CN113048910A - Device and method for detecting steel rail profile - Google Patents
Device and method for detecting steel rail profile Download PDFInfo
- Publication number
- CN113048910A CN113048910A CN202110253248.9A CN202110253248A CN113048910A CN 113048910 A CN113048910 A CN 113048910A CN 202110253248 A CN202110253248 A CN 202110253248A CN 113048910 A CN113048910 A CN 113048910A
- Authority
- CN
- China
- Prior art keywords
- steel rail
- line
- point
- laser
- reflector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a device and a method for detecting a steel rail profile. The device for detecting the steel rail profile comprises: the line laser is arranged on one side of the steel rail to be detected and is configured to directly irradiate one part of the surface of the steel rail to be detected; the reflector is arranged on the other side of the steel rail to be detected and is configured to reflect part of laser light bars of the line laser to at least part of the surface of the steel rail to be detected, which is not irradiated by the line laser; the image acquisition module is configured to acquire diffuse reflection laser optical signals of the steel rail to be detected so as to generate an image of the surface of the steel rail to be detected. The device for detecting the steel rail profile judges whether the profile information on the left side and the profile information on the right side are the profile information of the same tangent plane of the steel rail by comparing whether the light bars of emergent light and reflected light which are compared with the upper surface of the steel rail coincide or not, so that the profile information of the steel rail is collected, the process is simple, and the increase of the requirement of system debugging and the generation of system errors caused by the coincidence of more light bars are avoided.
Description
Technical Field
The invention relates to the field of measurement and control devices, in particular to a device and a method for detecting steel rail profile.
Background
The change of the rail profile is directly related to the safe operation of the railway rail, and the detection of the rail profile is beneficial to mastering the service state of the rail and guiding the rail grinding operation, and is an important means for railway operation and maintenance. The common detection method comprises contact detection and non-contact detection, and due to high labor cost and low efficiency of the contact detection, most of the steel rail detection at present adopts non-contact detection. The main principle of non-contact detection is a machine vision detection method based on line structured light.
In the prior art, a steel rail profile detection device based on polarization imaging is introduced, wherein a set of laser shooting main parts including a line laser, a linear polaroid, a lens and a camera are respectively arranged on the left side and the right side of a steel rail, wherein the linear polaroids are respectively and additionally arranged at the front ends of the line laser and the lens; the light knife plane emitted by the line laser is vertically incident to the surface of the steel rail, and the formed diffuse reflection light is used as a measurement signal and is focused on an image sensor CCD of a camera after being imaged by a machine vision lens. The reflection of the surface of the object is mainly divided into specular reflection and diffuse reflection, in the measuring light path, the diffuse reflection light of the surface of the steel rail is a measuring signal, and the specular reflection light is an interference signal. And two sides of the steel rail are respectively provided with a set of line structure light camera shooting assembly for respectively collecting the left and right side outlines of the steel rail. And combining the image of the light bar on the CCD and the calibrated internal and external parameters of the camera, and performing contour splicing on the left side and the right side of the steel rail to reversely calculate the contour information of the steel rail. However, because there are still some problems in the above-mentioned technology, two line lasers, two cameras and a lens are used in the device, and two line lasers are used, there is a problem of laser registration, because there is a slight difference in space between laser light bars emitted from different line lasers, even if two line lasers are placed on the same plane, two laser light bars emitted from two line lasers will not completely coincide on the surface of the steel rail, there may be an included angle and a certain gap, it is difficult and troublesome to adjust the lasers at this time, it takes much time and effort to coincide the light bars on the surface of the two steel rails, otherwise calibration errors will be greatly affected, and finally the obtained steel rail profile information may be not true. And the cost of using two line lasers is large, and under the condition that the divergence angle of the line laser is large, the line laser irradiates the surface of the steel rail and also irradiates other ranges irrelevant to detection, so that the energy waste is caused.
Still put forward the mirror structure who is applied to on rail profile inspection appearance among the prior art, including an inboard mirror assembly, inboard mirror assembly includes: the first fixed seat is arranged at one end of the bottom surface of the host machine, which is adjacent to the through hole; the first supporting arm is radially and rotatably connected with the first fixed seat; the first reflector mounting plate is arranged on the first support arm; the first reflector is mounted on the first reflector mounting plate. The scheme provided by the prior art is that a line laser is used for vertically irradiating a steel rail, two groups of reflectors are respectively placed on two sides of the steel rail, and the reflectors are adjusted so that laser light bars can irradiate the surface which cannot be irradiated by the line laser.
In conclusion, the rail profile detection device in the prior art has the advantages of complex structure, difficult adjustment, higher cost and low utilization rate of laser light energy. Aiming at the defects in the prior art, the invention provides a simple and quick steel rail detection device and a detection method, which can achieve the coincidence of light bars by only adjusting one reflector and have simple operation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a device for detecting the profile of a steel rail.
The device for detecting the steel rail profile comprises:
the line laser is arranged on one side of the steel rail to be detected and is configured to directly irradiate one part of the surface of the steel rail to be detected;
the reflector is arranged on the other side of the steel rail to be detected and is configured to reflect part of laser light bars of the line laser to at least part of the surface of the steel rail to be detected, which is not directly irradiated by the line laser;
the image acquisition module is configured to acquire diffuse reflection laser optical signals of the steel rail to be detected so as to generate an image of the surface of the steel rail to be detected.
The device for detecting the profile of the steel rail judges whether the profile information on the left side and the profile information on the right side are the profile information of the same tangent plane of the steel rail by comparing whether the light bars of emergent light and reflected light which are compared with the upper surface of the steel rail coincide or not, the process is simple, and the increase of system debugging requirements and the generation of system errors caused by the coincidence of more light bars are avoided.
The device for detecting the steel rail profile is simplified into the profile information of the steel rail which can be obtained by only using one line laser and one reflector, the system debugging and errors caused by using more lasers are avoided, the laser utilization rate can be improved, and the cost is reduced.
Further, the inclination angle of a boundary laser light bar emitted by the line laser and a vertical plane is a beta angle, and the beta angle satisfies the following relation:
the vertical distance between the emergent point S of the line laser and the bottom C of the direct irradiation surface of the steel rail to be detected is h, the horizontal distance between the emergent point S of the line laser and the central line O of the steel rail to be detected is d1, and the distance between the central line O of the steel rail to be detected and the bottom C of the steel rail to be detected is m.
Satisfy the requirement of
When the laser device is used, the direct irradiation area of the laser light bar of the line laser device can cover the bottom of the steel rail to be detected.
Further, the device for detecting the steel rail profile further comprises a position adjusting mechanism, and the position adjusting mechanism is used for adjusting the three-dimensional space position and the inclination angle of the reflecting mirror.
The position adjusting mechanism adjusts the reflecting mirror, so that light bars which do not irradiate the steel rail irradiate the other side surface and the upper surface of the steel rail after being reflected by the reflecting mirror, emergent light irradiating the upper surface of the steel rail is overlapped with the light bars of reflected light, and the obtained profile information on two sides is profile information of the same tangent plane of the steel rail.
Further, the β angle satisfies the following relationship:
the reflector is arranged perpendicular to the horizontal direction.
According to the invention, by fixing the horizontal distance d1 between the exit point S of the line laser and the central line O of the steel rail and the height h between the line laser and the horizontal plane, the included angle beta between the line laser and the vertical direction emits light, and the emitted light irradiates the steel rail as much as possible under the condition, so that the energy utilization rate of the line laser is maximum, and the energy waste is avoided.
When the reflector forms an included angle with the horizontal direction, in order to make the other side surface and the upper surface of the steel rail irradiated by the reflected light, the divergence angle of the line laser is required to have a larger field angle, and in this case, the irradiation area of a part of the reflected light exceeds the range of the other side surface and the upper surface of the steel rail, which causes waste of laser energy.
Further, line segment AB is the minimum dimension of the mirror, and the length lAB of line segment AB satisfies the following relationship:
the point G is an intersection point of a horizontal line passing through an emission point S and a vertical plane where the reflector is located, the point A is an upper end limit point of the reflector, the emission point S of the line laser is S ' relative to a mirror image point of the vertical plane of the reflector, S ' E is tangent to the left side of the upper surface of the steel rail, E is a tangent point, S ' E is intersected with an emergent ray boundary line of the line laser at the point A, and the length lGA of the line segment GA meets the following relational expression:
an included angle between a line segment SG and a boundary light bar passing through the upper surface of the steel rail is gamma, wherein gamma is 90-theta-beta, theta is a divergence angle of the line laser, and d2 is a distance from a central line O of the steel rail to a vertical plane of the reflector;
the point B is the lower end limit point of the reflector, the connecting line of the mirror image point S ' and the bottom D of the right side surface of the steel rail is S ' D, the extension line of SF is intersected with the point S ' D at the point B, the included angle between the line segment SF and the line segment SC is alpha, the included angle between the line segment SG and the line segment SF is 90-alpha-beta, and the length lGB of the line segment GB meets the following relational expression:
Further, the reflector is square, and the side length L of the reflector satisfies the following relationship:
L≥lAB。
when the side length of the square reflector meets the condition: l is not less than LABSince the width of the laser light bar is narrow and much smaller than the side length of the square, the mirror can make the other side surface and the upper surface of the steel rail completely covered by the reflected light.
Furthermore, the reflector is rectangular, and a long edge L of the reflectorLong and longAnd short side LShort lengthThe following relationships are satisfied:
Llong and long≥lAB
LShort lengthNot less than the width of the laser light stripe
Only when the side length of the rectangular reflector meets the condition: long side LLong and long≥lABAnd L isShort lengthThe width of the laser light bar is more than or equal to the width of the laser light bar, and in this case, the reflecting mirror can enable the other side surface and the upper surface of the steel rail to be completely covered by the reflected light.
The invention also provides a detection method of the device for detecting the steel rail profile. The detection method of the device for detecting the steel rail profile comprises the following steps:
s1: and determining the position of a line laser, wherein the light bar emitted by the line laser covers one side and the upper surface of the steel rail, and part of the light bar passes through the upper part of the upper surface of the steel rail.
S2: the position and size of the mirror that reflects the light bar that will pass over the steel rail in S1 to the other side and upper surface of the steel rail is determined.
S3: and (4) taking the area covered by the light bar on the upper surface of the steel rail in the S1 as a reference, and adjusting the position and the angle of the reflecting mirror to enable the area covered by the light bar on the upper surface of the steel rail in the S2 to be overlapped with the area covered by the light bar on the upper surface of the steel rail in the S1.
S4: the detection module collects the contour information of two sides of the steel rail.
Further, determining the position of the line laser comprises the steps of:
s1: and setting a line laser, and measuring the vertical distance h between an emergent point S of the line laser and the bottom C of one side surface of the steel rail, the horizontal distance d1 between the emergent point S of the line laser and the central line O of the steel rail, and the distance m between the central line O of the steel rail and the bottom C of the left side surface.
S2: according to the measurement result in S1 and the relation between the inclination angle beta of a boundary light bar emitted by the line laser and the vertical plane
And determining the angle of the laser emitted by the line laser.
S3: and (4) judging whether the other boundary light bar emitted by the line laser can irradiate the reflecting mirror through the upper part of the upper surface of the steel rail, and when the other boundary light bar emitted by the line laser cannot irradiate the reflecting mirror through the upper part of the upper surface of the steel rail, re-performing the steps S1 and S2 until the other boundary light bar emitted by the line laser can irradiate the reflecting mirror through the upper part of the upper surface of the steel rail.
Further, determining the position and size of the mirror comprises the steps of:
s1: the reflecting mirror is arranged on the other side of the steel rail, the horizontal distance d1 between the exit point S of the line laser and the central line O of the steel rail is measured, the distance d2 between the vertical plane of the reflecting mirror and the central line O of the steel rail, the vertical distance h between the exit point S of the line laser and the bottom C of one side surface of the steel rail, and the distance m between the central line O of the steel rail and the bottom C of the left side surface are measured.
S2: the length lGA of the segment GA is calculated as follows:
S4: from the calculation results of S2 and S3, the length lAB of the segment AB is calculated as follows:
s5: a mirror is selected having a vertical length greater than or equal to the length of the calculated segment AB of S4.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an apparatus for detecting a rail profile according to an embodiment of the present invention;
FIG. 2 is a schematic optical path diagram of the line laser of FIG. 1;
FIG. 3 is a schematic view of another angle of the apparatus for detecting a rail profile of FIG. 1;
fig. 4 is a schematic diagram of a reflected light path of a mirror with a different angle from a horizontal plane according to an embodiment of the present invention.
Wherein 01 is an infrared camera, 02 is a lens, 03 is a line laser, 04 is a reflector, and 05 is a steel rail.
Detailed Description
Various embodiments of the present disclosure will be described more fully hereinafter. The present disclosure is capable of various embodiments and of modifications and variations therein. However, it should be understood that: there is no intention to limit the various embodiments of the disclosure to the specific embodiments disclosed herein, but rather, the disclosure is to cover all modifications, equivalents, and/or alternatives falling within the spirit and scope of the various embodiments of the disclosure.
In the prior art, two groups of reflectors are used, and laser light bars reflected by the reflectors and light bars emitted by the line laser are required to be superposed as much as possible to minimize the calibration error, so that the two groups of reflectors are required to be adjusted simultaneously, and the three laser light bars are superposed to complete the acquisition of the steel rail profile information. The invention provides a device for detecting the profile of a steel rail, aiming at the defects in the prior art, the device is simple and quick in detection process, can obtain the complete information of the profiles on the two sides of the steel rail by only adjusting a reflector, is simple to operate, and can improve the utilization rate of laser and reduce the cost.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an apparatus for detecting a rail profile according to an embodiment of the present invention. The device 1 for detecting the steel rail profile comprises an infrared camera 01, a lens 02, a line laser 03 and a reflector 04. The infrared camera 01 and the laser lens 02 form an image acquisition module for acquiring contour information of two side surfaces and an upper surface of the steel rail 05, and the infrared camera 01 and the laser lens 02 comprise two groups of components which are respectively arranged on the left side and the right side of the steel rail 05.
The laser striation of line laser 03 transmission is a plane, because laser can not pierce through rail 05, single line laser shines the rail surface so, no matter how place line laser 03 can not be with whole rail 05's surface irradiation, can't shine simultaneously promptly rail 05 upper surface and rail surface both sides.
In view of the above problem, in this embodiment, the profile information of both sides of the steel rail 05 can be obtained by using one line laser 03 and one reflecting mirror 04. In this embodiment, the line laser 03 and the reflecting mirror 04 are separately disposed on the left and right sides of the rail 05, the line laser 03 is disposed obliquely above the left side of the rail 05, and the reflecting mirror 04 is disposed on the right side of the rail 05. The line laser 03 and the mirror 04 may be disposed in opposite directions.
Referring to fig. 2, fig. 2 is a schematic optical path diagram of the line laser in fig. 1. The laser emission point of the line laser 03 is S, the boundary line of the emitted light emitted from S intersects with the left side surface of the steel rail 05 at the left side bottom C of the steel rail, and the other boundary line of the emitted light emitted from S intersects with the reflecting surface of the reflector at A. The emitted light from S is tangential to the upper surface of the rail 05 at a tangent point F, and the extension of SF intersects the reflector 04 at B. The light stripe between the rays SC and SF irradiates the left side surface and the upper surface of the steel rail 05, the light stripe between the rays SF and SA does not irradiate the surface of the steel rail 05 but passes through the upper surface of the steel rail 05 to irradiate the reflecting surface of the reflecting mirror 04 positioned on the right side of the steel rail 05, and the remaining light stripe is reflected to the right side surface of the steel rail 05 by the mirror reflection of the reflecting mirror 04. The reflection line of the beam A is tangent to the upper surface of the steel rail 05, the tangent point is E, and the reflection line of the beam B is intersected with the right side surface of the steel rail 05 at the bottom D of the right side of the steel rail 05. The right side surface and the upper surface of the steel rail 05 are covered by the reflected light bar of the reflecting mirror 04. Thereby, both side surfaces and the upper surface profile of the rail 05 are covered. The contour information of the left side and the right side of the steel rail 05 can be acquired through the infrared cameras 01 and the lenses 02 which are positioned on the left side and the right side of the steel rail 05, and the contour information of the steel rail 05 can be inversely calculated by splicing the left side and the right side of the steel rail 05 through combining the image of the light bar on the image sensor CCD of the infrared camera 01 and the calibrated internal and external parameters of the camera.
The device 1 for detecting the profile of the steel rail of the embodiment only uses one group of the line laser 03 and the reflecting mirror 04 to achieve the requirement of acquiring the profile information of two sides of the steel rail 05. Compared with the prior art, the method simplifies the components, makes the debugging of the system more convenient, has simple operation and saves the cost at the same time.
At this time, the boundary line of the light emitted from the line laser 03 from the S is irradiated to the bottom of the left surface of the rail 05, and is not irradiated to other regions irrelevant to information acquisition, and the degree of utilization of the laser light energy of the line laser 03 reaches the maximum. Meanwhile, the light reflected by the reflecting mirror 04 just irradiates the bottom of the right side surface of the steel rail 05, so that the utilization rate of the reflected light is highest. In this case, the laser 03 has an optimal position, and the mirror 04 has an optimal angle and a minimum size.
Referring to fig. 3, fig. 3 is a schematic structural view of another angle of the apparatus for detecting a rail profile of fig. 1. In order to fully utilize the light strip energy of the line laser 03 without loss, it is necessary to make the line laser 03 form a certain angle β with the vertical direction and ensure that the edge of the light strip emitted from the line laser 03 can be irradiated onto the leftmost surface of the bottom 05 of the steel rail, so that the light ray SC emitted from the line laser 03 intersects C with the leftmost surface of the bottom 05 of the steel rail, and assuming that the vertical distance h between the emission point of the line laser and the leftmost end C of the bottom of the steel rail, the distance OC between the centers O and C of the steel rail is m, and the horizontal distance OK between the center O and the emission point of the bottom of the steel rail is d1, the angle β is calculated by geometric relationship:
in order to make maximum use of the reflected light, the mirror 04 has an optimum angle, i.e. the mirror 04 is arranged perpendicular to the horizontal plane. Referring to fig. 4, fig. 4 is a schematic diagram of a reflected light path of a reflector with different angles from a horizontal plane according to an embodiment of the present invention.
The reflection mirror with different included angles at the AB position is arranged perpendicular to the horizontal plane, the emission angle of the line laser is theta, the reflection mirror at the JL position is arranged obliquely to the horizontal plane, the line laser 03 is required to have a reflection angle theta 'larger than the emission angle theta' in order to enable the irradiation area of the reflected light to cover the right side surface and the upper surface of the steel rail 05, meanwhile, the irradiation area of the other boundary reflected light LM of the reflected light exceeds the irradiation area, and waste of laser light energy is caused most. Therefore, the energy utilization of the laser light stripe of the line laser 03 can be further improved by arranging the mirror 04 perpendicular to the horizontal plane.
The mirror 04 presents a small size. Referring to fig. 3, fig. 3 is a schematic structural view of another angle of the apparatus for detecting a rail profile of fig. 1.
The horizontal distance OH from the mirror surface of the reflector 04 to the O point at the bottom center of the steel rail is d2 (d)2Greater than m), the distance KH from the exit point S of the line laser 03 to the reflecting surface of the reflector 04 is d1+ d2, at this time, the reflecting surface of the reflector 04 is taken as a reference, a mirror image point S 'of the exit point S behind the reflector 04 is made, at this time, the S' is taken as a starting point, a straight line S 'E tangent to the left side of the upper rail surface of the steel rail is made, the E is a tangent point, the S' E and the exit light ray of the other tail end of the line laser intersect at a point A, and the point A is the upper end limit point of the mirror surface of the reflector 04; if another lower limit can be determined, the minimum mirror surface size of the mirror 04 can be obtained. And connecting the mirror image point S ' with the rightmost end point D at the bottom of the steel rail to obtain a straight line S ' D, taking the emergent point S as a starting point to make a straight line SF tangent to the right side surface of the upper rail surface of the steel rail, taking the tangent point F, and extending the straight line SF until the straight line SF is intersected with the straight line S ' D to obtain an intersection point B, wherein the point B is the lower end limit point of the mirror surface of the reflector 04, and the minimum mirror surface size of the reflector 04 can be determined through the distance of the straight line AB. Because the size of the angle beta is calculated, the included angle gamma between the line segment SA and the horizontal direction is 90-theta-beta; the length of the segment GA can be calculated as:
since the dimension of the rail 05 is known and determined, and then the dimension is determined after the position of the exit point S is fixed, the length of a line segment SC from the point S to the point C on the left side of the bottom of the rail 05 is also constant, the length of a tangent SF on the right side of the upper surface of the rail 05 is also constant, SC and SF do not change with the change of the vertical distance d1 from the mirror 04 to the point O on the bottom of the rail, so the angle α between SC and SF is also constant, which is a known quantity, and then the angle between the line segment SG and SF (sb) is equal to 90 ° - (α + β); since the length of SG is known as d1+ d2, the length of GB can be calculated as:
from the lengths of the segments GA and GB, the length of the segment AB, i.e. the minimum size of the mirror surface of the mirror 04, can be calculated:
when the above minimum condition is satisfied, the mirror 04 reflects light in a range that covers the right side surface and the upper surface of the rail 05.
When the shape of the reflector 04 is square, when the side length of the square reflector 04 needs to satisfy the condition: l is not less than LABSince the width of the laser light bar is narrow and much smaller than the side length of the square, the mirror 04 can make the right side surface and the upper surface of the steel rail 05 be completely covered by the reflected light.
When the shape of the reflector 04 is rectangular, the following condition is satisfied: l isLong and long≥lABAB, and LShort lengthThe width of the laser light bar is more than or equal to that of the laser light bar, and the reflecting mirror 04 can enable the right side surface and the upper surface of the steel rail 05 to be completely covered by reflected light.
In the prior art, for judging the contour information of two sides of the steel rail 05, each of the two optical paths compares the emergent light with the reflected light, and if the detection result of one optical path is used as a standard value and compared with the measurement result of the other optical path which is used as a detected object, comparison is performed to determine whether three light bars are overlapped, so that the difficulty is relatively high.
The embodiment only needs to judge whether two light bars are overlapped or not by simplifying the structure. Referring to fig. 3, fig. 3 is a schematic structural view of another angle of the apparatus for detecting a rail profile of fig. 1. When the emergent light and the reflected light are superposed on the upper surface of the steel rail 05, the rays SF and AE are intersected at I, and the emergent light and the incident light have a commonly covered area, namely a triangle delta IEF. Due to assembly errors of the line laser 03 and the mirror 04, the light rays AE and SF may not overlap, and the device 01 for detecting the rail profile needs to be adjusted.
The steel rail cutting device further comprises a position adjusting mechanism, wherein the position adjusting mechanism is used for adjusting the three-dimensional space position and the inclination angle of the reflecting mirror 04 so that the light path reflected by the reflecting mirror 04 is overlapped with the light path of incident light, namely, a commonly covered area triangle delta IEF exists, and the obtained contour information of the two sides of the steel rail 05 is ensured to belong to the same steel rail tangent plane.
Preferably, the position adjusting mechanism is a three-dimensional adjusting frame.
Those skilled in the art will appreciate that the figures are merely schematic representations of one preferred implementation scenario and that the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.
Those skilled in the art will appreciate that the modules in the devices in the implementation scenario may be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or may be located in one or more devices different from the present implementation scenario with corresponding changes. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.
The above disclosure is only a concrete implementation scenario of the present invention, however, the present invention is not limited to this, and any changes that can be made by those skilled in the art should fall into the protection scope of the present invention.
Claims (10)
1. An apparatus for rail profile sensing, comprising:
the line laser is arranged on one side of the steel rail to be detected and is configured to directly irradiate one part of the surface of the steel rail to be detected;
the reflector is arranged on the other side of the steel rail to be detected and is configured to reflect part of laser light bars of the line laser to at least part of the surface of the steel rail to be detected, which is not directly irradiated by the line laser;
the image acquisition module is configured to acquire diffuse reflection laser optical signals of the steel rail to be detected so as to generate an image of the surface of the steel rail to be detected.
2. The apparatus for detecting the profile of a steel rail according to claim 1, wherein an angle of inclination of a bar of boundary laser light emitted from said line laser with respect to a vertical plane is β, and said β satisfies the following relationship:
the vertical distance between the emergent point S of the line laser and the bottom C of the direct irradiation surface of the steel rail to be detected is h, the horizontal distance between the emergent point S of the line laser and the central line O of the steel rail to be detected is d1, and the distance between the central line O of the steel rail to be detected and the bottom C of the steel rail to be detected is m.
3. The apparatus for rail profile detection according to claim 1 or 2, further comprising a position adjustment mechanism for adjusting a three-dimensional spatial position and an inclination angle of the mirror.
4. The apparatus for rail profile detection according to claim 2, wherein said β -angle satisfies the following relationship:
the reflector is arranged perpendicular to the horizontal direction.
5. The apparatus for rail profile detection as defined in claim 4, wherein line segment AB is the smallest dimension of said mirror, and wherein the length lAB of line segment AB satisfies the following relationship:
wherein, the point G is the intersection point of a horizontal line passing through the emission point S and a vertical plane where the reflector is positioned, the point A is the upper end limit point of the reflector, and the lineThe exit point S of the laser relative to the vertical plane of the reflector is S ', S ' E is tangent to the left side of the upper surface of the steel rail, E is a tangent point, S ' E is intersected with the boundary line of the outgoing ray of the line laser at the point A, and the length lGA of the line segment GA meets the following relational expression:
an included angle between a line segment SG and a boundary light bar passing through the upper surface of the steel rail is gamma, wherein gamma is 90-theta-beta, theta is a divergence angle of the line laser, and d2 is a distance from a central line O of the steel rail to a vertical plane of the reflector;
the point B is the lower end limit point of the reflector, the connecting line of the mirror image point S ' and the bottom D of the right side surface of the steel rail is S ' D, the extension line of SF is intersected with the point S ' D at the point B, the included angle between the line segment SF and the line segment SC is alpha, the included angle between the line segment SG and the line segment SF is 90-alpha-beta, and the length lGB of the line segment GB meets the following relational expression:
6. the device for detecting the steel rail profile according to claim 5, wherein the reflector is square, and the side length L of the reflector satisfies the following relationship:
L≥lAB。
7. the device for detecting rail profile according to claim 5, wherein said mirror is rectangular, and a long side L of said mirror is rectangularLong and longAnd short side LShort lengthThe following relationships are satisfied:
Llong and long≥lAB
LShort lengthThe width of the laser light bar is more than or equal to the width of the laser light bar.
8. The method for detecting an apparatus for detecting a rail profile according to claim 1, comprising the steps of:
s1: determining the position of a line laser, wherein light bars emitted by the line laser cover one side and the upper surface of a steel rail, and part of the light bars pass through the upper part of the upper surface of the steel rail;
s2: determining the position and the size of a reflector, wherein the reflector reflects the light bar passing through the steel rail in the S1 to the other side surface and the upper surface of the steel rail;
s3: taking the area covered by the light bar on the upper surface of the steel rail in the S1 as a reference, and adjusting the position and the angle of the reflecting mirror to enable the area covered by the light bar on the upper surface of the steel rail in the S2 to be superposed with the area covered by the light bar on the upper surface of the steel rail in the S1;
s4: the detection module collects the contour information of two sides of the steel rail.
9. The method of claim 8, wherein determining the position of the line laser comprises the steps of:
s1: setting a line laser, and measuring the vertical distance h between an emergent point S of the line laser and the bottom C of one side surface of the steel rail, the horizontal distance d1 between the emergent point S of the line laser and a central line O of the steel rail, and the distance m between the central line O of the steel rail and the bottom C of the left side surface;
s2: according to the measurement result in S1 and the relation between the inclination angle beta of a boundary light bar emitted by the line laser and the vertical plane
Determining the angle of laser emitted by the line laser;
s3: and (4) judging whether the other boundary light bar emitted by the line laser can irradiate the reflecting mirror through the upper part of the upper surface of the steel rail, and when the other boundary light bar emitted by the line laser cannot irradiate the reflecting mirror through the upper part of the upper surface of the steel rail, re-performing the steps S1 and S2 until the other boundary light bar emitted by the line laser can irradiate the reflecting mirror through the upper part of the upper surface of the steel rail.
10. The method of claim 9, wherein the step of determining the size of the mirror comprises the steps of:
s1: the reflecting mirror is arranged on the other side of the steel rail, the horizontal distance d1 between the exit point S of the line laser and the central line O of the steel rail is measured, the distance d2 between the vertical plane of the reflecting mirror and the central line O of the steel rail, the vertical distance h between the exit point S of the line laser and the bottom C of the surface on one side of the steel rail, and the distance m between the central line O of the steel rail and the bottom C of the surface on the left side of the steel;
s2: the length lGA of the segment GA is calculated as follows:
the point G is an intersection point of a horizontal line passing through the emission point S and a vertical plane where the reflector is located, the point A is an upper end limit point of the reflector, the image point of the emission point S of the line laser relative to the vertical plane of the reflector is S ', S ' E is tangent to the left side of the upper surface of the steel rail, E is a tangent point, S ' E is intersected with the boundary line of the emergent light of the line laser at the point A, the included angle between a line segment SG and a boundary light bar passing through the upper surface of the steel rail is gamma, gamma is 90-theta-beta, and theta is the divergence angle of the line laser,
s3: the angle α is measured and the length lGB of the line segment GB is calculated according to the following relationship:
the point B is the lower end limit point of the reflector, the connecting line of the mirror image point S ' and the bottom D of the right side surface of the steel rail is S ' D, the extension line of SF is intersected with the point S ' D at the point B, the included angle between the line segment SF and the line segment SC is alpha, and the included angle between the line segment SG and the line segment SF is 90-alpha-beta;
s4: the length lAB of segment AB is calculated as follows:
s5: a mirror is selected having a vertical length greater than or equal to the length of the calculated segment AB of S4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110253248.9A CN113048910A (en) | 2021-03-08 | 2021-03-08 | Device and method for detecting steel rail profile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110253248.9A CN113048910A (en) | 2021-03-08 | 2021-03-08 | Device and method for detecting steel rail profile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113048910A true CN113048910A (en) | 2021-06-29 |
Family
ID=76510754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110253248.9A Pending CN113048910A (en) | 2021-03-08 | 2021-03-08 | Device and method for detecting steel rail profile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113048910A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114322837A (en) * | 2021-11-30 | 2022-04-12 | 国珑智能科技(威海)有限公司 | Device and method for measuring shape of cross section of object on line by double-splayed three-dimensional vision |
-
2021
- 2021-03-08 CN CN202110253248.9A patent/CN113048910A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114322837A (en) * | 2021-11-30 | 2022-04-12 | 国珑智能科技(威海)有限公司 | Device and method for measuring shape of cross section of object on line by double-splayed three-dimensional vision |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU616731B2 (en) | Method and apparatus for monitoring the surface profile of a moving workpiece | |
| JP3197529B2 (en) | Non-contact measurement method of wheel alignment characteristics and its measurement device | |
| KR101114362B1 (en) | optical apparatus for inspection | |
| US9797833B2 (en) | Method for determining the refractive power of a transparent object, and corresponding device | |
| US4498776A (en) | Electro-optical method and apparatus for measuring the fit of adjacent surfaces | |
| CN203489844U (en) | System for measuring size of outer profile of vehicle based on machine vision and laser light screen | |
| CN101339145B (en) | Laser printing quality checking system and method based on CCD image-forming | |
| CN103438809A (en) | Vehicle-width measurement method and device based on area-array / linear-array cameras | |
| CN113048910A (en) | Device and method for detecting steel rail profile | |
| KR101446061B1 (en) | Apparatus for measuring a defect of surface pattern of transparent substrate | |
| CN218917225U (en) | Detection system | |
| CN110618138B (en) | Method for detecting defects in display screen by using equal-thickness interference principle | |
| CN211696896U (en) | Automobile headlamp detection device | |
| CN201247205Y (en) | System for detecting laser printing quality based on CCD imaging | |
| CN210847221U (en) | Glass defect on-line measuring equipment | |
| CN203489845U (en) | Device for measuring width size of vehicle based on planar array / linear array camera | |
| JPH0882602A (en) | Method and apparatus for inspecting fault of plate glass | |
| US20130162816A1 (en) | Device for measuring the shape of a mirror or of a specular surface | |
| CN201289426Y (en) | Apparatus for detecting headlight lamplight of motor-driven vehicle based on machine vision | |
| CA2034017C (en) | Scanning device for optically scanning a surface along a line | |
| CN104460248B (en) | Alignment device | |
| CN112649445A (en) | Detection equipment and method | |
| CN111289228A (en) | Automobile headlamp detection device | |
| CN108802044B (en) | Method and system for establishing locomotive wheel pair tread damage detection system | |
| CN111464132B (en) | Object surface detection device, silicon wafer detection device and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |