is asynchronously processed through the core processing unit according to the speed pulse signal and the measurement parameters, an asynchronous signal is generated to the 3D measurement module to trigger different 3D modules, and the measurement parameters comprise: exposure time, acquisition frame rate, and the number of 3D modules. Through this application, the light interference problem between a plurality of structured light 3D measurement modules has been solved.
Description
Technical Field
The application relates to the technical field of rail detection, in particular to a 3D measurement module asynchronous control method and device and a rail vehicle three-dimensional detection system.
Background
In recent years, urban rail transit in China is rapidly developed. Urban rail transit plays more and more important roles in guiding and supporting urban development, meeting the travel of people, relieving traffic congestion, reducing air pollution and the like, and meanwhile, along with the rapid increase of operation mileage and passenger flow, the safe operation pressure and the challenge of urban rail transit are increased increasingly. The increase of construction mileage and the increasing of lines cause the increase of the power action of the train wheel track.
Structured light (Structured light) generally adopts invisible infrared laser with specific wavelength as a light source, light emitted by the light source is projected on an object through a certain code, and the distortion of a returned code pattern is calculated through a certain algorithm to obtain the position and depth information of the object. The structured light 3D (3-Dimension) measurement module mainly comprises a 3D camera and a compensation light source, and three-dimensional modeling of a measured object is realized by analyzing a contour curve formed by the light source hitting objects at different distances. The method is characterized in that only 1 light ray can exist in the measuring range of the camera, and if a plurality of light rays exist, the module cannot work normally. When multiple 3D measurement modules are present in the same measurement system, the light sources between the modules can interfere.
The existing technical scheme is realized by selecting monochromatic light sources with different wavelengths to be matched with a narrow-band filter, and the applicable spectrum is limited, so that the method can only adapt to the condition of less module number, and if the module number is more, the light sources of the method need to be staggered from the installation position, thereby causing great limitation of the use scene.
At present, no effective solution is provided for the problem of optical interference among a plurality of structured light 3D measurement modules in the related art.
Disclosure of Invention
The embodiment of the application provides a 3D measurement module asynchronous control method and device and a rail vehicle three-dimensional detection system, and the light interference problem among a plurality of structured light 3D measurement modules is solved through a high-precision light source asynchronous control method, so that the plurality of structured light 3D measurement modules can work normally, and the application under a multi-module measurement scene is better adapted.
In a first aspect, an embodiment of the present application provides a 3D measurement module asynchronous control method, including:
a speed parameter acquisition step, namely detecting a speed parameter of relative movement between a measured object and at least one 3D measuring module in real time through a speed measuring unit;
a trigger signal acquisition step, namely calculating trigger pulse frequency in real time through a trigger unit according to the speed parameter and the acquisition resolution of the 3D measurement module and outputting differential trigger pulse based on the trigger pulse frequency;
a speed information acquisition step of outputting the speed parameter as a speed pulse signal by a speed detection processing unit; specifically, the speed detection processing unit is connected with the speed measurement unit through a 485 interface to transmit signals, and the speed detection processing unit comprises a differential conversion interface circuit, and outputs speed parameters received through the 485 interface to be speed pulse signals meeting the requirements of TTL serial ports through the differential conversion interface circuit.
An asynchronous control step, in which a core processing unit asynchronously processes the differential trigger pulse according to a speed pulse signal and a measurement parameter to generate an asynchronous signal to the 3D measurement module to trigger different 3D modules, wherein the measurement parameter includes: exposure time, acquisition frame rate, and the number of 3D modules.
In some of these embodiments, the asynchronous controlling step comprises:
acquiring parameters, namely calculating a single-line acquisition period of each 3D measurement module according to the period information of the differential trigger pulse, the preset asynchronous duty ratio of each 3D measurement module and the number of the 3D modules by an acquisition parameter acquisition unit, and configuring the exposure time of the 3D measurement module according to the single-line acquisition period.
In some embodiments, the control method further comprises:
and an abnormal alarming step, wherein the core processing unit judges according to the period information of the differential trigger pulse, and outputs an abnormal signal when the sum of the exposure time of the plurality of 3D measurement modules is larger than the period information so as to indicate that at least two 3D measurement modules are exposed in the period information simultaneously.
In some of these embodiments, each of the exposure times is configured to be less than its single line acquisition period.
In some embodiments, the period information of the differential trigger pulse is the sum of single line acquisition periods corresponding to each of the 3D measurement modules.
In some embodiments, the single-line acquisition period T corresponding to each of the 3D measurement modules may be calculated according to the following calculation model:
and T is L/V, wherein L is the acquisition resolution of the 3D measurement module, and V is the speed parameter.
Based on the method, in the same acquisition cycle, only the current single module is in the exposure state, and other modules are in the delay waiting state, so that each module can be ensured not to be influenced by interference.
In a second aspect, an embodiment of the present application provides a 3D measurement module asynchronous control device, which is used to implement the 3D measurement module asynchronous control method according to the first aspect, and includes:
the speed measuring unit is used for detecting the speed parameter of the relative movement between the measured object and the at least one 3D measuring module in real time;
the trigger unit is electrically connected with the speed measuring unit and used for calculating the trigger pulse frequency in real time according to the speed parameter and the acquisition resolution of the 3D measuring module and outputting a differential trigger pulse based on the trigger pulse frequency; specifically, the triggering unit is a triggering processing electronic board card;
the speed detection processing unit is electrically connected with the speed measuring unit and is used for converting the speed parameter into the speed pulse signal through a differential conversion interface circuit; specifically, the speed detection processing unit is connected with the speed measurement unit through a 485 interface.
The core processing unit is electrically connected with the trigger unit through a trigger signal processing unit and is electrically connected with the speed detection processing unit, the core processing unit is used for carrying out asynchronous processing on the differential trigger pulse according to a speed pulse signal and a measurement parameter, and generating an asynchronous signal to each 3D measurement module so as to trigger different 3D modules, specifically, the trigger signal processing unit is a high-speed optical coupler.
In some of these embodiments, the apparatus further comprises:
and the acquisition parameter acquisition unit is used for calculating to obtain a single-line acquisition period of each 3D measurement module according to the period information of the differential trigger pulse, the preset asynchronous duty ratio of each 3D measurement module and the number of the 3D modules, and configuring the exposure time of the 3D measurement module according to the single-line acquisition period.
In some embodiments, each exposure time is configured to be smaller than a single line acquisition period thereof, and the period information of the differential trigger pulse is the sum of the single line acquisition periods corresponding to each 3D measurement module.
Based on above unit, this application embodiment has solved the light interference problem between a plurality of structured light 3D measurement module through the asynchronous control to 3D measurement module.
In a third aspect, the embodiment of the present application provides a three-dimensional detection system for rail vehicles, including the above second aspect, the 3D measurement module asynchronous control device, the 3D measurement module is installed in the rail vehicle or the inspection trolley of the rail vehicle through an installation beam. Optionally, the 3D measurement module includes: sleeper detects module, profile detection module, rail table fastener and detects the module.
Compared with the prior art, the asynchronous control method and device for the 3D measuring module and the three-dimensional detection system for the rail vehicle provided by the embodiment of the application solve the problem of light interference among the plurality of structured light 3D measuring modules through asynchronous control on the 3D measuring module, do not need to use compensation light sources with various different wavelengths and stagger the light sources on the installation position, reduce the installation requirement and expand the application scene of the embodiment of the application.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flowchart of a 3D measurement module asynchronous control method according to an embodiment of the present application;
FIG. 2 is another flow chart of a 3D measurement module asynchronous control method according to an embodiment of the present application;
FIG. 3 is another flowchart of a 3D measurement module asynchronous control method according to an embodiment of the present application;
FIG. 4 is a block diagram of a 3D measurement module asynchronous control device according to an embodiment of the present application;
FIG. 5 is a timing diagram of a 3D measurement module asynchronous control method according to a preferred embodiment of the present application;
fig. 6 is a signal diagram illustrating a 3D measurement module asynchronous control method according to a preferred embodiment of the present application.
In the figure:
1. a speed measuring unit; 2. a trigger unit; 3. a speed detection processing unit;
4. a collection parameter acquisition unit; 5. a core processing unit; 21. and a trigger signal processing unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.
It is obvious that the drawings in the following description are only examples or embodiments of the present application, and that it is also possible for a person skilled in the art to apply the present application to other similar contexts on the basis of these drawings without inventive effort. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. The use of the terms "a" and "an" and "the" and similar referents in the context of describing the invention (including a single reference) are to be construed in a non-limiting sense as indicating either the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but rather can include electrical connections, whether direct or indirect. The term "plurality" as referred to herein means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
The embodiment provides a 3D measuring module asynchronous control method. Fig. 1 and 3 are flowcharts of a 3D measurement module asynchronous control method according to an embodiment of the present application, and as shown in fig. 1 and 3, the flowcharts include the following steps:
a speed parameter obtaining step S1 of detecting a speed parameter of relative movement between the object to be measured and the at least one 3D measurement module in real time by a speed measurement unit; the speed parameter is used for providing a reference speed parameter for the trigger signal acquisition step/trigger unit and the asynchronous control step/core processing unit, and the speed information is changed in real time. Optionally, the speed measurement unit is a radar;
a trigger signal acquisition step S2, calculating trigger pulse frequency in real time through a trigger unit according to the speed parameters and the acquisition resolution of the 3D measurement module, and outputting differential trigger pulses based on the trigger pulse frequency; optionally, the triggering unit is a triggering processing electronic board card or a triggering box;
a speed information acquisition step S3 of outputting the speed parameter as a speed pulse signal by a speed detection processing unit; specifically, the speed detection processing unit is connected with the speed measurement unit through a 485 interface to transmit signals, the speed detection processing unit comprises a differential conversion interface circuit, and speed parameters received through the 485 interface are output to be speed pulse signals meeting the requirements of TTL serial ports through the differential conversion interface circuit. Optionally, the speed detection processing unit is a wheel encoder, and is particularly applied to rail vehicle anomaly detection, the vehicle encoder is used for calculating train mileage to realize positioning of an anomaly position of rail monitoring, the vehicle encoder adopts infrared emission and receiving technologies, the infrared emission component and the infrared receiving component can be installed on two sides of a grating disk through the infrared emission component and the infrared receiving component, the grating disk and a wheel shaft rotate synchronously, the grating disk is etched with a plurality of grating holes by adopting a laser etching technology, and when the grating disk rotates, the infrared emission component and the infrared receiving component continuously irradiate and scan the grating holes, and output square wave signals linearly proportional to the speed of the wheel shaft through peripheral circuits such as waveform processing and load adjustment. In addition, in order to improve the accuracy of the wheel encoder, the position of the rail vehicle can be calibrated to eliminate the accumulated error by combining the RFID technology.
In the asynchronous control step S4, a core processing unit asynchronously processes the differential trigger pulse according to the velocity pulse signal and a measurement parameter, and generates an asynchronous signal to the 3D measurement module to trigger different 3D modules, where the measurement parameter includes: exposure time, acquisition frame rate, and the number of 3D modules. Wherein, the asynchronous control step S4 includes:
an acquisition parameter acquiring step S401, calculating to obtain a single line acquisition period of each 3D measuring module according to the period information of the differential trigger pulse, the preset asynchronous duty ratio of each 3D measuring module and the number of the 3D modules by an acquisition parameter acquiring unit, and configuring the exposure time of the 3D measuring module according to the single line acquisition period. Specifically, each exposure time is configured to be smaller than a single-line acquisition period thereof, the period information of the differential trigger pulse is the sum of single-line acquisition periods corresponding to each 3D measurement module, and the single-line acquisition period T corresponding to each 3D measurement module can be calculated according to the following calculation model:
and T is L/V, wherein L is the acquisition resolution of the 3D measurement module, and V is a speed parameter.
Based on the steps, in the same acquisition period, only the current single module is in an exposure state, and other modules are in a delay waiting state, so that each module is not influenced by interference, and compared with the prior technical scheme, the method saves the use of various different wavelength compensation light sources, and can ensure that all the modules can normally work.
In some embodiments, referring to fig. 2, the control method further includes:
and an abnormal alarming step S5, wherein the core processing unit judges according to the period information of the differential trigger pulse, and outputs an abnormal signal when the sum of the exposure time of the plurality of 3D measurement modules is larger than the period information so as to indicate that at least two 3D measurement modules are exposed in the period information at the same time.
In addition, in order to implement the 3D measurement module asynchronous control method according to the above embodiment, an embodiment of the present application further provides a 3D measurement module asynchronous control device, which is shown in fig. 4 and includes:
the speed measuring unit 1 is used for detecting the speed parameter of the relative movement between the measured object and at least one 3D measuring module in real time;
the trigger unit 2 is electrically connected with the speed measuring unit 1, and the trigger unit 2 is used for calculating the trigger pulse frequency in real time according to the speed parameters and the acquisition resolution of the 3D measuring module and outputting differential trigger pulses based on the trigger pulse frequency; specifically, the triggering unit 2 is a triggering processing electronic board card;
the speed detection processing unit 3 is electrically connected with the speed measuring unit 1, and the speed detection processing unit 3 is used for converting the speed parameter into a speed pulse signal through a differential conversion interface circuit; specifically, the speed detection processing unit 3 is connected with the speed measurement unit 1 through a 485 interface.
And the acquisition parameter acquisition unit 4 is used for calculating to obtain a single-line acquisition period of each 3D measurement module according to the period information of the differential trigger pulse, the preset asynchronous duty ratio of each 3D measurement module and the number of the 3D modules, and configuring the exposure time of the 3D measurement module according to the single-line acquisition period. And each exposure time is configured to be smaller than the single-line acquisition period, and the period information of the differential trigger pulse is the sum of the single-line acquisition periods corresponding to each 3D measurement module.
The core processing unit 5 is electrically connected with the trigger unit 2 through a trigger signal processing unit 21 and is electrically connected with the speed detection processing unit 3, the core processing unit 5 is used for asynchronously processing the differential trigger pulse according to the speed pulse signal and a measurement parameter and generating an asynchronous signal to each 3D measurement module to trigger different 3D modules, and specifically, the trigger signal processing unit is a high-speed optical coupler.
Based on above unit, this application embodiment has solved the light interference problem between a plurality of structured light 3D measurement module through the asynchronous control to 3D measurement module.
In addition, this application embodiment provides a three-dimensional detecting system of rail vehicle, include as above the asynchronous controlling means of 3D measurement module of implementing, 3D measurement module is installed in rail vehicle bottom or rail vehicle's the dolly of patrolling and examining through an installation crossbeam. The speed information is changed in real time along with the moving speed of the rail vehicle or the test trolley. Optionally, the 3D measurement module includes: sleeper detects module, profile detection module, rail table fastener and detects the module.
As shown in figure 3, install the rail vehicle three-dimensional monitoring system of the asynchronous control device of 3D measurement module, its trigger unit, data interaction is carried out through the form of UDP broadcast to the industrial computer in acquisition parameter acquisition unit and the rail vehicle electrical control cabinet, forms the LAN, the main control program overall control of being convenient for set up in the industrial computer, including control power source IO trigger box send the collection instruction for each camera module, control collection industrial computer picture and data of gathering of keeping in, control data storage identification server discerns the picture and the storage recognition result of gathering etc..
The three-dimensional detection system of rail vehicle based on this application embodiment, owing to install in rail vehicle bottom, no sunshine penetrates directly, need adopt infrared laser as active light source to set up the filter cooperation of camera narrow band filter and realize the filtering processing to rail surface reflection and the light pollution of surrounding space scattering in the module, make the environmental suitability of camera promote greatly.
Compared with the prior art, the asynchronous control method and device for the 3D measuring module and the three-dimensional detection system for the rail vehicle provided by the embodiment of the application solve the problem of light interference among a plurality of structured light 3D measuring modules through asynchronous control of the 3D measuring module, do not need to use compensation light sources with various different wavelengths or stagger the light sources on the installation position, reduce the installation requirement and expand the application scene of the embodiment of the application.
The embodiments of the present application are described and illustrated below by means of preferred embodiments. Fig. 5 shows a timing diagram of asynchronous control of a 3D measurement module applied to a three-dimensional monitoring system of a rail vehicle, and referring to fig. 5, the 3D measurement module of the preferred embodiment of the present application selects 2 contour detection modules, the acquisition resolution of the contour detection modules is 2mm, that is, a line is triggered to acquire a certain amount of data every 2mm, it should be noted that the acquisition resolution does not change due to the speed of the rail vehicle, the working process shown in the timing diagram is a preferred example of the method embodiment when selecting 2 contour detection modules, and details of the same parts as those of the method embodiment are omitted.
The single-line acquisition period T of the 3D measurement module is equal to L/V according to the frequency of the trigger pulse output by the trigger box; if the current speed of the rail vehicle is 9km/h, that is, 2.5m/s, the single-line acquisition period obtained by calculation is 800us, and the single-line acquisition period T is 800us, 2 contour detection modules all have to perform one acquisition action to ensure the integrity of the acquired image. That is, in the same period T, if the first contour detection module has a collection period T 1 The second contour detection module has a collection period of T 2 Then T > T must be satisfied 1 +T 2 And T is 2 Must be at T 1 After finishing, it starts again, as shown in fig. 6. Under the premise, if the duty ratios of the trigger signals of the 2 contour detection modules are all 50%, T is 1 ＝T 2 400us, the duty cycle is flexibly configurable.
When the first contour detection module receives the trigger pulse, the exposure control is immediately carried out, and the exposure time t is 1 ＜T 1 ；T 1 After the completion of the process, the operation,second contour detection module T 2 Performing exposure control for an exposure time t 2 ＜T 2 (ii) a Specifically, at the moment when the core processing unit receives the trigger signal, the output IO port connected to the first contour detection module is enabled to be at a high level, and the duration of the high level and the camera exposure time t of the module are enabled to be at a high level 1 Same, when the time t is reached 1 Then, the IO port is restored to a low level, the output IO port connected with the second contour detection module enables a high level, and the duration time of the high level is the camera exposure time t of the second contour detection module 2 。
Similarly, if 3 selected contour detection modules are selected, then the analogy is repeated until T > T 1 +T 2 +T 3 ；
As T is continuously changed along with the speed of the vehicle in the running process of the rail vehicle, T 1 、T 2 But also varies in real time according to its duty cycle.
Based on this, in same collection cycle, in the time quantum of exposing, only current single module is in the exposure state, and other modules are in the time delay wait state, through carrying out real-time asynchronous control to 2 profile detection modules to avoid 2 profile detection modules to expose simultaneously, solve the interference problem of structured light in same region.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A3D measurement module asynchronous control method is characterized by comprising the following steps:
a speed parameter acquisition step, namely detecting a speed parameter of relative movement between a measured object and at least one 3D measuring module in real time through a speed measuring unit;
a trigger signal acquisition step, namely calculating trigger pulse frequency in real time through a trigger unit according to the speed parameter and the acquisition resolution of the 3D measurement module and outputting differential trigger pulse based on the trigger pulse frequency;
a speed information acquisition step of outputting the speed parameter as a speed pulse signal by a speed detection processing unit;
an asynchronous control step, in which a core processing unit asynchronously processes the differential trigger pulse according to a speed pulse signal and a measurement parameter to generate an asynchronous signal to the 3D measurement module to trigger different 3D modules, wherein the measurement parameter includes: exposure time, acquisition frame rate, and the number of 3D modules.
2. The 3D measurement module asynchronous control method according to claim 1, wherein the asynchronous control step comprises:
acquiring parameters, namely calculating a single-line acquisition period of each 3D measurement module according to the period information of the differential trigger pulse, the preset asynchronous duty ratio of each 3D measurement module and the number of the 3D modules by an acquisition parameter acquisition unit, and configuring the exposure time of the 3D measurement module according to the single-line acquisition period.
3. The asynchronous control method for the 3D measurement module according to claim 2, further comprising:
and an abnormal alarming step, wherein the core processing unit judges according to the period information of the differential trigger pulse, and outputs an abnormal signal when the sum of the exposure time of the plurality of 3D measurement modules is greater than the period information.
4. The asynchronous control method for a 3D measurement module as set forth in claim 2, wherein each exposure time is configured to be less than a single line acquisition period thereof.
5. The asynchronous control method for 3D measurement modules according to claim 3, wherein the period information of the differential trigger pulse is the sum of single line acquisition periods corresponding to each of the 3D measurement modules.
6. The asynchronous control method for 3D measurement modules according to any of claims 1-4, wherein the single line acquisition period T corresponding to each 3D measurement module is calculated according to the following calculation model:
and T is L/V, wherein L is the acquisition resolution of the 3D measurement module, and V is the speed parameter.
7. A3D measurement module asynchronous control device for implementing the 3D measurement module asynchronous control method according to any one of claims 1-6, comprising:
the speed measuring unit is used for detecting the speed parameter of the relative movement between the measured object and the at least one 3D measuring module in real time;
the trigger unit is electrically connected with the speed measuring unit and used for calculating the trigger pulse frequency in real time according to the speed parameter and the acquisition resolution of the 3D measuring module and outputting a differential trigger pulse based on the trigger pulse frequency;
the speed detection processing unit is electrically connected with the speed measuring unit and is used for converting the speed parameter into the speed pulse signal through a differential conversion interface circuit;
the core processing unit is electrically connected with the trigger unit through a trigger signal processing unit and is electrically connected with the speed detection processing unit, and the core processing unit is used for carrying out asynchronous processing on the differential trigger pulse according to a speed pulse signal and a measurement parameter and generating an asynchronous signal to each 3D measurement module so as to trigger different 3D modules.
8. The 3D measurement module asynchronous control device of claim 7, further comprising:
and the acquisition parameter acquisition unit is used for calculating to obtain a single-line acquisition period of each 3D measurement module according to the period information of the differential trigger pulse, the preset asynchronous duty ratio of each 3D measurement module and the number of the 3D modules, and configuring the exposure time of the 3D measurement module according to the single-line acquisition period.
9. The asynchronous control device of 3D measurement module according to claim 8, wherein each exposure time is configured to be less than a single line capture period thereof, and the period information of the differential trigger pulse is a sum of single line capture periods corresponding to each 3D measurement module.
10. A three-dimensional inspection system for rail vehicles, comprising the asynchronous control device of 3D measurement module set according to any one of claims 7 to 9, wherein the 3D measurement module set is mounted on the rail vehicle or an inspection trolley of the rail vehicle through a mounting beam.
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