CN104742937B - Track operational process dynamic state of parameters detection platform - Google Patents
Track operational process dynamic state of parameters detection platform Download PDFInfo
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Abstract
本发明公开了一种轨道运行过程参数动态检测平台，包括机械安装与位置高度调节机构，图像采集单元、图像高速采集压缩处理单元和图像高精度处理单元；其中，机械安装与位置高度调节机构用于安装传感器和调节检测单元左右水平位置，图像采集单元用于对检测平台内的钢轨横断面进行照射，并采集钢轨表面形成钢轨断面特征图形；图像高速采集压缩处理单元用于对采集的图像进行透镜畸变校正、几何纠正、图像拼接处理后再压缩发送给图像高精度处理单元；所述图像高精度处理单元包括计算机和图像处理软件，所述计算机通过网络接收并存储图像高速采集压缩处理单元发送的压缩图像，所述图像处理软件进行图像高精度处理和标定还原，进一步提高系统测量精度。
The invention discloses a dynamic detection platform for parameters in the orbit running process, which includes a mechanical installation and position height adjustment mechanism, an image acquisition unit, an image high-speed acquisition compression processing unit and an image high-precision processing unit; wherein, the mechanical installation and position height adjustment mechanism is used for For installing sensors and adjusting the left and right horizontal positions of the detection unit, the image acquisition unit is used to irradiate the cross-section of the rail in the detection platform, and collect the surface of the rail to form the characteristic figure of the rail section; the high-speed image acquisition and compression processing unit is used to process the collected images Lens distortion correction, geometric correction, image splicing and compression are sent to the image high-precision processing unit; the image high-precision processing unit includes a computer and image processing software, and the computer receives and stores the image through the network and sends it to the high-speed acquisition compression processing unit The compressed image, the image processing software performs high-precision image processing and calibration restoration, further improving the measurement accuracy of the system.
Description
技术领域technical field
本发明涉及轨道检测技术领域，具体地说，特别涉及到一种轨道运行过程参数动态检测平台的模型建立。The invention relates to the technical field of track detection, in particular to a model establishment of a dynamic detection platform for parameters in the track running process.
背景技术Background technique
轨道作为列车运行基础，它的作用是平稳、安全地引导列车行驶方向，直接承受车轮传来的机车车辆的压力，并把压力扩散到路基或桥遂结构物上。轨道交通向高速度、高密度的方向发展，交通运营安全保障工作变得越来越艰巨，行车安全和舒适问题已成为运输生产中的关键问题。在铁路基础设施中，轨道一直是薄弱环节，因此城市轨道动态检测成为一项重要措施。As the basis of train operation, the function of the track is to guide the direction of the train smoothly and safely, directly bear the pressure of the rolling stock transmitted from the wheels, and spread the pressure to the roadbed or bridge structure. With the development of rail transit in the direction of high speed and high density, the work of traffic operation safety guarantee has become more and more difficult, and the issue of driving safety and comfort has become a key issue in transportation production. In the railway infrastructure, the track has always been a weak link, so the dynamic detection of urban track has become an important measure.
目前国内轨道交通的轨道检测仍以轨检车为主，自动化和信息化程度不高，检测技术尚不完善，一定程度上制约了检测的精度和可靠性。At present, the track inspection of domestic rail transit is still dominated by rail inspection vehicles, the degree of automation and informatization is not high, and the detection technology is not yet perfect, which restricts the accuracy and reliability of detection to a certain extent.
在行车速度或检测速度提高以后，国内轨检车的不适应日益突出，已有的轨检车技术发展思路与国外先进的轨检车技术发展方向不一致，必将影响检查结果的客观与公正，与先进国家轨检车技术的差距将越来越大。After the driving speed or detection speed increases, the incompatibility of domestic rail inspection vehicles is becoming more and more prominent. The existing development ideas of rail inspection vehicle technology are inconsistent with the development direction of foreign advanced rail inspection vehicle technology, which will definitely affect the objectivity and fairness of inspection results. The gap with advanced national rail inspection vehicle technology will become wider and wider.
发明内容Contents of the invention
本发明实际需要解决的技术问题是：针对现有技术的不足，提供一种轨道运行过程参数动态检测平台的模型，包括图像采集单元、图像高速采集压缩处理单元和图像高精度处理单元，提高了轨道检测的精度和可靠性。The actual technical problem to be solved in the present invention is: aiming at the deficiencies of the prior art, a model of a dynamic detection platform for orbiting process parameters is provided, including an image acquisition unit, an image high-speed acquisition compression processing unit and an image high-precision processing unit, which improves the Accuracy and reliability of track detection.
本发明所解决的技术问题可以采用以下技术方案来实现：The technical problem solved by the present invention can adopt following technical scheme to realize:
轨道运行过程参数动态检测平台，其特征在于：它包括图像采集单元、图像高速采集压缩处理单元和图像高精度处理单元；The dynamic detection platform for orbital process parameters is characterized in that it includes an image acquisition unit, an image high-speed acquisition compression processing unit and an image high-precision processing unit;
所述图像采集单元包括安装支架、激光传感器、图像采集卡、旋转编码器和导向台；所述安装支架包括两根金属杆，所述两根金属杆的一端与列车底部连接固定，两根金属杆的另一端分别位于钢轨的两侧，在所述金属杆的近钢轨侧均安装有激光传感器和图像采集卡，所述激光传感器用于对钢轨内侧进行照射，所述图像采集卡用于采集钢轨表面形成钢轨断面特征图形；两根金属杆的端部还分别安装有旋转编码器和导向台，所述旋转编码器的数据输出端口与激光传感器连接，用于精确控制激光传感器移动距离，所述导向台用于保证金属杆的移动范围在激光传感器的侦测范围内；The image acquisition unit includes a mounting bracket, a laser sensor, an image acquisition card, a rotary encoder and a guide table; the mounting bracket includes two metal rods, one end of the two metal rods is connected and fixed to the bottom of the train, and the two metal rods The other end of the rod is respectively located on both sides of the rail, and a laser sensor and an image acquisition card are installed on the side of the metal rod near the rail, the laser sensor is used to irradiate the inside of the rail, and the image acquisition card is used to collect The surface of the rail forms the characteristic figure of the rail section; the ends of the two metal rods are also respectively equipped with a rotary encoder and a guide table, and the data output port of the rotary encoder is connected with the laser sensor to precisely control the moving distance of the laser sensor. The above guide table is used to ensure that the moving range of the metal rod is within the detection range of the laser sensor;
所述图像高速采集压缩处理单元用于对图像采集单元采集到的图像进行图进行透镜畸变校正、几何纠正、图像拼接处理，获得满足轨道检测要求的大范围、高分辨率图像，然后对钢轨断面特征图形进行缓冲压缩处理，并将压缩图像发送给图像高精度处理单元；所述图像拼接处理为将两个激光传感器发射的激光扫描线通过实验方法重合，得出最佳测量数据的方法确定传感器安装位置，并对图像进行拼接处理；The image high-speed acquisition and compression processing unit is used to perform lens distortion correction, geometric correction, and image splicing processing on the image collected by the image acquisition unit to obtain a large-scale, high-resolution image that meets the requirements of track detection, and then analyze the rail section The characteristic graphics are buffered and compressed, and the compressed image is sent to the image high-precision processing unit; the image splicing process is to overlap the laser scanning lines emitted by the two laser sensors through an experimental method to obtain the best measurement data. Determine the sensor Install the location and stitch the images;
所述图像高精度处理单元包括计算机和图像处理软件，所述计算机通过网络接收并存储图像高速采集压缩处理单元发送的压缩图像，所述图像处理软件进行图像高精度处理和标定还原，进一步提高系统测量精度；所述图像高精度处理是根据所获取的图像，经过通过实验方法建立的数学模型得出数据结果。The high-precision image processing unit includes a computer and image processing software. The computer receives and stores the compressed image sent by the high-speed image acquisition and compression processing unit through the network. The image processing software performs high-precision image processing and calibration restoration to further improve the system Measurement accuracy; the high-precision processing of the image is based on the obtained image, and the data result is obtained through the mathematical model established by the experimental method.
进一步的，还包括运动与位置控制系统，所述运动与位置控制系统包括伺服电机、丝杆、滑台和滑轮；所述伺服电机的输出轴与丝杆的一端连接，用于将伺服电机的转动转换为直线运动；所述丝杆上安装有一能沿丝杆轴向方向移动的滑台，所述滑台具有安装槽，安装槽中设置有连接支架；所述连接支架包括平行设置的第一龙骨和第二龙骨，第一龙骨和第二龙骨之间设置有若干定位杆，在第一龙骨和第二龙骨的端部设有安装组件，所述滑轮通过安装组件固定于连接支架的另一端。Further, it also includes a motion and position control system, the motion and position control system includes a servo motor, a screw, a slide table and a pulley; the output shaft of the servo motor is connected to one end of the screw for connecting the servo motor Rotation is converted into linear motion; a sliding table capable of moving along the axial direction of the screw rod is installed on the screw rod, the sliding table has a mounting groove, and a connecting bracket is arranged in the mounting groove; the connecting bracket includes a second One keel and the second keel, several positioning rods are arranged between the first keel and the second keel, and a mounting assembly is arranged at the end of the first keel and the second keel, and the pulley is fixed to the other connecting bracket through the mounting assembly one end.
进一步的，所述安装支架为C型结构框，用于安装激光传感器、图像采集卡和导向台。Further, the installation bracket is a C-shaped structural frame, which is used for installing the laser sensor, the image acquisition card and the guide platform.
进一步的，所述激光传感器分别安装于C型结构框的左右两侧，激光传感器的最大扫射角为120°，两个激光传感器的夹角为90°，用于实现180°全面覆盖。Further, the laser sensors are respectively installed on the left and right sides of the C-shaped structural frame, the maximum scanning angle of the laser sensor is 120°, and the included angle between the two laser sensors is 90°, which is used to achieve 180° full coverage.
所述C型结构框一端的端部安装有可调节高度的滑轮平台，滑轮平台的下方安装有2个导向轮，导向轮的接地面设有橡胶包覆层；A height-adjustable pulley platform is installed at one end of the C-shaped structural frame, and two guide wheels are installed under the pulley platform, and the grounding surface of the guide wheels is provided with a rubber coating;
所述C型结构框另一端的端部安装有导向台，所述导向台通过联轴器与伺服电机的驱动丝杆联动，用于控制C型结构框整体匀速运动；The end of the other end of the C-shaped structural frame is equipped with a guide table, and the guide table is linked with the driving screw of the servo motor through a coupling to control the overall uniform motion of the C-shaped structural frame;
所述导向台的一侧还安装有旋转编码器，该旋转编码器的数据输出端口与激光传感器连接，用于判断C型结构框整体行进距离。A rotary encoder is also installed on one side of the guide table, and the data output port of the rotary encoder is connected with a laser sensor for judging the overall travel distance of the C-shaped structure frame.
与现有技术相比，本发明的有益效果如下：Compared with the prior art, the beneficial effects of the present invention are as follows:
通过特别设计的机械安装与调节机构，融合图像采集单元、图像高速采集压缩处理单元和图像高精度处理单元的结构设计，测量精度和测量结果可靠性高，测量数据更为全面且直观。Through the specially designed mechanical installation and adjustment mechanism, combined with the structural design of image acquisition unit, image high-speed acquisition and compression processing unit and image high-precision processing unit, the measurement accuracy and reliability of measurement results are high, and the measurement data is more comprehensive and intuitive.
附图说明Description of drawings
图1为本发明所述的轨道运行过程参数动态检测平台的结构框图。Fig. 1 is a structural block diagram of a dynamic detection platform for orbital process parameters according to the present invention.
图2为本发明所述的图像采集单元的结构示意图。Fig. 2 is a schematic structural diagram of an image acquisition unit according to the present invention.
图3为本发明所述的运动与位置控制系统的结构示意图。Fig. 3 is a schematic structural diagram of the motion and position control system of the present invention.
图中标号说明：安装支架110、激光传感器120、旋转编码器130、导向台140、钢轨150、伺服电机210、丝杆220、滑台230、滑轮240。Explanation of symbols in the figure: mounting bracket 110 , laser sensor 120 , rotary encoder 130 , guide table 140 , rail 150 , servo motor 210 , screw rod 220 , slide table 230 , and pulley 240 .
具体实施方式Detailed ways
为使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体实施方式，进一步阐述本发明。In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.
参见图1、图2和图3，本发明所述的轨道运行过程参数动态检测平台，它主要包括图像采集单元、图像高速采集压缩处理单元和图像高精度处理单元。Referring to Fig. 1, Fig. 2 and Fig. 3, the track operation process parameter dynamic detection platform according to the present invention mainly includes an image acquisition unit, an image high-speed acquisition compression processing unit and an image high-precision processing unit.
其中，图像采集单元包括安装支架110、激光传感器120、图像采集卡、旋转编码器130和导向台140；所述安装支架110包括两根金属杆，所述两根金属杆的一端与列车底部连接固定，两根金属杆的另一端分别位于钢轨150的两侧，在所述金属杆的近钢轨150侧均安装有激光传感器120和图像采集卡，所述激光传感器120用于对钢轨150内侧进行照射，所述图像采集卡用于采集钢轨150表面形成钢轨150断面特征图形；两根金属杆的端部还分别安装有旋转编码器130和导向台140。Wherein, the image acquisition unit includes a mounting bracket 110, a laser sensor 120, an image acquisition card, a rotary encoder 130, and a guide table 140; the mounting bracket 110 includes two metal rods, and one end of the two metal rods is connected to the bottom of the train fixed, the other ends of the two metal rods are respectively located on both sides of the rail 150, and a laser sensor 120 and an image acquisition card are installed on the side near the rail 150 of the metal rod, and the laser sensor 120 is used to carry out inspection on the inside of the rail 150. The image acquisition card is used to collect the surface of the rail 150 to form the characteristic figure of the section of the rail 150; the ends of the two metal rods are also equipped with a rotary encoder 130 and a guide table 140 respectively.
该装置安装于检测列车上，可以进行动态测量。该测量系统是基于激光三角法，将结构激光传感器120分为一式两套安装在轨检车底部，分别测量左右钢轨150的磨耗。由高强度的激光平面对准钢轨150内侧进行照射，在钢轨150表面形成表征钢轨150断面特征图形。The device is installed on the detection train and can perform dynamic measurement. The measurement system is based on the laser triangulation method, and the structural laser sensor 120 is divided into two sets and installed on the bottom of the rail inspection vehicle to measure the wear of the left and right rails 150 respectively. The high-intensity laser plane is aimed at the inner side of the rail 150 to irradiate, and a characteristic pattern representing the section of the rail 150 is formed on the surface of the rail 150 .
所述图像高速采集压缩处理单元用于对图像采集单元采集到的图像进行图进行透镜畸变校正、几何纠正、图像拼接处理，获得满足轨道检测要求的大范围、高分辨率图像，然后对钢轨150断面特征图形进行缓冲压缩处理，并将压缩图像发送给图像高精度处理单元。The image high-speed acquisition and compression processing unit is used to perform lens distortion correction, geometric correction, and image stitching processing on the image collected by the image acquisition unit to obtain a large-scale, high-resolution image that meets the requirements of track detection, and then the rail 150 The cross-sectional feature graphics are buffered and compressed, and the compressed image is sent to the image high-precision processing unit.
由于实际图像受到环境光、漫反射、钢轨150氧化、钢轨150上油污斑点的影响，同时钢轨150的粗糙、扫描钢轨150截面的激光平面具有一定厚度、光学畸变、传感器的振动均会造成图像畸变，影响测量系统的精确性，使得钢轨150断面的外形识别变得较为复杂。在所以须对获得的序列图像进行透镜畸变校正，几何纠正，拼接等一系列处理，以获得满足轨道检测要求的大范围、高分辨率图像。The actual image is affected by ambient light, diffuse reflection, oxidation of the rail 150, and oil stains on the rail 150. At the same time, the roughness of the rail 150, the laser plane scanning the section of the rail 150 has a certain thickness, optical distortion, and vibration of the sensor will cause image distortion. , affecting the accuracy of the measurement system, making the shape recognition of the rail 150 section more complicated. Therefore, a series of processing such as lens distortion correction, geometric correction, and splicing must be performed on the obtained sequence images to obtain large-scale, high-resolution images that meet the requirements of track detection.
所述图像高精度处理单元包括计算机和图像处理软件，所述计算机通过网络接收并存储图像高速采集压缩处理单元发送的压缩图像，所述图像处理软件进行图像高精度处理和标定还原，进一步提高系统测量精度。The high-precision image processing unit includes a computer and image processing software. The computer receives and stores the compressed image sent by the high-speed image acquisition and compression processing unit through the network. The image processing software performs high-precision image processing and calibration restoration to further improve the system measurement accuracy.
本发明还包括有运动与位置控制系统，所述运动与位置控制系统包括伺服电机210、丝杆220、滑台230和滑轮240；所述伺服电机210的输出轴与丝杆220的一端连接，用于将伺服电机210的转动转换为直线运动；所述丝杆220上安装有一能沿丝杆220轴向方向移动的滑台230，所述滑台230具有安装槽，安装槽中设置有连接支架；所述连接支架包括平行设置的第一龙骨和第二龙骨，第一龙骨和第二龙骨之间设置有若干定位杆，在第一龙骨和第二龙骨的端部设有安装组件，所述滑轮240通过安装组件固定于连接支架的另一端。The present invention also includes a motion and position control system, which includes a servo motor 210, a screw mandrel 220, a slide table 230 and a pulley 240; the output shaft of the servo motor 210 is connected to one end of the screw mandrel 220, It is used to convert the rotation of the servo motor 210 into a linear motion; a sliding table 230 capable of moving along the axial direction of the screw rod 220 is installed on the screw mandrel 220, and the sliding table 230 has a mounting groove, and a connecting groove is arranged in the mounting groove Bracket; the connecting bracket includes a first keel and a second keel arranged in parallel, a number of positioning rods are arranged between the first keel and the second keel, and an installation assembly is arranged at the end of the first keel and the second keel, so The pulley 240 is fixed to the other end of the connecting bracket through a mounting assembly.
安装支架为C型结构框，用于安装激光传感器120、图像采集卡和导向台140。The mounting bracket is a C-shaped structural frame for mounting the laser sensor 120 , the image acquisition card and the guide table 140 .
激光传感器120为高精度传感器，分别安装于C型结构框的左右两肩，两者成90度夹角。利用激光传感器120自身扫射角最大可达120度的特性，实现轨头部分180度全面覆盖。The laser sensor 120 is a high-precision sensor, which is respectively installed on the left and right shoulders of the C-shaped structural frame, and the two form an included angle of 90 degrees. Utilizing the characteristic that the scanning angle of the laser sensor 120 itself can reach up to 120 degrees, the full coverage of the rail head part is realized at 180 degrees.
C型结构框左端下方连接有可调节高度(0-2cm)的滑轮平台，该滑轮平台下安装有2个导向轮，导向轮接地面包覆0.5cm橡胶，以降低框架推行过程中可能的硬撞击。A height-adjustable (0-2cm) pulley platform is connected to the bottom of the left end of the C-shaped structure frame. Two guide wheels are installed under the pulley platform. The ground surface of the guide wheels is covered with 0.5cm rubber to reduce the possible hard hit.
导向轮另一侧设计安装1个旋转编码器130，用以判断框架整体行进距离。The other side of the guide wheel is designed to install a rotary encoder 130 to judge the overall travel distance of the frame.
滑轮平台的高度可调节设计用以平衡C型结构框的整体水平，确保激光传感器120扫射角度覆盖轨头全方向。The adjustable height of the pulley platform is designed to balance the overall level of the C-shaped structural frame to ensure that the scanning angle of the laser sensor 120 covers all directions of the rail head.
C型结构框右端下方连接由伺服驱动的导向台140，以控制C型结构框整体匀速运动。此模型考虑的是2米的检测范围，伺服电机通过联轴器驱动丝杆转动，进而带动导向台140连接的整体C型结构狂，最终实现伺服驱动C型结构框可沿轨道另一根铁轨匀速移动，以检测被测铁轨的各类参数，实现不限距离的检测要求。The lower right end of the C-shaped structural frame is connected with a servo-driven guide table 140 to control the overall uniform motion of the C-shaped structural frame. This model considers a detection range of 2 meters. The servo motor drives the screw to rotate through the coupling, and then drives the overall C-shaped structure connected to the guide table 140, and finally realizes that the servo-driven C-shaped structure frame can move along the track to another rail. Move at a constant speed to detect various parameters of the tested rail, and realize the detection requirements of unlimited distance.
本发明不仅能够检测出钢轨150的动态参数，而且对前端采集到的数据进行安全、高效地传输，并对检测数据进行实时的处理以及数据结果的实时显示，从而提高轨道检测信息化和自动化，减少故障维修周期，提高工作效率。根据前端数据点的位置，采取相应的通信方式，例如wifi、GPRS、GSM、RFID、TCP/IP等，将数据以规范化的格式传输到主控计算机系统统一存储，通过建立相关的数学模型对采集到的数据作进一步分析处理。The present invention can not only detect the dynamic parameters of the rail 150, but also safely and efficiently transmit the data collected by the front end, process the detected data in real time and display the data results in real time, thereby improving the informatization and automation of rail detection, Reduce fault maintenance cycle and improve work efficiency. According to the location of the front-end data points, adopt corresponding communication methods, such as wifi, GPRS, GSM, RFID, TCP/IP, etc., and transmit the data in a standardized format to the main control computer system for unified storage. The received data are further analyzed.
以上显示和描述了本发明的基本原理和主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments, and what described in the above-mentioned embodiments and the description only illustrates the principles of the present invention, and the present invention will also have other functions without departing from the spirit and scope of the present invention. Variations and improvements all fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.
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