CN110849299A - Track unevenness measuring device and method based on image processing - Google Patents

Abstract

The invention discloses a track unevenness measuring device and method. The device comprises an opaque flat plate, a laser and its horizontal ray reference point, a trolley and its attitude sensor, a translucent flat plate, a camera, a suspension bracket, a connecting part, a light rod and a Its attitude sensor, horizontal ranging sensor, vertical ranging sensor, linear track to be measured. The laser is fixed at the opaque plate to emit horizontal laser, the semi-transparent plate and the camera are fixed on the trolley and receive and detect the laser, record the distance between the current laser point on the translucent plate and the suspension point of the light bar; the attitude sensor of the trolley measures the pitch angle of the trolley 𝛼 _X , roll angle 𝛽 _X . Accordingly, the height difference ΔH _X between the track X and the track start can be obtained. The present invention effectively reduces the number of components and costs, and can quickly and accurately measure the unevenness of the track relative to the reference horizontal plane. It avoids the problems of high cost of large-scale track detection trains and large errors in traditional manual measurement.

Description

Track Unevenness Measuring Device and Measuring Method Based on Image Processing

technical field

The invention relates to the field of image processing, in particular to a measuring device and measuring method for track unevenness based on image processing.

Background technique

For a long time, railway transportation, as the lifeblood of national economic construction, bears nearly 70% of the country's freight volume and 60% of passenger traffic. In the 21st century, with the development of my country's railway transportation in the direction of high speed and heavy load, the traffic density on the railway bridge continues to increase, and the axle load and running speed of the train passing through the railway bridge also continue to increase. Taking the railway bridge of the Nanjing Yangtze River Bridge as an example, in 1999, the number of trains passing through the railway bridge reached 45,000, with an average of about 120 trains passing through each day; Group 36 columns. In my country's Beijing-Shanghai Line, Beijing-Kowloon Line, Beijing-Guangzhou Line and other existing ordinary-speed railway lines, most of the bridges spanning the Yangtze River and the Yellow River use steel truss girder open deck systems, such as Wuhan Yangtze River Bridge, Nanjing Yangtze River Bridge, Jiujiang Yangtze River Bridge, Wuhu Yangtze River Bridge, Jinan Yellow River Bridge, etc. At this stage, because of the advantages of wooden bridge sleepers, such as light weight, simple laying and easy replacement, most of the open decks of steel truss beams in China are laid with wooden sleepers. However, due to its own defects such as poor weather resistance and low hardness of wooden sleepers, during the use process, with the continuous increase of the traffic density on the bridge, frequent train loads are more likely to change the state of the bridge deck track, thereby affecting the durability of the bridge sleeper. Use, coupled with the influence of weather, temperature, humidity and other environments, make the bridge sleeper deteriorate faster and increase the failure rate. The occurrence of problems such as through-cracks in the bridge sleepers, decay around the nail holes, and decay inside the bridge sleepers cause the bearing capacity of the bridge sleepers to decrease, which in turn reduces the quality of the open bridge deck track. The continuous amplification of the coupling effect of the two will not only affect the stability of the train and the comfort of passengers, but also lead to major accidents such as "serpentine instability", "track climbing" and "derailment".

In order to adapt to the rapid development of my country's railways, keep the track on the exposed bridge in good condition for a long time, and meet the conditions for safe and stable operation of trains, it is necessary to realize the rapid measurement and evaluation of the height of the bridge sleeper of the exposed bridge, and strengthen the inspection and evaluation of the bridge sleeper of the exposed bridge. Change strength. At present, the artificial observation method is still used in the measurement of the bridge sleeper height of the open bridge deck in China. The traditional manual drawing ruler is used to measure the bridge sleeper deformation, which is not only time-consuming and laborious, but also easily affected by the weather. The rail-specific large-scale inspection vehicle has high precision, but the use cost is high, which affects railway transportation and is not conducive to the popularization and use of railway sections in my country. Therefore, it is necessary to further study the measurement method of the undulation of the track relative to the reference level, and then apply it to the daily inspection of large-span steel truss girder open bridge decks, which can not only improve the efficiency of inspection, but also help reduce the labor intensity of workers .

SUMMARY OF THE INVENTION

The invention provides a track unevenness measuring device and measuring method based on image processing, which realizes the rapid and accurate measurement of the undulation of the track relative to the reference horizontal plane, and is further applied to the daily inspection of large-span steel truss girder open bridge decks to improve the inspection efficiency. while reducing the labor intensity of workers.

The present invention adopts following technical scheme:

The image processing-based track unevenness measurement device created by the present invention includes an opaque flat panel, a laser and its horizontal ray reference point, a trolley and its attitude sensor, a translucent flat panel, a camera, a suspension bracket, a cross-axis universal joint, Light pole and its attitude sensor, horizontal ranging sensor, vertical ranging sensor, linear track to be measured.

The laser is fixedly installed at one end of the track, and the other end is provided with a laser horizontal ray reference point. The laser from the laser to its horizontal reference point is emitted in the direction of the straight track and its direction is parallel to the horizontal plane. The opaque plate is installed under the laser and the opaque plate plane Perpendicular to straight track and horizontal plane. The trolley is set on the linear track to be measured, the translucent plate and the bracket are installed perpendicular to the plane of the trolley, the plane of the translucent plate and the plane of the bracket are parallel, the camera is installed on the trolley, and is on the side of the reference point of the horizontal ray of the laser relative to the plane of the translucent plate. Its plane is perpendicular to the trolley plane and parallel to the translucent plate plane, and the camera plane, the translucent plate plane, the bracket plane and other planes are perpendicular to the straight track. The car attitude sensor and the translucent plate are installed together. One end of the light rod is suspended on the suspension bracket through the cross shaft universal joint. The cross shaft plane is parallel to the horizontal plane and one of the cross shafts is parallel to the direction of the straight track. The suspension center point is located directly below the horizontal laser. The light rod attitude sensor is installed on the light rod to detect whether the light rod is parallel to the direction of gravity, and the horizontal ranging sensor and the vertical ranging sensor are installed on the other end of the light rod. The horizontal ranging sensor measures the distance in the direction of the opaque plate along the track, and the vertical ranging sensor measures the distance in the direction of gravity.

Take the horizontal plane where the horizontal laser is located as the reference level, take the track where the laser is installed as the track start, and the distance between the track start and the level is H ₀ . The placement position of the translucent plate can receive the laser in the horizontal direction, and the position of the camera can clearly observe the position of the laser on the translucent plate;

The horizontal distance X from the horizontal ranging sensor and the opaque plate is measured. The distance from the vertical ranging sensor to the center point of the light pole suspension is fixed as L ₁ , and the distance H _1X from the track in the direction of gravity can be measured; the laser is fixed at The horizontal laser is emitted from the opaque plate, the translucent plate and the camera are fixed on the trolley, and the laser is received and detected, and the distance L _2X between the current laser point on the translucent plate and the suspension point of the light pole is recorded; the attitude sensor of the trolley measures the pitch angle of the trolley𝛼 _X , roll angle 𝛽 _X .

The method for measuring track unevenness based on image processing according to the present invention:

Step 1: The trolley moves in a straight line on the track. When the pitch angle and roll angle measured by the light stick attitude sensor are both 0 degrees, that is, the vertical ranging sensor measures the distance from the track in the direction of gravity, and the horizontal ranging sensor measures the distance from the track. When measuring its distance from the opaque plate in the horizontal direction, the measured data is used. At this time, the horizontal distance measuring sensor and the opaque plate in the horizontal direction is X , the vertical distance measuring sensor measuring the distance from the track in the direction of gravity is H _1X ; the car attitude sensor measures the pitch angle of the car 𝛼 _X , rollover angle 𝛽 _X , the distance between the current laser point on the translucent plate recorded by the camera and the suspension point of the light pole is L _2X ;

The elevation difference between the light rod suspension point and the current laser point is H _2X ;

H _2X = L _2X × cos𝛼 _X × cos𝛽 _X

The elevation difference at track X from the reference level is H _3X

H _3X = H _1X + L ₁ + H _2X

The fluctuation at orbit X relative to the beginning of the orbit is ΔH _X ;

ΔH _X = H ₀ – H _3X ;

Step 2: The position of the measured track can be determined by X , and the height difference between the track X and the start of the track can be determined by ΔH _X. The trolley moves along the linear track and collects multi-point data to draw the track relative to the reference. The unevenness of the horizontal plane.

If the measurement track is a double track, the trolley measures along the two tracks respectively, and the respective unevenness of the two tracks of the double track can be measured.

The present invention has the following effective effects:

(1) This patent takes into account the situation when the vehicle body is tilted back and forth and left and right. Because the track is uneven, the car body may pitch forward and backward or roll left and right when the trolley moves in a straight line along the track. In the present invention, the vertical ranging sensor and the horizontal ranging sensor are installed on one end of the light rod, the pendulum attitude sensor is installed on the light rod, and the other end of the light rod is suspended on the trolley by the cross-axis universal joint, so that it can be moved along the light rod. Swing back and forth, left and right. When the pitch angle and roll angle measured by the pendulum sensor are both 0 degrees, that is, the vertical ranging sensor measures the distance from the track in the direction of gravity, and the horizontal ranging sensor measures the distance from the plate in the horizontal direction. , using the measured data. The car attitude sensor and the translucent plate are installed together to measure the pitch angle and roll angle of the car. By suspending the vertical ranging sensor and the horizontal ranging sensor and installing the attitude sensor, the errors caused by the front and rear pitch and left and right roll of the body can be eliminated.

(2) Discuss the unevenness of the track. The measuring device implemented in this patent can measure the fluctuation of the linear track, and the present invention takes the horizontal plane where the horizontal laser is located as the reference horizontal plane, and can further obtain the space of the track relative to the reference horizontal plane. Fluctuation situation; use the horizontal ranging sensor to measure the distance between it and the plate in the horizontal direction to determine the specific position of the measured track; you can get the fluctuation of a certain track relative to the reference horizontal plane, so as to obtain the accurate unevenness of the track.

(3) In the case of not destroying the structure of the track under test, the fluctuation ΔH _X of the track relative to the beginning of the track is converted into a quantity that is easy to measure, which reduces the difficulty of measurement.

(4) The present invention considers that the scope of application involves rails, so in the measurement direction, the length direction is much larger than the width direction, and the data in the width direction does not even need to be considered, only the data in the length direction needs to be collected. By choosing to use laser beam calibration, the cost is low, and due to the linear propagation characteristics of light, one calibration of the benchmark can provide a longer distance measurement standard, reduce the number of calibration benchmarks, and increase the convenience of the measurement process to a certain extent.

(5) The measuring device of the present invention only includes two ranging sensors, a laser, a horizontal reference point of laser rays, a camera, two attitude sensors, a flat plate, a light pole and a cross-axis universal joint. On the premise of ensuring the measurement accuracy, it can effectively Reduced component count and reduced cost. In addition, the resources of large-scale track inspection trains in my country are very limited, and the traditional manual measuring method is time-consuming and labor-intensive, and it is easy to introduce manual measurement errors. By using the measuring device, the unevenness of the track relative to the reference horizontal plane can be measured quickly and accurately.

Description of drawings

FIG. 1 is a schematic structural diagram of a track unevenness measuring device based on image processing.

FIG. 2 is a schematic side view of a device for measuring track unevenness based on image processing.

Figure 3 is a schematic diagram of the elevation difference between the current laser point and the suspension center point.

Figure 4 is a schematic diagram of the measuring device when there is no reference level.

The symbols in the figure are as follows: 1. Opaque flat plate; 2. Laser; 3. Horizontal ray reference point; 4. Car; 5. Car attitude sensor; 6. Translucent flat plate; 7. Camera; Shaft universal joint; 10. Light rod; 11. Light rod attitude sensor; 12. Horizontal ranging sensor; 13. Vertical ranging sensor; 14. Linear track to be measured; 15. Suspension center point; 16. Reference level; 17 , the current laser point.

Detailed ways

Below in conjunction with accompanying drawing, technical scheme of the present invention is described in detail:

Figure 1 is a schematic diagram of the structure of the measuring device. As shown in Figure 1, the measuring device includes an opaque flat plate (1), a laser (2) and its horizontal ray reference point (3), a trolley (4) and its attitude sensor (5), a translucent flat plate (6), a camera (7), suspension bracket (8), cross-axis universal joint (9), light bar (10) and its attitude sensor (11), horizontal ranging sensor (12), vertical ranging sensor (13), to-be-measured Linear track (14).

The laser is fixedly installed at one end of the track, and the other end is provided with a laser horizontal ray reference point. The laser from the laser to its horizontal reference point is emitted in the direction of the straight track and its direction is parallel to the horizontal plane. The opaque plate is installed under the laser and the opaque plate plane Perpendicular to straight track and horizontal plane. The trolley is set on the linear track to be measured, the translucent plate and the bracket are installed perpendicular to the plane of the trolley, the plane of the translucent plate and the plane of the bracket are parallel, the camera is installed on the trolley, and is on the side of the reference point of the horizontal ray of the laser relative to the plane of the translucent plate. Its plane is perpendicular to the trolley plane and parallel to the translucent plate plane, and the camera plane, the translucent plate plane, the bracket plane and other planes are perpendicular to the straight track. The car attitude sensor and the translucent plate are installed together. One end of the light rod is suspended on the suspension bracket through the cross shaft universal joint, the cross shaft plane is parallel to the horizontal plane and one of the cross shafts is parallel to the direction of the straight track, and the suspension center point (15) is located directly below the horizontal laser. The light rod attitude sensor is installed on the light rod to detect whether the light rod is parallel to the direction of gravity, and the horizontal ranging sensor and the vertical ranging sensor are installed on the other end of the light rod. The horizontal ranging sensor measures the distance in the direction of the opaque plate along the track, and the vertical ranging sensor measures the distance in the direction of gravity.

Figure 2 is a schematic side view of the measuring device. As shown in Fig. 2, taking the horizontal plane where the horizontal laser is located as the reference horizontal plane (16), taking the track where the laser is installed as the track starting point, the distance between the starting point of the track and the horizontal plane is H ₀ . The distance from the vertical ranging sensor to the center point of the suspension of the light pole is fixed as L ₁ , the distance H _1X between the vertical ranging sensor and the track in the direction of gravity can be measured, and the horizontal distance X from the horizontal ranging sensor and the opaque plate can be measured. The laser is fixed at the opaque plate to emit horizontal laser, the semi-transparent plate and the camera are fixed on the trolley and receive and detect the laser, and record the distance L _2X between the current laser point (17) on the translucent plate and the suspension point of the light bar; the attitude sensor of the trolley Measure the pitch angle 𝛼 _X and roll angle 𝛽 _X of the car.

The trolley moves in a straight line on the track. Due to the uneven track, the light bar will swing back and forth, left and right. When the pitch angle and roll angle measured by the light stick attitude sensor are both 0 degrees, that is, the vertical ranging sensor measures the distance from the track in the direction of gravity, and the horizontal ranging sensor measures the distance between it and the opaque plate in the horizontal direction. For distance, the measured data is used. At this time, the horizontal distance measuring sensor measures the distance from the opaque plate in the horizontal direction as X , and the vertical distance measuring sensor measures the distance from the track in the gravitational direction as H _1X . The car attitude sensor measures the car's pitch angle 𝛼 _X and roll angle 𝛽 _X . The camera records the distance between the current laser point on the translucent plate and the suspension point of the light rod as L _2X .

The elevation difference between the light rod suspension point and the current laser point is H _2X , as shown in Figure 3;

H _2X = L _2X × cos𝛼 _X × cos𝛽 _X

The elevation difference at track X from the reference level is H _3X

H _3X = H _1X + L ₁ + H _2X

The fluctuation at orbit X relative to the beginning of the orbit is ΔH _X ;

ΔH _X = H ₀ – H _3X ;

Step 2: The position of the measured track can be determined by X , and the height difference between the track X and the start of the track can be determined by ΔH _X. The trolley moves along the linear track and collects multi-point data to draw the track relative to the reference. The unevenness of the horizontal plane.

If the measurement track is a double track, the trolley measures along the two tracks respectively, and the respective unevenness of the two tracks of the double track can be measured.

Without a reference level, the exact unevenness of the track cannot be derived. As shown in FIG. 4 , the track is inclined at a fixed angle, and in the absence of a reference level, the track to be tested can be considered to be flat. At the same time, the distance measured by the vertical ranging sensor will remain unchanged when the trolley moves on the track, but the track to be measured is inclined relative to the reference horizontal plane. Therefore, to discuss the unevenness of the track, a horizontal plane must be selected as the reference plane.

Claims (7)

1. The utility model provides a track unevenness measuring device based on image processing, includes opaque dull and stereotyped, laser instrument and horizontal ray reference point, dolly and attitude sensor, translucent flat board, camera, suspension bracket, adapting unit, light bar and attitude sensor, horizontal range finding sensor, perpendicular range finding sensor, the straight line track that awaits measuring, its characterized in that: the laser is fixedly arranged at one end of the track, a laser horizontal ray reference point is arranged at the other end of the track, laser from the laser to the laser horizontal reference point is emitted along the direction of the linear track, the direction of the laser is parallel to the horizontal plane, the opaque flat plate is arranged below the laser, and the plane of the opaque flat plate is vertical to the linear track and the horizontal plane at the same time; the trolley is arranged on the linear track to be measured, the semitransparent flat plate and the support are perpendicular to the plane of the trolley and are arranged, the plane of the semitransparent flat plate is parallel to the plane of the support, the camera is arranged on the trolley and is positioned on one side of a horizontal ray reference point of the laser relative to the plane of the semitransparent flat plate, the plane of the camera is perpendicular to the plane of the trolley and is parallel to the plane of the semitransparent flat plate, and the imaging plane of the camera, the plane of the semitransparent flat plate and the; the trolley attitude sensor and the semitransparent flat plate are arranged together; one end of the light bar is hung on the hanging bracket through a connecting component, and the hanging center point is positioned right below the horizontal laser; the light bar attitude sensor and the horizontal distance measuring sensor are arranged on the light bar, and the vertical distance measuring sensor is arranged at the other end of the light bar.

2. The image processing-based track irregularity measuring device according to claim 1, wherein: the trolley travelling track is a single track.

3. The image processing-based track irregularity measuring device according to claim 1, wherein: the connecting part is a cross axle universal joint, the plane of the cross axle is parallel to the horizontal plane, and one axle in the cross axle is parallel to the direction of the linear track.

4. The image processing-based track irregularity measuring device according to claim 1, wherein: the connecting part is two hinges, the first hinge is hung on the suspension bracket, the rotating shaft is parallel or vertical to the direction of the linear track, the second hinge is hung on the first hinge, and the rotating shafts of the two hinges are vertical to each other.

5. The image processing-based track irregularity measuring device according to claim 1, wherein: the horizontal distance measuring sensor measures the horizontal distance between the horizontal distance measuring sensor and the opaque flat plateXThe distance from the vertical distance measuring sensor to the central point of the light bar is fixedL ₁ The distance between the rail and the rail in the gravity direction can be measuredH _1X (ii) a The laser is fixed at the opaque flat plate to emit horizontal laser, the semi-transparent flat plate and the camera are fixed on the trolley to receive and detect the laser, and the current laser point and the light bar on the semi-transparent flat plate are recorded to be hungDistance of center pointL _2X (ii) a Dolly attitude sensor measures the angle of pitch of the dollyα _X Roll angleβ _X 。

6. A rail unevenness measuring method based on image processing is characterized in that: the method comprises the following steps:

step 1: the installation measuring device takes the horizontal plane of the horizontal laser as a reference horizontal plane, takes the track at the installation position of the laser as the initial position of the track, and takes the distance between the initial position of the track and the horizontal plane asH ₀ (ii) a The placement position of the semitransparent flat plate can receive laser in the horizontal direction, and the placement position of the camera can clearly observe the position of the laser on the semitransparent flat plate;

step 2: the trolley moves linearly on the track, when the pitch angle and the roll angle measured by the light bar attitude sensor are both 0 degree, namely the vertical distance measuring sensor measures the distance between the trolley and the track in the gravity direction, and the horizontal distance measuring sensor measures the distance between the trolley and the opaque flat plate in the horizontal direction, the measured data are adopted; at this time, the horizontal distance measuring sensor measures a distance in the horizontal direction from the opaque flat plate asXThe vertical distance measuring sensor measures the distance between the vertical distance measuring sensor and the track in the gravity directionH _1X (ii) a The attitude sensor of the trolley measures the pitch angle of the trolleyα _X Roll angleβ _X The distance between the current laser point on the semitransparent plate and the suspension point of the light bar is recorded by the camera asL _2X ；

The height difference between the suspension point of the light bar and the current laser point isH _2X ；

H _2X = L _2X × cosα _X × cosβ _X

TrackXAt an elevation difference from a reference level ofH _3X

H _3X = H _1X + L ₁ + H _2X

TrackXRelative to the undulation at the start of the track∆H _X ；

∆H _X = H ₀ – H _3X ；

And step 3: byXThe position of the measured track can be determined by∆H _X Can determine the trackXAnd the trolley moves along the linear track and collects multipoint data so as to draw the unevenness condition of the track relative to a reference horizontal plane.

7. The method for measuring track unevenness based on image processing as claimed in claim 6, wherein: the travelling track of the trolley is a double track; the trolley is respectively measured along the two rails, so that the respective unevenness of the two rails of the double tracks can be measured.

Images