CN110360947A - A kind of vehicle's contour measurement method based on vector image measurement - Google Patents
A kind of vehicle's contour measurement method based on vector image measurement Download PDFInfo
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention discloses a kind of vehicle's contour measurement methods based on vector image measurement, and the left and right linear array of upper, middle and lower is constituted including installing line-scan digital camera respectively on detection zone trackside vehicle wheel profile or so corner angle staff, on the line of at left and right sides of middle part and left and right base angle；Space vector is established as X-axis positive direction using train direction of travel and measures coordinate system, and X is set in X-axis to gauge；One of the right linear array in top and left linear array are preceding, another is rear, one of the right linear array in middle part and left linear array are preceding, another is rear, two linear arrays before or after being in together are identically formed two parallel determination sections in the upward coordinate of X, and two are measured in parallel nominal value of the X in section to distance for gauge；The lower part measurement section that the left and right linear array of lower part is formed is located at the middle position in the two parallel determinations section.The present invention can calculate the movement velocity of train accurately by gauge to track line-scan digital camera sampling line frequency, it can be achieved that the undistorted sampling of fair speed, realizes accurate measurement.
Description
Technical field
The present invention relates to a kind of vehicle's contour measurement methods based on vector image measurement.
Background technique
With the fast development of domestic rail traffic, around the various detection techniques of rail traffic, especially high speed and super precision
The camera technique and image processing techniques of degree have become a kind of development trend.Vehicle's contour size and limit are always train
One important guarantee of safe operation, newest " Metro Clearance standard " CJJ/T 96-2018 specify that vehicle gauge, tunnel are set
Standby, platform, shield door, the clearance standard and Testing index of longitudinal evacuation platform and tunnel construction are as follows:
(table 1)
Currently, the validity of various Industrial Image Detectings still reaches far away consumer image recognition level.Such as: using figure
This defect process application that picture splicing directly compares generation breakdown judge with standard gallery is very wide, but splicing is lost edge
The most important procedural information of domain measurement-image overlapping edge domain feature contour point key position, distance, dimension information, and do not have
Position, distance, dimension information standard gallery be that can not solve complex environment, movement, camera angle, distance, image table
The multi-factor problem of face variation.Again for example: even if measurement picture domain compares java standard library picture domain gray scale, edge, straight line
General-purpose algorithm such as Canny, hough algorithm all pass through, but in two pictures critical component various dimensions spatial position change
I.e. deformation, displacement and rotation etc. possibly can not identify (this is because simple image matching, which will lead to extensive position, is not achieved mm amount
Grade, and certain commercial measurements then must mm grades position to measure smaller micro- deformation or the variation of torque, such as rail is loaded
The micro- deformation generated).
At this stage, image detection theoretical research and practice, which disconnect, makes the application of artificial intelligence and big data rest on lower water
It is flat, it is not able to satisfy new subway intelligence O&M and CJJ/T 96-2018 " Metro Clearance standard " requirement.Below by way of live image
The case of measurement tunnel device limit is illustrated: in the case, measurement sensing uses the detection image of six area array cameras
Splice alignments, since area array cameras synchronism is ms grades, and moving sweep is limited by tens Hz of frame per second, and error term is remote in table
The not up to facilities clearance detection error 5mm requirement of new standard, same image method measurement are higher to vehicle's contour, platform etc.
Error requirements (2mm) be also impossible to meet:
(table 2)
Currently, domestic mainly use following two mode for vehicle's contour dimensional measurement:
(1) Mechanical measurement: detected using checking of clearance tooling-warning portal 1, referring to Fig. 1, this method is in low speed
In the case of observational measurement is made to body gauge, the judgement detection that this is a kind of whether be simply.Its existing deficiency is: cannot
Quantitative measurment each section specific size；A set of warning portal is only applicable to a kind of vehicle；Database cannot be formed, car inspection and repair is made
Industry can not provide effective guiding opinion；Measurement efficiency is low.
(2) laser type measures: laser type measurement device used mainly by door frame, laser range sensor, mobile platform,
Linear guide, precision ball screw, servo motor composition.It has the disadvantage that complicated in mechanical structure, equipment operation failure rate
It is high；Different automobile types are needed to carry out cumbersome machinery adjustment；Measurement efficiency is low.
In addition, in vehicle frame, big repair factory and static debugging stage, it is also desirable to vehicle by electric area, bogie, it is pneumatic,
The each sections such as braking and driving motor carry out position, dimensional measurement, most of at present still using manually measurement method, work
Low efficiency.
Summary of the invention
The purpose of the present invention is to provide it is a kind of efficiently, can be achieved accurately to measure, to adapt to various different vehicles boundary of transfiniting sick
The vehicle's contour measurement method based on vector image measurement of evil measurement.
The purpose of the present invention is realized by technical measures below: a kind of vehicle's contour survey based on vector image measurement
Amount method, it is characterised in that specifically includes the following steps:
S1, on the left and right corner angle staff of detection zone trackside vehicle wheel profile, on the line of at left and right sides of middle part and left and right base angle
Installation line-scan digital camera constitutes the left and right linear array of upper, middle and lower respectively, and each line-scan digital camera connects data processing unit；With column
Vehicle direction of travel is that X-axis positive direction establishes space vector measurement coordinate system, and X is arranged to gauge in X-axis；
S2, each linear array arrangement upward in X: one of the right linear array and left linear array on top it is preceding, another rear, in
One of the right linear array and left linear array in portion are preceding, another is rear, two linear arrays before or after being in together the coordinate phase upward in X
With to form two parallel measurement sections, two are measured in parallel the nominal value that the X in sections is gauge to distance, i.e. top
Left and right linear array and the left and right linear array at middle part are with two parallel determination section of diagonal manner arrangement；The left and right linear array of lower part is in X upward
Coordinate is identically formed lower part measurement section, and lower part measurement section is located at the middle position in the two parallel determinations section；
S3, train move across detection zone, and the three-dimensional feature data of each line-scan digital camera synchronous acquisition train profile are simultaneously transmitted
To data processing unit；
S4, from data processing unit according to gauge calculate train movement velocity and X to pixel equivalent, and combine train
The three-dimensional feature data of profile carry out real time correction to the dynamic of vehicle section and the direction of motion.
The line-scan digital camera that the present invention uses is the camera using line scan image sensor.Detected object is usually done at the uniform velocity
Movement uniformly detects its whole surface with reaching using one or more camera to its continuous scanning line by line.It can be to its figure
As a line a line is handled, or the more linear array images being made of multirow are handled.
The present invention can calculate the movement velocity of train accurately by gauge to track line-scan digital camera and sample line frequency, i.e. root
Line frequency is sampled according to the movement velocity control line-scan digital camera of train, movement velocity and line-scan digital camera sampling line frequency phase may be implemented
Match, therefore, the undistorted sampling of fair speed can be achieved in the present invention, and then realizes accurate measurement；The present invention not only hardware layout
Simply, data acquisition and processing (DAP) process is automatically performed, and work efficiency is high, and is adapted to various different vehicles and is transfinited boundary's disease
Measurement especially EEF bogie disease measures.
The left and right linear array on top of the present invention is connected with compartment and is surveyed with air-conditioning, ventilation hole to vehicle roof outline line, by electric area
Amount；The left and right linear array at middle part carries out vehicle side wheel profile, car door, vehicle window, compartment connection, bogie, pneumatic device, car number
Measurement；The left and right linear array of lower part measures the offset of vehicle return pulley profile, vehicle bottom pendant, wheel tread and track geometry.
The present invention has following preferred embodiment:
The nominal value is 200mm.
The line-scan digital camera is high score high-speed type, i.e., resolving power is greater than or equal to 4k, and sampling maximum line frequency 40kHz is sampled
Time interval is greater than or equal to 0.025ms.
As one embodiment of the present invention, the three-dimensional feature point coordinate value in the limit of tested vehicle section, which measures, to be used
The space coordinate of binocular stereo vision measures, i.e., the left and right linear array on top forms the plesiochronous measurement of binocular；The left and right linear array at middle part
Form the plesiochronous measurement of binocular；Ipsilateral top or so linear array and the left and right linear array at middle part separately constitute plesiochronous binocular measurement；
The left and right linear array of lower part forms binocular synchro measure.
As another embodiment of the invention, the three-dimensional feature point coordinate value in the limit of tested vehicle section uses single
Mesh vision measurement, actual measurement profile obtained are compared with nominal contour or carry out equivalent by image edge domain extension field and change
It calculates.
The present invention when train speed be less than or equal to 57.6 kilometers/h when, the x to pixel equivalent be 0.4mm/pix；When
When train speed is greater than 57.6 kilometers/h, the fixed highest line frequency 40kHz of rear linear array obtains actual pixel equivalent and carries out pixel benefit
It repays.
As a kind of preferred embodiment of the invention, the space vector measurement coordinate system is ginseng with rail plane centreline
It is admitted to row space layout, origin is located on rail plane centreline, and X-axis is overlapped with rail plane centreline, and the positive direction of X-axis is column
The direction of travel of vehicle, X-axis are rotated by 90 ° counterclockwise as Y-axis positive direction, and Y-axis rotates clockwise 90 ° as Z axis positive direction.
Line-scan digital camera of the present invention is defeated using the fixed intervals of the every 100mm of sparse curve for normal vehicle contour segment
Out, abnormal contour segment is exported using the interval high density curve 0.4mm and retains picture.
The sensing device being connected with each line-scan digital camera is respectively set in the entrance and exit of detection zone by the present invention, for monitoring
Train drives into detection zone unlatching line-scan digital camera or train is driven out to detection zone and closes line-scan digital camera.
Compared with prior art, the present invention has following significant effect:
(1) to track line-scan digital camera and sample line frequency, i.e., the present invention can accurately calculate the movement velocity of train by gauge
Line-scan digital camera is controlled according to the movement velocity of train and samples line frequency, and movement velocity and line-scan digital camera sampling line frequency phase may be implemented
Match, therefore, the undistorted sampling of fair speed (57.6 kilometers/h and following speed) can be achieved in the present invention, and then realizes accurate survey
Amount, not only can disease Classification Management and photo site visualizing monitor in real time, be accurately positioned convenient for scene confirmation, verify, and
The space that track horizontal center line and vehicle centre-line can accurately be measured is mobile.
(2) the present invention not only arrange by hardware (line-scan digital camera and the sensor for detecting train disengaging starting line-scan digital camera)
Simply, data acquisition and processing (DAP) process is automatically performed, and work efficiency is high, and is adapted to various different vehicles and is transfinited boundary's disease
Measurement especially EEF bogie disease measures.
(3) the traceable slight error of the present invention and delay can be demarcated by direction of motion gauge and be scaled pixel equivalent benefit
It repays, it is complete with the error of target value since train is the target value that big time inertia system tracking only approaches 0.4mm/pix
From X to scale measurement, such as calculate actual pixels equivalent be 0.41mm/pix, in order to infrequently adjust, it is only necessary to by practical picture
Plain equivalent be used in calculate X to object dimension calculation, without adjust line frequency.
(4) the dynamic geometries parameter such as sedimentation, offset of present invention measurement track；It measures the dynamic axial displacement of vehicle, turn to
Balance and vertical fluctuation；Measure profile standard measuring point required by regulation；Track, the vehicle of had an impact vehicle's contour measurement error
Body exercise factor will be calculated and amendment.
(5) the present invention can be achieved to solve critical component position, dimensional measurement the multifactor measurement and know that vehicle gauge transfinites
Other: vehicle manufacture tolerance causes upper and lower, left and right offset or inclination；Spring sinks caused by being pressurized, excess deviates or inclination；Abrasion
Or permanent deformation；The deformation of left and right irregular wear；Wheel-rail gap and each part of vehicle lateral clearance influence, such as middle linear array measurement is left
The right axle heart leave the right or normal track face height characterization wheel to locating life cycle, tilt.
Detailed description of the invention
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the schematic diagram that the present invention establishes space vector measurement coordinate system；
Fig. 2 is binocular measuring principle schematic diagram in vehicle side of the present invention；
Fig. 3 is vehicle side of the present invention monocular and will survey the schematic diagram that is compared with nominal contour of profile；
Fig. 4 is present invention pixel equivalent dimension conversion schematic diagram；
Fig. 5 is three-dimensional scale of the invention for direction linear array verifying schematic diagram.
Specific embodiment
A kind of vehicle's contour measurement method based on vector image measurement of the present invention, as shown in Figure 1, detection zone tunnel sidewalls
4, it is provided with limit detection cabinet 3, vehicle gauge line 2.Definition space vector measurement coordinate system: x-axis is directed toward in paper as pros
To indicating the direction of travel of train；X-axis is rotated by 90 ° counterclockwise, is positive direction of the y-axis；Y-axis rotates clockwise 90 °, is that z-axis is square
To.
Several definition:
Object outline: CJJ/T 96-2018 " Metro Clearance standard " defined outline point space coordinates (with rail plane with
Center line reference) D coordinates value；And eliminate the dynamic settling of track, lateral shift influence.
Linear array plane: the angle of length direction (such as length 8k pixel) and three-dimensional system of coordinate of linear array；Linear array center is vertical
In the plane of linear array length direction composition.
Object size: object centers are in three-dimensional system of coordinate space accurate location；Object and peripheral profile feature reference point
Relative distance；Object itself size scale (converting bulk for picture pixels).
Image edge domain: the zonule of line-scan digital camera sampled images imbricate two-by-two；Perpendicular to two figures of plane of movement
As including domain；Edge domain extends to extension field along two linear array planes.
One, building space vector measures coordinate system:
Referring to Fig. 1, as the sensor of sensing device and the mounting arrangements of line-scan digital camera:
1, sensor is mounted on the entrance and exit of detection zone, and sensor is connected with line-scan digital camera, sensor sensing train
Into or be driven out to detection zone, to start line-scan digital camera work or close line-scan digital camera.
Pacify respectively on the left and right corner angle staff of detection zone trackside vehicle's contour, on the line of at left and right sides of middle part and left and right base angle
Wiring array camera constitutes the left and right linear array of upper, middle and lower, the left and right linear array (line-scan digital camera: 4# and 3#) on top, middle part
Left and right linear array (line-scan digital camera: 5# and 2#) and lower part left and right linear array (line-scan digital camera: 6# and 1#)；It measures and sits in space vector
It marks and X is set in the X-axis of system to gauge (nominal value 200mm, using the suitable ruler to roof, vehicle sidepiece part of the nominal value of 200mm
Very little to be described, each line-scan digital camera connects data processing unit.
In the present embodiment, it is the sky referred to that space vector measurement coordinate system, which is with rail plane centreline and center sensor,
Between arrange x, y, z (mm).The origin of space vector measurement coordinate system is located on rail plane centreline, X-axis and rail plane centreline
It is overlapped (not drawn in figure), it is positive direction that X-axis, which is directed toward in paper, indicates the direction of travel of train；X-axis is rotated by 90 ° counterclockwise,
For Y-axis positive direction；Y-axis rotates clockwise 90 °, is Z axis positive direction.
S2, each linear array arrangement upward in X: being shown in Fig. 1, the right linear array on top it is preceding (it is outside by paper, first receive on the time
Arrival vehicle signal), left linear array rear, coordinate value of the right linear array on top in space vector measurement XYZ coordinate system be respectively (-
100, -3000,5800), the coordinate value of the left linear array on top is (100,3000,5800) respectively；The right linear array at middle part is rear, left
For linear array preceding, the right linear array coordinate value at middle part is (100, -3000,2000) respectively, the left linear array coordinate value at middle part be respectively (-
100,3000,2000), in the present embodiment, the right linear array on top and the left linear array at middle part are in diagonal position and their X-axis
Coordinate value is identical to constitute a measurement section, and the left linear array on top and the right linear array at middle part are in diagonal position and their X-axis
Coordinate value is identical to constitute another measurement section, and two measurement sections are vertical face in parallel, the X in this two parallel determination sections to away from
(0, -3000, -100) respectively from the right linear array coordinate value for 200mm, lower part, the left linear array coordinate value of lower part be respectively (0,
3000, -100), the X axis coordinate of two linear arrays is worth identical composition lower part measurement section, and lower part measurement section is located at the two parallel survey
Measure the centre in section.
Line-scan digital camera is the high parting of high speed, such as 8k, 4k resolving power, and can realize continuous intensive sampling, is controlled undistorted
Sampling to 57.6 kilometers/h of max. speed, i.e. X to pixel equivalent perseverance be the 0.4mm/pix designed；Vmax=0.4/0.025=
16mm/ms=57.6 kilometers/h；Wherein linear array samples highest frequency 40k；Minimum interval is 0.025ms.More than highest vehicle
Actual pixel equivalent can be obtained when fast carries out pixel compensation.It is calculated according to the corresponding line frequency of 3~57.6 kilometers/h: when
Train speed is 3 kilometers/h=0.8333mm/ms, the sampling interval Ti=0.4/0.8333=0.48ms of line-scan digital camera；F3=
1/0.48=2.0833kHz；When train speed be 57.6 km/h, f57.6=40kHz, the sampling interval of line-scan digital camera
T57.6=0.025ms, the tracking target value for adjusting line frequency be 0.4mm/pix and allow such as positive and negative 0.05mm/pix error, such as
This, which is tracked, can guarantee that measurement accuracy is excessive without regard to image storage capacity.Line-scan digital camera has continuous measurement and high score height same
Walk sampling nature；Ground is constituted to vehicle's contour vector precise measurement coordinate system.
In the present embodiment, the left and right linear array on top: 8k*2 (i.e. every 2 horizontal scanning line of frame) high speed high score linear array phase is used
Machine, 8k pixel line-scan digital camera, can take into account large space and cell domain measurement；Measure image field > 3m；Sample highest frequency 40kHz and vehicle
Position resolving power is 0.4mm/pix in section of outline；Left and right linear array image covers vehicle roof outline face and vehicle side section contoured surface；It is left
Between right linear array be overlapped intermediate region be used as test the speed, pixel equivalent conversion and roof center line calibration；
The left and right linear array at middle part: 8k*2 high speed high score line-scan digital camera is used；Measure image field > 3m；Sample highest frequency 40kHz
It is 0.4mm/pix with position resolving power in vehicle's contour section；Left and right linear array image covers vehicle side major part contoured surface；Left and right linear array
Respectively intermediate region Chong Die with ipsilateral upper linear array be used as test the speed, pixel equivalent conversion and vehicle side characteristic curve are calibrated.
The left and right linear array of lower part: 4k*2 high speed high score line-scan digital camera is used；Measure image field > 1.6m；Sample highest frequency
Position resolving power is 0.4mm/pix in 40kHz and vehicle's contour section；Left and right linear array image covers the big contoured surface in vehicle bottom and fraction
Vehicle side wheel profile surface；Left and right linear array respectively intermediate region Chong Die with ipsilateral middle linear array be used as test the speed, pixel equivalent conversion and vehicle bottom it is special
Levy line calibration.
S3, train move across detection zone, and the three-dimensional feature data of each line-scan digital camera synchronous acquisition train profile are simultaneously transmitted
To data processing unit；
S4, from data processing unit according to scale calculate train movement velocity and X to pixel equivalent, and combine train
The three-dimensional feature data of profile carry out real time correction to the dynamic of vehicle section, the direction of motion.
For example, the movement velocity of train and X to pixel equivalent obtained using following calculation:
The measurement section in the left and right linear array juxtaposition region on the compartment edge center cutting top of moving train, i is to cut
It cutting the right linear array moment, i+1 is to cut the left linear array moment,
Minizone speed v (i+1, i)=200/ Δ ti,
Δ ti=t (i+1)-ti=(N (i+1)-Ni) * Ti；N is left and right linear array synchronous imaging pixel coordinate point；
(N (i+1)-Ni) is the pixel number in the period；Ti=1/fi is the linear array sampling period；
Fi is instantaneous sample frequency；200mm is x to scale.
Qi=200/ (N (i+1)-Ni) (mm/pix)；This is the calculation basis for sampling line frequency and automatically tracking speed.
Real time correction is carried out to the dynamic of vehicle section, the direction of motion in conjunction with the three-dimensional feature data of train profile, specifically
It is as follows:
The data processing for being not at juxtaposition region for line-scan digital camera acquisition image can be by the imaging of measurement section
Extended line extends scale domain.And the data processing in juxtaposition region is in for line-scan digital camera acquisition image: overlapping region passes
Sensor X is corrected to scale and is illustrated: the compartment left edge of roof of train, left ventilation hole, 1# air-conditioning center, intermediate left ventilation hole, in
Between right ventilation hole, 2# air-conditioning center, right ventilation hole, compartment right hand edge, with upper-part manufacture mounting process required distance be respectively
2380,3410,4410,2400,4410,3410,2380, overall length of the train 22800mm.Above 7 trains mounting process feature
Be used as big data calibration sensor installation deviation or operation generate basic Light deformation error, with x1, x2, x3, x4,
X5, x6, x7 are that the linear array measured value in several (no less than 100 standard compartments, except headstock tail and by electric car) and manufacture are marked
The average value of the difference of title value, adjustment 200mm+dx make population deviation value be intended to zero, and dx is that x is corrected to the system of scale at this time
Value.
Referring to fig. 2, the main three-dimensional feature point coordinate value measurement in the limit of tested vehicle section, is to utilize binocular tri-dimensional
For the method for space coordinates measurement of feel come (the binocular measurement, using two cameras) that determines, binocular stereo vision is former based on parallax
It manages and utilizes imaging device from the two images of different position acquisition testees, by calculating the position between image corresponding points
Deviation, the method to obtain object dimensional geological information.
Binocular measurement method: the left and right linear array on top forms the plesiochronous measurement of binocular；The left and right linear array at middle part forms binocular
Plesiochronous measurement；Plesiochronous binocular measurement is formed with the left and right battle array at upper lateral part and middle part；The left and right linear array composition binocular of lower part is same
The measurement section of pacing amount, the left and right linear array composition of lower part is located at the middle position in above two measurement section.
The presentation (such as z to vehicle window height) of certain feature (or multiple features) of car body section (plane coordinate system yoz) is two
As the pixel angle in plane is determined in conjunction with plane coordinate system yoz.Car body feature P (25 ') is in simultaneously captured by camera A and B
Two width difference pictures in, car body feature P corresponds to unique pixel angle θ in the picture plane of camera AA(or vector PA), vehicle
Body characteristics P corresponds to unique pixel angle θ in the picture plane of camera BB(or vector PB), due to the position and angle of camera A and B
Degree immobilizes, therefore the two vectors (vector PA and vector PB) are following two linear equation in plane coordinate system yoz:
Z=k1a×y+k2a ⑴
Z=k1b×y+k2b ⑵
k1a、k2a、k1bAnd k2b(1) and (2) two equations can be solved, then y, z value by nominal data and coordinate conversion
It is coordinate value of the feature car body P in the car body section (plane coordinate system yoz).
Referring to Fig. 3, the main three-dimensional feature point coordinate value measurement in the limit of tested vehicle section (is used using monocular
1 camera), it needs to be compared or with profile is surveyed by image edge domain extension field progress equivalent conversion, z using nominal contour
To vehicle window height, features localization value is Z0, and the feature detected value of monocular is Z1, by comparing calibration value and detected value,
It can determine vehicle window height.Carrying out equivalent conversion by image edge domain extension field is specifically: if vehicle window width D i calculates a, by above
Pixel equivalent calculate obtain Qxi；B acquires the pixel number Nxi that vehicle window left and right edges include by image border identification；
C, Di=Nxi*Qxi.
Referring to fig. 4, pixel equivalent dimension converts, and if vehicle window height calculates a, intercepts 200mm X to scale in linear array imaging
Line segment；B is rotated by 90 ° the vertical pixel numerical value Nyi of image of its covering of vertical measurement；C, the vertical pixel acquired at this time are worked as
Measure Qyi；D, vehicle window height=Nyi*Qyi.
The above big data treatment process is the prior art.
Two, to the explanation of measurement error control and pixel equivalent compensation:
1, calibrating mode: linear array pixel accuracy 0.005um；0.4mm/pix is differentiated in position in measurement；X can be with line frequency to performance
Matching, so that matching value perseverance is 0.4mm/pix under 57.6 kilometers of speed per hours, up to 2500 frames/m magnitude；Dynamic calibration: upper linear array is certainly
School, ipsilateral upper, the middle mutual school of linear array；It is forward and reverse that by the calibration of left and right consistency, (example: forward and reverse service condition refers to that train changes end to end
Enter detection zone to from fixed-direction；It is hli1 that certain train first, 1 compartment window width, which is measured, through left side sensing measurement；When this vehicle
It is hri1 that compartment, which is redirected back by the right sensing measurement, hli1=hri1 is had when other conditions are identical at this time, when data volume is very big
For example 100 windows or so measured value is relatively the conformity error that can feed back sensor out).Trace vehicle manufacture, vehicle
The implicit etalon information big data sample calibration of maintenance.
2, circumferential angle error: δ=0.4mm (middle position resolution)/3000 (middle position measurement radius)=0.0153 °, statistical
It distinguishes better than 0.002 °.Count resolution=physics resolution/√ N.When N is greater than 100, angle statistics is distinguished as 0.00153 °
3, X is to measurement error: staff error fx0=1/200 (x is automatically controlled to scale and line frequency)=0.005mm；Measurement
Small scale error fx=0.4mm, statistics, which is differentiated, is better than 0.1mm；X is rotated by 90 ° to obtain camber line in imaging to scale that (small part is in
Straight line) pixel equivalent and be simply scaled object distance, for example, object distance/focal length=the approximate imaging formula of resolving power/pixel, when
After camera lens and pixel (camera parameter) and resolving power are found out, object distance can be solved.The above x is to the continuous Statistical Solutions with arc direction
Analysis obtains the accurate circumference arc length section of current measurement and is fitted representative vertical distance by several arc length sections, such as: similar to
On vehicle window height calculate, the pixel equivalent for acquiring several continuous segment arc length (every segment regards vertical as) is averaged,
The average distance i.e. object distance of big arc length and image center is acquired with the above formula again.
4, cross-sectional curve error: top, middle part linear array index are 8192*2, i.e., 2 rows of scanning, technique determine arc every time
Line measurement pixel equivalent is identical to the pixel equivalent between 2 rows of synchro measure as x, i.e., is not influenced by directional velocity；In conjunction with
Upper 3rd can introduce afterwards circular arc line measurement with demodulation speed variable (200mm scale), introduce error and be less than 0.2mm, because can be with
Continuous area equivalents ratio calculates, and solves image vehicle's contour measuring technique most difficult point.Specifically, every 2 row of frame, at this time may be used
Undistorted train speed is promoted to 57.6 kilometers of * 2/h.Due to this two every trade of every 2 row synchronized sampling of frame away from not by x to speed
It influences, speed only influences frame pitch, if image display frame is away from=2* line-spacing when line frequency matching speed.Furthermore small mismatch is available
Image interpolation method acquires its ratio and converts again small compensation, compensates formula similar to above equivalent conversion: being obtained from x to scale
Qxi；The frame frequency calculating speed of (2 row) and the equivalent of frame；The pixel equivalent of ratiometric conversion row is calculated by the image interpolation of frame and row
(vertical equivalent is equivalent)；This method can be verified each other with rotation equivalent dimension conversion method.
Three, track, body movement parameter and car body profile are measured:
1, staticaccelerator track measure: staticaccelerator track (but vehicle) geometric parameter measurement by arrange same middle side part, lower part linear array
Binocular image measurement analysis is formed to complete；Orbit geometry parameter makes track geometry static parameter have 0.1mm due to continuously measuring
Calculate resolving power；
2, track dynamic measures: track dynamic (crossing vehicle) height, horizontal measurement are completed jointly by the lower part linear array of two sides；This
It is the most important foundation of gauge calculation；
3, accurate measurement of the relative variation of track sedimentation, offset for vehicle's contour is found out by above 1,2；
4, bogie measures: axial displacement: in the binocular arranged when vehicle coaxial wheels are to entrance detection zone by track two sides,
Its y of lower linear array precise measurement is to movement (snake put posture)；Steering balance: by track two sides when vehicle coaxial wheels are to entrance detection zone
In the binocular of arrangement, lower its x of linear array precise measurement is to relative motion (diamond shape posture)；Vertical fluctuation: vehicle coaxial wheels are to entrance
In the binocular arranged when detection zone by track two sides, lower its z of linear array precise measurement is to relative motion (vertical posture).
5, roof measures: lateral displacement: accurately being surveyed when vehicle enters detection zone by linear array on binocular that track two sides are arranged
Vehicle movement center line y is measured to offset (side-sway posture)；Vertical deviation: pair arranged when vehicle enters detection zone by track two sides
Linear array precise measurement vehicle roof centre of motion line z is to offset (high low profile) on mesh.
6, vehicle's contour and limit: vehicle's contour: by the vehicle standard profile of each road conditions of each vehicle of regulatory requirements, that is, divide
For standard conditions such as tunnel is inside and outside, straight line, stations and it is defined as several nominal contour measuring points.Vehicle gauge: by regulatory requirements
The vehicle standard limit of each each road conditions of vehicle；It is divided into the standard conditions such as inside and outside tunnel, straight line, station and is defined as several marks
Quasi- limit measuring point；The track of had an impact profile measurement, body movement parameter will be eliminated；Fig. 5 is shown with standard three-dimensional mark
The method that ruler verifies wheel contour dynamic measurement, system Authentication method: when the standard module with dimension is placed in movement column
Vehicle different location, angle and when being passed through with friction speed, measurement value sensor should meet error range as defined in 1 regulation of table.
Four, cover the critical components positions, dimensional measurement such as roof, vehicle side, vehicle bottom:
1, roof critical component: center line y, z are to offset；Roof height, width dimensions；Pantograph, support base, gas
Cylinder, connecting rod, high-tension porcelain insulator, steel wire and Lead status inspection；Vehicle top air conditioner, fan and vent locations, size and fastening check；
2, vehicle side critical component: car door, vehicle window, skirt, compartment connect standard measuring point profile；The axis of bogie 3 d pose
To displacement, steering balance and axle center height detection；Track y, z are to offset；Compressor, pneumatic pipeline inspection；Train number recognition；
3, vehicle bottom critical component: vehicle bottom center line and standard measuring point contour detecting；Wheel tread, contour detecting；Motor turns
It fastens and detects to frame；Sagging analyte detection；
4, can be solved by above 1~3 introducing critical component position, dimensional measurement: vehicle manufacture tolerance-cause up and down,
Left and right offset or inclination；Spring sinks caused by being pressurized, excess deviates or inclination；Abrasion or permanent deformation；The uneven mill in left and right
Consumption deformation；Wheel-rail gap and each part of vehicle lateral clearance influence；Such as middle linear array measurement left and right axle center leaves the right or normal track face height characterization wheel
To locating life cycle, abrasion are horizontal, tilt.
Five, car number measures:
Car number is completed by the left and right linear array at middle part.
Six, data acquisition storage and image procossing
1. data acquire
Data acquisition is using the synchronous intensive sampling mode of line-scan digital camera；Normal vehicle contour segment, that is, no disease (does not surpass
Clearance standard as defined in table 1 out) using sparse curve (interval 100mm can be set) output；Abnormal contour segment (is provided beyond table 1
Clearance standard), exported automatically using high density curve (can set interval 0.4mm) and retain picture.
2. data storage
Data storage is divided into two classes i.e. normal profile and disease contour segment；Disease contour segment uses high density data and high score
Picture storage.
3. image procossing
Detect vehicle speed 57.6 kilometers/h and it is following when, automatically control row frequency sampling make x to pixel differentiate perseverance
0.4mm/pix, when speed is more than 57.6 kilometers/h, the fixed highest line frequency 40kHz of rear linear array, image three-dimensional degree description is established clear
On clear picture and using feature outlines as reference frame.
The implementation of the present invention is not limited to this, and above content according to the present invention is known according to the ordinary skill of this field
Know and customary means, the present invention can also make the modification, replacement or change of other diversified forms, all falls within right of the present invention and protect
Within the scope of shield.
Claims (10)
1. a kind of vehicle's contour measurement method based on vector image measurement, it is characterised in that the following steps are included:
S1, distinguish on the left and right corner angle staff of detection zone trackside vehicle wheel profile, on the line of at left and right sides of middle part and left and right base angle
The left and right linear array that line-scan digital camera constitutes upper, middle and lower is installed, each line-scan digital camera connects data processing unit；With train row
It is that X-axis positive direction establishes space vector measurement coordinate system, and X is arranged to gauge in X-axis into direction；
S2, each linear array arrangement upward in X: one of the right linear array and left linear array on top it is preceding, another rear, middle part
One of right linear array and left linear array preceding, another rear, two linear arrays before or after being in together the upward coordinate of X it is identical from
And two parallel measurement sections are formed, two are measured in parallel nominal value of the X in section to distance for gauge, the left and right line of lower part
Battle array is identically formed lower part measurement section in the upward coordinate of X, and lower part measurement section is located at the centre in the two parallel determinations section
Position；
S3, train move across detection zone, and the three-dimensional feature data of each line-scan digital camera synchronous acquisition train profile are simultaneously transmitted to number
According to processing unit；
S4, the movement velocity for calculating train according to gauge from data processing unit and X combine train profile to pixel equivalent
Three-dimensional feature data real time correction is carried out to the dynamic of vehicle section and the direction of motion.
2. the vehicle's contour measurement method according to claim 1 based on vector image measurement, it is characterised in that: top
Left and right linear array is connected with compartment and is measured to vehicle roof outline line, by electric area, air-conditioning, ventilation hole；The left and right linear array at middle part is to vehicle
Side wheel profile, car door, vehicle window, compartment connection, bogie, pneumatic device and car number measure；The left and right linear array of lower part
The offset of vehicle return pulley profile, vehicle bottom pendant, wheel tread and track geometry is measured.
3. the vehicle's contour measurement method according to claim 2 based on vector image measurement, it is characterised in that: the mark
Title value is 200mm.
4. the vehicle's contour measurement method according to claim 3 based on vector image measurement, it is characterised in that: the line
Array camera is high score high-speed type, i.e. resolving power is greater than or equal to 4k, sample maximum line frequency 40kHz, that is, sampling time interval be greater than or
Equal to 0.025ms.
5. the vehicle's contour measurement method according to claim 4 based on vector image measurement, it is characterised in that: tested vechicle
Three-dimensional feature point coordinate value measurement in section limit is measured using the space coordinate of binocular stereo vision, i.e. the left and right on top
Linear array forms the plesiochronous measurement of binocular；The left and right linear array at middle part forms the plesiochronous measurement of binocular；Ipsilateral top or so linear array and
The left and right linear array at middle part separately constitutes plesiochronous binocular measurement；The left and right linear array of lower part forms binocular synchro measure.
6. the vehicle's contour measurement method according to claim 4 based on vector image measurement, it is characterised in that: tested vechicle
Three-dimensional feature point coordinate value in section limit is measured using monocular vision, actual measurement profile obtained and nominal contour progress
Compare or equivalent conversion is carried out by image edge domain extension field.
7. the vehicle's contour measurement method according to claim 5 or 6 based on vector image measurement, it is characterised in that: when
Train speed be less than or equal to 57.6 kilometers/h when, the X to pixel equivalent be 0.4mm/pix；When train speed is greater than 57.6
When kilometer/h, the fixed highest line frequency 40kHz of rear linear array obtains actual pixel equivalent and carries out pixel compensation.
8. the vehicle's contour measurement method according to claim 7 based on vector image measurement, it is characterised in that: the sky
Between vector measurement coordinate system with rail plane centreline be with reference to carrying out space layout, origin is located on rail plane centreline, X-axis and
Rail plane centreline is overlapped, and the positive direction of X-axis is the direction of travel of train, and X-axis is rotated by 90 ° counterclockwise as Y-axis positive direction, Y
Axis rotates clockwise 90 ° as Z axis positive direction.
9. the vehicle's contour measurement method according to claim 8 based on vector image measurement, it is characterised in that: the line
Array camera exports normal vehicle contour segment using the fixed intervals of the every 100mm~200mm of sparse curve, for abnormal profile
The interval Duan Caiyong high density curve 0.4mm~1mm exports and retains picture.
10. the vehicle's contour measurement method according to claim 9 based on vector image measurement, it is characterised in that: examining
The sensing device being connected with each line-scan digital camera is respectively set in the entrance and exit for surveying area, drives into detection zone unlatching for monitoring train
Line-scan digital camera or train are driven out to detection zone and close line-scan digital camera.
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