CN115056818B - Asynchronous control method and device for 3D measurement module and three-dimensional detection system for railway vehicle - Google Patents
Asynchronous control method and device for 3D measurement module and three-dimensional detection system for railway vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/12—Measuring or surveying wheel-rims
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Abstract
The application relates to a 3D measurement module asynchronous control method and device and a railway vehicle three-dimensional detection system, wherein the method comprises the following steps: a speed parameter obtaining step, namely detecting the speed parameter of the relative movement between the detected 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 parameter 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 a speed parameter as a speed pulse signal by a speed detection processing unit; an asynchronous control step, wherein the core processing unit performs asynchronous processing on the differential trigger pulse according to the speed pulse signal and the measurement parameters, and generates an asynchronous signal to the 3D measurement module to trigger different 3D modules, wherein the measurement parameters comprise: exposure time, acquisition frame rate, number of 3D modules. The optical interference problem between a plurality of structured light 3D measurement modules has been solved through this application.
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 an increasingly important role in guiding and supporting urban development, meeting the demands of people on travel, relieving traffic jams, reducing air pollution and the like, and meanwhile, along with the rapid increase of operation mileage and passenger flow, the safe operation pressure and challenges of the urban rail transit are increasingly increased. The increase of construction mileage and the increase of lines are becoming busy, which causes the increase of the power action of the wheel track of the train.
Structured light (Structured light) typically employs an invisible infrared laser of a specific wavelength as a light source, and the light emitted by the Structured light is projected onto an object through a certain code, and the distortion of the returned code pattern is calculated through a certain algorithm to obtain 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 realizes three-dimensional modeling of a measured object by analyzing contour curves formed by the light source striking objects with different distances. The camera 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 occur in the same measurement system, the light sources between the modules will interfere.
The prior art 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 situation of less modules, and if the number of the modules is more, the light sources of the modules are required to be staggered from the installation position, thereby causing great limitation of use scenes.
At present, no effective solution is proposed 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, a device and a railway vehicle three-dimensional detection system, which solve the problem of light interference among a plurality of structured light 3D measurement modules by using the high-precision light source asynchronous control method, realize that the plurality of structured light 3D measurement modules can work normally and adapt to application under a multi-module measurement scene better.
In a first aspect, an embodiment of the present application provides an asynchronous control method for a 3D measurement module, including:
a speed parameter acquisition step of detecting a speed parameter of relative movement between the detected object and at least one 3D measurement module in real time through a speed measurement 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 pulses 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 comprises a differential conversion interface circuit, and the speed parameter received through the 485 interface is output as a speed pulse signal meeting the TTL serial port requirement through the differential conversion interface circuit.
An asynchronous control step, wherein a core processing unit performs asynchronous processing on the differential trigger pulse according to a speed pulse signal and a measurement parameter, and generates an asynchronous signal to the 3D measurement module to trigger different 3D modules, wherein the measurement parameter comprises: exposure time, acquisition frame rate, number of 3D modules.
In some of these embodiments, the asynchronous control step comprises:
and acquiring acquisition parameters, namely calculating a single line acquisition period of each 3D measurement module by an acquisition parameter acquisition unit 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 of these embodiments, the control method further comprises:
and in the abnormality alarming step, the core processing unit judges according to the period information of the differential trigger pulse, and when the sum of the exposure time of the plurality of 3D measurement modules is larger than the period information, an abnormality signal is output to indicate that at least two 3D measurement modules are exposed simultaneously in the period information.
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 a sum of single-line acquisition periods corresponding to each 3D measurement module.
In some embodiments, the single-line acquisition period T corresponding to each 3D measurement module may be calculated according to the following calculation model:
t=l/V, where L is the acquisition resolution of the 3D measurement module, and V is the speed parameter.
Based on the method, 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 affected by interference, and compared with the prior art, the method not only saves the use of multiple different wavelength compensation light sources, but also ensures that all the modules can work normally.
In a second aspect, an embodiment of the present application provides a 3D measurement module asynchronous control device, configured to implement the 3D measurement module asynchronous control method according to the first aspect, including:
the speed measuring unit 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 is electrically connected with the speed measurement unit, and is used for calculating trigger pulse frequency in real time according to the speed parameter and the acquisition resolution of the 3D measurement module and outputting differential trigger pulses based on the trigger pulse frequency; specifically, the triggering unit is used for triggering and processing the electronic board card;
the speed detection processing unit is electrically connected with the speed measurement 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, 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, 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.
In some of these embodiments, the apparatus further comprises:
and the acquisition parameter acquisition unit is used for 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, 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 a sum of the single line acquisition periods corresponding to each 3D measurement module.
Based on the above unit, the embodiment of the application solves the problem of light interference among a plurality of structured light 3D measurement modules by asynchronously controlling the 3D measurement modules.
In a third aspect, an embodiment of the present application provides a three-dimensional detection system for a rail vehicle, including the asynchronous control device for a 3D measurement module set according to the second aspect, where the 3D measurement module set is installed on the rail vehicle or a patrol trolley of the rail vehicle through a mounting beam. Optionally, the 3D measurement module includes: sleeper detection module, profile detection module, track table fastener detection module.
Compared with the related art, the asynchronous control method and device for the 3D measurement module and the three-dimensional detection system for the railway vehicle provided by the embodiment of the application solve the problem of light interference among a plurality of 3D measurement modules of structured light through asynchronous control of the 3D measurement module, do not need to use compensating light sources with different wavelengths or stagger the light sources at mounting positions, reduce the mounting requirements, 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 other features, objects, and advantages 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 embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a flow chart 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 flow chart 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 of a 3D measurement module asynchronous control method according to a preferred embodiment of the present application.
In the figure:
1. a speed measurement unit; 2. a trigger unit; 3. a speed detection processing unit;
4. an acquisition parameter acquisition unit; 5. a core processing unit; 21. and triggering the signal processing unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described and illustrated below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on the embodiments provided herein, are intended to be within the scope of the present application.
It is apparent that the drawings in the following description are only some examples or embodiments of the present application, and it is possible for those of ordinary skill in the art to apply the present application to other similar situations according to these drawings without inventive effort. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases 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. It is to be expressly and implicitly understood by those of ordinary skill in the art that the embodiments described herein can be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar terms herein do not denote a limitation of quantity, but rather denote the singular or plural. The terms "comprising," "including," "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to only those steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The terms "connected," "coupled," and the like in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as used herein refers to two or more. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., "a and/or B" may mean: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship. The terms "first," "second," "third," and the like, as used herein, are merely distinguishing between similar objects and not representing a particular ordering of objects.
The embodiment provides a 3D measurement 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, as shown in fig. 1 and 3, the flowchart includes the following steps:
a speed parameter obtaining step S1, namely detecting the speed parameter of the relative movement between the detected object and at least one 3D measuring module in real time through a speed measuring 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, 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 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 through 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 comprises a differential conversion interface circuit, and the speed parameter received through the 485 interface is output as a speed pulse signal meeting the requirements of the TTL serial port through the differential conversion interface circuit. Optionally, the speed detection processing unit is a wheel encoder, and is specifically applied to the abnormal detection of a railway vehicle, the vehicle encoder is used for calculating the mileage of the train to realize the positioning of the abnormal position of the railway monitoring, the vehicle encoder adopts an infrared emission and receiving technology, the infrared emission component and the infrared receiving component can be arranged on two sides of a grating disk, the grating disk rotates synchronously with a wheel shaft, 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 which are in linear proportion with the speed of the wheel shaft through peripheral circuits such as waveform processing, load adjustment and the like. In addition, to improve the accuracy of the wheel encoder, the position of the rail vehicle may also be calibrated in conjunction with RFID technology to eliminate accumulated errors.
In the step S4 of asynchronous control, a core processing unit performs asynchronous processing on the differential trigger pulse according to the speed 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, number of 3D modules. The asynchronous control step S4 includes:
in the acquisition parameter acquisition step S401, a single line acquisition period of each 3D measurement module is calculated by an acquisition parameter acquisition unit according to the period information of the differential trigger pulse, the preset asynchronous duty ratio of each 3D measurement module and the number of 3D modules, and the exposure time of the 3D measurement modules is configured according to the single line acquisition period. Specifically, each exposure time is configured to be smaller than a single line acquisition period, the period information of the differential trigger pulse is the sum of the 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:
t=l/V, where L is the acquisition resolution of the 3D measurement module and V is the 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 affected by interference, and compared with the prior art, the method has the advantages that various different wavelength compensation light sources are saved, and all modules can work normally.
In some of these embodiments, referring to fig. 2, the control method further includes:
and S5, in the abnormality alarming step, the core processing unit judges according to the period information of the differential trigger pulse, and when the sum of the exposure time of the plurality of 3D measurement modules is larger than the period information, an abnormality signal is output to indicate that at least two 3D measurement modules are exposed simultaneously in the period information.
In addition, in order to implement the 3D measurement module asynchronous control method according to the above embodiment, the embodiment of the present application further provides a 3D measurement module asynchronous control device, as shown in fig. 4, where the device 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 measurement unit 1, and the trigger unit 2 is used for calculating trigger pulse frequency in real time according to the speed parameter and the acquisition resolution of the 3D measurement module and outputting differential trigger pulses based on the trigger pulse frequency; specifically, the triggering unit 2 is used for triggering and processing the electronic board card;
the speed detection processing unit 3 is electrically connected with the speed measurement 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.
The acquisition parameter acquisition unit 4 calculates 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 configures the exposure time of the 3D measurement module according to the single line acquisition period. Each exposure time is configured to be smaller than a 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 to the trigger unit 2 through a trigger signal processing unit 21 and is electrically connected to the speed detection processing unit 3, and the core processing unit 5 is configured to asynchronously process the differential trigger pulse according to the speed pulse signal and a measurement parameter, and generate an asynchronous signal to each 3D measurement module to trigger different 3D modules, where the trigger signal processing unit is specifically a high-speed optocoupler.
Based on the above unit, the embodiment of the application solves the problem of light interference among a plurality of structured light 3D measurement modules by asynchronously controlling the 3D measurement modules.
In addition, the embodiment of the application provides a three-dimensional detecting system of rail vehicle, including the asynchronous controlling means of 3D measurement module as above implementation, 3D measurement module installs 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 railway vehicle or the test trolley. Optionally, the 3D measurement module includes: sleeper detection module, profile detection module, track table fastener detection module.
As shown in fig. 3, the three-dimensional monitoring system of the railway vehicle provided with the 3D measurement module asynchronous control device performs data interaction in a form of UDP broadcast with the industrial personal computer in the electrical control cabinet of the railway vehicle by the trigger unit and the acquisition parameter acquisition unit, forms a local area network, is convenient for overall control of a main control program arranged in the industrial personal computer, and comprises a control power supply/IO trigger box for sending acquisition instructions to each camera module, controlling acquisition of temporarily acquired pictures and data of the industrial personal computer, controlling a data storage identification server to identify the acquired pictures, storing identification results and the like.
Based on the three-dimensional detecting system of rail vehicle of this application embodiment, owing to install in rail vehicle bottom, no sunshine is directly irradiated, needs to adopt infrared laser as the initiative light source to set up the filter cooperation of camera lens narrowband filter and realize the filter treatment to the light pollution of rail face reflection and surrounding space scattering in the module is inside, makes the environmental suitability of camera promote greatly.
Compared with the related art, the asynchronous control method and device for the 3D measurement module and the three-dimensional detection system for the railway vehicle provided by the embodiment of the application solve the problem of light interference among a plurality of 3D measurement modules of structured light through asynchronous control of the 3D measurement module, do not need to use compensating light sources with different wavelengths or stagger the light sources at mounting positions, reduce the mounting requirements, 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 chart of asynchronous control of a 3D measurement module applied to a three-dimensional monitoring system of a railway vehicle, and referring to fig. 5, a 3D measurement module of a preferred embodiment of the present application selects 2 profile detection modules, where the acquisition resolution of the profile detection modules is 2mm, that is, a line is triggered every 2mm to acquire a certain amount of data, it should be noted that, the acquisition resolution is not changed due to the speed of the railway vehicle, and the working process shown by the above timing chart is a preferred example of the method embodiment when selecting 2 profile detection modules, and the same points as the method embodiment are not repeated.
The single-line acquisition period T=L/V of the 3D measurement module is obtained according to the trigger pulse frequency output by the trigger box; if the current speed of the railway vehicle is 9km/h, namely 2.5m/s, the calculated single line acquisition period is 800us, and under the single line acquisition period t=800 us, the 2 contour detection modules all need to execute an acquisition action to ensure the integrity of an acquired image. That is, if the acquisition period of the first contour detection module is T in the same period T 1 The acquisition period of the second contour detection module is T 2 Then T > T must be satisfied 1 +T 2 And T is 2 Must be at T 1 After the end, it is started again as shown in fig. 6. Under the premise, if the duty ratio of the trigger signals of the 2 profile detection modules is 50%, T 1 ＝T 2 =400 us, which is flexibly configurable.
When the first profile detection module receives the trigger pulse, the exposure control is immediately performed, and the exposure time t 1 ＜T 1 ；T 1 After finishing, the second contour detection module T 2 Exposure control is performed and exposure time t 2 ＜T 2 The method comprises the steps of carrying out a first treatment on the surface of the Specifically, when the core processing unit receives the trigger signal, the output IO port connected with 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 the same time 1 Similarly, 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 of the high level is the camera exposure time t of the second contour detection module 2 。
Similarly, if 3 contour detection modules are selected, then T > T is calculated 1 +T 2 +T 3 ；
Since T varies with vehicle speed during the course of rail vehicle travel 1 、T 2 Also varying 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 state of exposing, and other modules are in the time delay wait state to 2 profile detection modules are through carrying out real-time asynchronous control to avoid 2 profile detection modules to expose simultaneously, solve the interference problem of the structural light in the same region.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (4)
1. The asynchronous control method of the 3D measurement module is characterized by comprising the following steps of:
a speed parameter acquisition step of detecting a speed parameter of relative movement between the detected object and at least one 3D measurement module in real time through a speed measurement 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 pulses 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, wherein a core processing unit performs asynchronous processing on the differential trigger pulse according to a speed pulse signal and a measurement parameter, and generates an asynchronous signal to the 3D measurement module to trigger different 3D modules, wherein the measurement parameter comprises: exposure time, acquisition frame rate, 3D module quantity, asynchronous control step includes:
acquiring acquisition parameters, namely calculating to obtain a single-wire acquisition period of each 3D measurement module by an acquisition parameter acquisition unit 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, wherein the period information of the differential trigger pulse is the sum of the single-wire acquisition periods corresponding to each 3D measurement module, the exposure time of each 3D measurement module is configured according to the single-wire acquisition period, each exposure time is configured to be smaller than the single-wire acquisition period, only the current single 3D measurement module is in an exposure state in the same acquisition period, other modules are in a delay waiting state, and the single-wire acquisition period T corresponding to each 3D measurement module can be calculated according to the following calculation model:
t=l/V, where L is the acquisition resolution of the 3D measurement module, and V is the speed parameter.
2. The 3D measurement module asynchronous control method of claim 1, further comprising:
and in the abnormality alarming step, the core processing unit judges according to the period information of the differential trigger pulse, and when the sum of the exposure time of the 3D measurement modules is larger than the period information, an abnormality signal is output.
3. A 3D measurement module asynchronous control device for implementing the 3D measurement module asynchronous control method according to claim 1 or 2, comprising:
the speed measuring unit 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 is electrically connected with the speed measurement unit, and is used for calculating trigger pulse frequency in real time according to the speed parameter and the acquisition resolution of the 3D measurement module and outputting differential trigger pulses based on the trigger pulse frequency;
the speed detection processing unit is electrically connected with the speed measurement 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 triggering unit through a triggering 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 triggering 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;
the acquisition parameter acquisition unit is used for 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, configuring the exposure time of each 3D measurement module according to the single line acquisition period, wherein each exposure time is configured to be smaller than the single line acquisition period of the 3D measurement module, and the period information of the differential trigger pulse is the sum of the single line acquisition periods corresponding to each 3D measurement module.
4. A three-dimensional detection system for a railway vehicle, comprising the 3D measurement module asynchronous control device according to claim 3, wherein the 3D measurement module is mounted on the railway vehicle or a patrol trolley of the railway vehicle through a mounting beam.
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| CN202210709423.5A CN115056818B (en) | 2022-06-22 | 2022-06-22 | Asynchronous control method and device for 3D measurement module and three-dimensional detection system for railway vehicle |
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| WO2022017366A1 (en) * | 2020-07-23 | 2022-01-27 | 华为技术有限公司 | Depth imaging method and depth imaging system |
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