CN115432032B - Dynamic detection method for geometric shape and position parameters of subway rail based on light interception method - Google Patents
Dynamic detection method for geometric shape and position parameters of subway rail based on light interception method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/042—Track changes detection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
- B61D15/12—Railway inspection trolleys power propelled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
- B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/042—Track changes detection
- B61L23/044—Broken rails
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/042—Track changes detection
- B61L23/045—Rail wear
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Abstract
A dynamic detection method for geometric shape and position parameters of a subway track based on an optical cut method belongs to the technical field of dynamic detection of subway tunnel steel rails. The invention aims at solving the problem that the existing track parameter detection method is not suitable for detecting the complex turnout steel rail of the subway. The method comprises the steps that an inner side structure light source, an inner side image acquisition module, an outer side structure light source and an outer side image acquisition module are arranged on a detection beam of a detection vehicle corresponding to each steel rail position; in the inspection process of the inspection vehicle, an image acquisition module generally acquires an inner image and an outer image of a steel rail; determining the space position of an inner image acquisition module by adopting a mileage positioning synchronization module, and then calculating to obtain the initial track gauge and the initial track bottom slope of the current positions of the two steel rails by combining the inner images of the two steel rails; and then determining the space position of the outside image acquisition module, and correcting the initial track gauge and the initial track bottom slope by combining the outside images of the two steel rails to obtain a corrected track gauge and a corrected track bottom slope. The method is used for detecting the geometric shape and position parameters of the subway rail.
Description
Technical Field
The invention relates to a dynamic detection method for geometric shape and position parameters of a subway track based on an optical cut method, and belongs to the technical field of dynamic detection of subway tunnel steel rails.
Background
Along with development of subway construction, safety problems of vehicle operation are more and more paid attention to, and meanwhile, the requirement on train maintenance and overhaul automation is higher and higher. For normal and safe operation of the train, maintenance efficiency and quality of the train need to be improved.
With the increasing demand for urban public transportation, rail transportation has been advancing at a rapid rate in recent years as a main transportation means. Urban rail transit plays an important role in people's travel patterns in densely populated large cities. However, people enjoy urban rail transit convenience and influence the health states of vehicles and rail systems. For example: long-term overload operation in the early peak period and the late peak period can damage main operation components of the metro vehicle; the environmental temperature in the alpine region changes greatly, and the track can change original position because of the difference in temperature, worsens the unsmooth state of operation track. Along with the rapid development of urban rail trains, higher requirements are put forward on the reliable operation of the steel rail, so that the method has great significance for the intelligent detection of geometric shape and position parameters of subway rails.
At present, the track parameter detection equipment mainly detects the inside of a steel rail, and because a subway track is provided with a complex turnout, the existence of equipment in the rail such as a guard rail, a switch rail and the like can influence the measurement result near the turnout, and meanwhile, the long-time friction between a train wheel and the inner side of the steel rail can cause the defects of the inner side of the steel rail such as fat edge, falling block and the like to influence the detection of geometric shape and position parameters of the track. Therefore, the existing method is not suitable for detecting the steel rail of the complex turnout of the subway.
Disclosure of Invention
Aiming at the problem that the existing track parameter detection method is not suitable for detecting complex turnout steel rails of a subway, the invention provides a dynamic detection method for geometric shape and position parameters of a subway track based on an optical cut method.
The invention relates to a dynamic detection method for geometric shape and position parameters of a subway track based on an optical cut method, which comprises the following steps,
an inner side structure light source, an inner side image acquisition module, an outer side structure light source and an outer side image acquisition module are arranged on a detection beam of the detection vehicle corresponding to each steel rail position;
in the inspection process of the inspection vehicle, the irradiation range of the light source of the inner structure covers the upper surface and the inner surface of the steel rail, and the inner image comprising the upper surface and the inner surface of the steel rail is acquired by the inner image acquisition module; simultaneously enabling the irradiation range of the light source of the outer structure to cover the upper surface and the outer surface of the steel rail, and acquiring an outer image comprising the upper surface and the outer surface of the steel rail through an outer image acquisition module;
determining the space position of an inner image acquisition module by adopting a mileage positioning synchronization module, and then calculating to obtain the initial track gauge and the initial track bottom slope of the current positions of the two steel rails by combining the inner images of the two steel rails;
when at least one of the initial track gauge and the initial track bottom slope exceeds a preset threshold value with standard data deviation, determining the space position of an outside image acquisition module by adopting a mileage positioning synchronization module, and correcting the initial track gauge and the initial track bottom slope by combining outside images of two steel rails to obtain a corrected track gauge and a corrected track bottom slope.
According to the dynamic detection method of the geometric position parameters of the subway track based on the light interception method, the mileage positioning and synchronizing module adopts a vehicle-mounted axle head photoelectric encoder to initially position the space position; and then combining an mile mark in the tunnel and a detection vehicle position obtained by a subway train control ground system transponder to dynamically correct the preliminary positioning result so as to realize the final positioning of the space position.
According to the dynamic detection method for the geometric position parameters of the subway track based on the light interception method, the mileage positioning and synchronizing module sends a trigger signal to the industrial personal computer while starting, and the industrial personal computer controls the inner side structure light source, the inner side image acquisition module, the outer side structure light source and the outer side image acquisition module to start synchronously according to the trigger signal.
According to the subway track geometric shape and position parameter dynamic detection method based on the light interception method, the composition structures of the inner side structure light source and the outer side structure light source are the same;
the inner side structure light source comprises an LD laser and a cylindrical lens;
the LD laser starts to emit light beams according to the trigger signals of the industrial personal computer, and the light beams are shaped into fan-shaped surfaces through a cylindrical lens and irradiate on the upper surface and the inner side surface of the steel rail; the LD laser stops emitting light beams according to the ending instruction of the industrial personal computer.
According to the subway track geometric shape and position parameter dynamic detection method based on the light interception method, the wavelength of the light beam emitted by the LD laser is the same as the center wavelength of the optical filters of the inner side image acquisition module and the outer side image acquisition module.
According to the subway track geometric position parameter dynamic detection method based on the light interception method, the wavelength of the light beam emitted by the LD laser is 915nm.
According to the dynamic detection method for the geometric shape and position parameters of the subway rail based on the light interception method, the inner side structure light source and the outer side structure light source are positioned on the same horizontal plane, and the light beam irradiation range of each structure light source is the same as the shooting range of the corresponding image acquisition module.
According to the method for dynamically detecting the geometric shape and position parameters of the subway rail based on the light interception method, the method for obtaining the initial track gauge and the initial track bottom slope comprises the following steps:
acquiring initial surface contours of the steel rails based on an optical interception method by adopting a data processor according to the space position of the inner image acquisition module and the inner images of the two steel rails; and calculating according to the initial surface profile to obtain the initial track gauge and the initial track bottom slope of the current positions of the two steel rails.
According to the method for dynamically detecting the geometric shape and position parameters of the subway rail based on the light interception method, the method for obtaining the corrected track gauge and the corrected track bottom slope comprises the following steps:
when at least one of the initial track gauge and the initial track bottom slope exceeds a preset threshold value with standard data deviation, acquiring a correction profile of the steel rail by adopting a data processor based on the light interception method according to the spatial position of the outside image acquisition module and the outside images of the two steel rails; and correcting the initial track gauge and the initial track bottom slope according to the corrected profile to obtain a corrected track gauge and a corrected track bottom slope.
According to the method for dynamically detecting the geometric shape and position parameters of the subway rail based on the light interception method, the method for obtaining the initial surface profile comprises the following steps:
based on the optical triangle principle, according to the deformation rule of light source light rays, the three-dimensional information of the upper surface and the inner surface of the steel rail is demodulated from the inner image to serve as the inner image.
The method for obtaining the corrected contour comprises the following steps:
based on the optical triangle principle, according to the deformation rule of light source light rays, three-dimensional information of the upper surface and the outer surface of the steel rail is demodulated from the outer image to serve as the outer image.
The invention has the beneficial effects that: according to the method, the structural light source module and the image acquisition module are arranged on the detection beam of the detection vehicle, the mileage positioning synchronization module control system is used for acquiring contour images of two steel rails in a specific section or a whole line in a tunnel during inspection operation of the detection vehicle, and the track gauge and the track bottom slope data can be obtained through image analysis and data processing.
The method has the advantages of high measurement precision, high measurement speed and strong adaptability to detection of the complex turnout steel rail of the subway, can calculate the geometric position parameter deviation value of the steel rail in each section of the subway, provides powerful data support for analyzing the application rule of the geometric position parameter deviation of the steel rail, and avoids the occurrence of train derailment accidents caused by the steel rail deviation.
The method is suitable for the condition that the inner side of the steel rail is blocked by equipment or the inner side of the steel rail is severely worn, the inner side measurement data have huge deviation, and the track gauge and the track bottom slope are further corrected by applying the section data of the steel rail on the outer side of the steel rail.
The method omits a complicated calibration process, and can accurately and rapidly detect the track gauge, the track bottom slope and the section of the steel rail, thereby obtaining the geometrical parameter deviation value of the steel rail corresponding to mileage. The method has universality and is particularly suitable for detecting the steel rail of the complex turnout of the subway.
Under the condition that the geometric shape and position parameter data of the subway track are continuously rich, the method can also intelligently predict the section of the steel rail at the specific position according to the section information of the steel rail at different positions of the line, continuously correct the prediction result along with the time, and establish an early warning mechanism for staff, thereby improving the safety of railway operation.
Drawings
FIG. 1 is a flow chart diagram of a method for dynamically detecting geometric shape and position parameters of a subway rail based on an optical cut method;
FIG. 2 is a schematic illustration of image acquisition of a rail; in the figure, 11 is an outside structure light source, 12 is an inside structure light source, 21 is an outside image acquisition module, and 22 is an inside image acquisition module;
fig. 3 is a front view of fig. 2.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
The invention provides a subway track geometric shape and position parameter dynamic detection method based on an optical interception method, which is shown in the accompanying figures 1 to 3,
an inner side structure light source, an inner side image acquisition module, an outer side structure light source and an outer side image acquisition module are arranged on a detection beam of the detection vehicle corresponding to each steel rail position;
in the inspection process of the inspection vehicle, the irradiation range of the light source of the inner structure covers the upper surface and the inner surface of the steel rail, and the inner image comprising the upper surface and the inner surface of the steel rail is acquired by the inner image acquisition module; simultaneously enabling the irradiation range of the light source of the outer structure to cover the upper surface and the outer surface of the steel rail, and acquiring an outer image comprising the upper surface and the outer surface of the steel rail through an outer image acquisition module;
determining the space position of an inner image acquisition module by adopting a mileage positioning synchronization module, and then calculating to obtain the initial track gauge and the initial track bottom slope of the current positions of the two steel rails by combining the inner images of the two steel rails;
when at least one of the initial track gauge and the initial track bottom slope exceeds a preset threshold value with standard data deviation, determining the space position of an outside image acquisition module by adopting a mileage positioning synchronization module, and correcting the initial track gauge and the initial track bottom slope by combining outside images of two steel rails to obtain a corrected track gauge and a corrected track bottom slope.
In the embodiment, the section image of the steel rail is determined by combining the positioning of the space position of the steel rail, and the track gauge and the track bottom slope of the steel rail are positioned according to the inner side image and the space installation position of the image acquisition module on the bogie frame. When the inner side of the steel rail is shielded by equipment or the inner part of the steel rail is severely worn, the track gauge and the track bottom slope are further corrected by using the section data of the steel rail outside the steel rail.
The image acquisition module consists of an area array COMS industrial camera, an optical filter and a lens. The method comprises the steps of acquiring rail profile images after a shooting command is received, and acquiring continuous multiple rail profile images for the same rail; the rail image can be sent to an industrial personal computer.
Each structural light source and the corresponding image acquisition module form an imaging module, and in the embodiment, four imaging modules are used. The structural light source and the corresponding image acquisition module are arranged above the side of the steel rail and are arranged on the detection beam of the detection vehicle.
The embodiment may further comprise a power supply module for providing power supply for each component. The power supply module is arranged in the cabinet in the detection vehicle and can remotely control the power supply and a large amount of data transmission of the industrial personal computer, the structural light source, the image acquisition module, the data processor and the mileage positioning and synchronizing module. The industrial power supply, the intelligent PDU, the control circuit, the industrial network exchanger and other devices are integrated.
Further, the mileage positioning and synchronizing module adopts a vehicle-mounted axle head photoelectric encoder to initially position the space; and then combining the mile mark in the identified tunnel and the detected vehicle position information obtained by reading the subway train control ground system transponder, and dynamically correcting the preliminary positioning result of the longitudinal mileage of the tunnel to realize the final positioning of the space position. The accumulated error of the encoder can be reduced and eliminated, and the longitudinal mileage centimeter-level positioning of the tunnel can be realized.
The mileage positioning and synchronizing module comprises a radio frequency tag reader, a spindle nose photoelectric encoder, a control circuit and the like.
Still further, mileage positioning synchronization module sends the trigger signal to the industrial computer when starting, and the industrial computer is according to trigger signal control inboard structure light source, inboard image acquisition module, outside structure light source and outside image acquisition module synchronous start.
Still further, the composition structure of the inner side structure light source and the outer side structure light source is the same;
the inner side structure light source comprises an LD laser and a cylindrical lens;
the LD laser starts to emit light beams according to the trigger signals of the industrial personal computer, and the light beams are shaped into fan-shaped surfaces through a cylindrical lens and irradiate on the upper surface and the inner side surface of the steel rail; the LD laser stops emitting light beams according to the ending instruction of the industrial personal computer.
When the fan-shaped surface light source irradiates the surface of the rail, a light band with a certain width is formed on the surface of the rail, and the section geometric information of the surface of the rail on the light plane is contained in the light band. When the imaging system acquires the image of the light band, the geometric dimension of the section of the steel rail can be obtained through subsequent processing and calculation.
The wavelength of the emitted light beam of the LD laser is the same as the central wavelength of the optical filters of the inner image acquisition module and the outer image acquisition module.
As an example, the LD laser emits a light beam having a wavelength of 915nm.
As shown in fig. 2 and 3, the inner side structure light source and the outer side structure light source are on the same horizontal plane, and the light beam irradiation range of each structure light source is the same as the shooting range of the corresponding image acquisition module. The structural light source is directly irradiated on the longitudinal surface of the steel rail, and the image acquisition module is horizontally arranged with the structural light source.
Still further, the method of obtaining an initial gauge and an initial rail base slope comprises:
acquiring initial surface contours of the steel rails based on an optical interception method by adopting a data processor according to the space position of the inner image acquisition module and the inner images of the two steel rails; and calculating according to the initial surface profile to obtain the initial track gauge and the initial track bottom slope of the current positions of the two steel rails.
The data acquired by the mileage positioning synchronization module and the data acquired by the data processor are combined, so that a digital model with accurate fusion positioning can be established, the problem of accurate matching of historical disease data in the dynamic detection of the geometric shape and the position of the subway rail can be solved, and the data has traceability.
The data processor can be communicated with the industrial personal computer in real time, and the data can be stored and managed while the image data are analyzed.
The method for obtaining the corrected track gauge and the corrected track bottom slope comprises the following steps:
when at least one of the initial track gauge and the initial track bottom slope exceeds a preset threshold value with standard data deviation, acquiring a correction profile of the steel rail by adopting a data processor based on the light interception method according to the spatial position of the outside image acquisition module and the outside images of the two steel rails; and correcting the initial track gauge and the initial track bottom slope according to the corrected profile to obtain a corrected track gauge and a corrected track bottom slope.
Still further, the method of obtaining the initial surface profile includes:
based on the optical triangle principle, according to the deformation rule of light source light rays, the three-dimensional information of the upper surface and the inner surface of the steel rail is demodulated from the inner image to serve as the inner image.
The method for obtaining the corrected contour comprises the following steps:
based on the optical triangle principle, according to the deformation rule of light source light rays, three-dimensional information of the upper surface and the outer surface of the steel rail is demodulated from the outer image to serve as the outer image.
The method of the invention has the following flow in the concrete implementation:
step one, when a train enters a detection area, the industrial personal computer receives a trigger signal of the mileage positioning and synchronizing module for the first time, and the industrial personal computer acquires the trigger signal and then sends the trigger signal to the structural light source and the image acquisition module.
And step two, when the structural light source receives a first trigger signal sent by the industrial personal computer, starting to project light.
And thirdly, respectively starting to continuously acquire profile image information of two sides of the steel rail by the image acquisition module after receiving a first trigger signal sent by the industrial personal computer.
And step four, when the train continues to run and leaves the detection area, the mileage positioning and synchronizing module sends trigger information again and transmits the trigger information to the industrial personal computer.
Step five, the industrial personal computer acquires a trigger signal for the second time and sends the trigger signal to the structure light source and the image acquisition module;
step six, the structural light source and the image acquisition module receive the second trigger signal, the structural light source ends the light projection, the image acquisition of the image acquisition module ends, and the acquired data on two sides of the steel rail are sent to the industrial personal computer.
Specific examples: and taking the structural light source as a compensation light source of the image acquisition module.
The fitting algorithm of the industrial personal computer is as follows: combining a structured light measurement method with a space coordinate transformation method; the structured light measurement method is to project light onto a measured object, and based on an optical triangle principle, the three-dimensional information of the measured object is demodulated according to the deformation generated by the light; the coordinate transformation method is to transform the world coordinate system, the camera coordinate system and the image plane coordinate system into the coordinate system used by the digital image in the industrial control computer, and transform the data in all the coordinate systems into the coordinate system of the industrial control computer through coordinate transformation, so that the track gauge and the track bottom slope of the steel rail can be calculated by utilizing the industrial control computer program.
Converting an inside image of a section of the steel rail obtained from the inside into actual coordinate values in space to calculate the initial track gauge and the initial track bottom slope of the steel rail; the method comprises the steps of converting an outside image of a steel rail section obtained from the outside into an actual coordinate value in space, and further correcting an initial track gauge and an initial track bottom slope with huge deviation, wherein the actual coordinate value is as follows:
and (3) a step of: determining a space coordinate value of the two acquired inner side images at a position 16mm below the rail surface of the steel rail and a space coordinate value of the bottom of the steel rail; the horizontal distance between the two measuring points is used for calculating the inner track gauge value of the steel rail and the bottom slope value of the steel rail.
And II: when the track gauge value, the track bottom slope data calculated on the inner side of the track have larger deviation from the standard data or have no data, calculating an outer track gauge value and a track bottom slope value by adopting the acquired two outer side images; under normal conditions, subtracting the thickness of the two steel rails from the outer track distance value to obtain an inner track distance value; and if deviation occurs, correcting the inner track distance value by adopting data corresponding to the outer image, so as to ensure the continuity of the dynamic detection data of the geometric position parameters of the subway track.
The method comprises the steps of obtaining coordinates of two sides of the bottom of a steel rail from collected image data through image analysis, matching and stereoscopic vision, and obtaining rail bottom slope data through a space distance formula; and comparing the rail bottom slope data stored in the database, and calculating a rail bottom slope difference value. The distance between the track gauge points is obtained through a space distance formula, namely the track gauge value; and comparing the track pitch deviation with standard track pitch data stored in a database, calculating track pitch deviation, and alarming abnormal information.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.
Claims (7)
1. A dynamic detection method for geometric shape and position parameters of subway tracks based on an optical cut method is characterized by comprising the following steps of,
an inner side structure light source, an inner side image acquisition module, an outer side structure light source and an outer side image acquisition module are arranged on a detection beam of the detection vehicle corresponding to each steel rail position;
in the inspection process of the inspection vehicle, the irradiation range of the light source of the inner structure covers the upper surface and the inner surface of the steel rail, and the inner image comprising the upper surface and the inner surface of the steel rail is acquired by the inner image acquisition module; simultaneously enabling the irradiation range of the light source of the outer structure to cover the upper surface and the outer surface of the steel rail, and acquiring an outer image comprising the upper surface and the outer surface of the steel rail through an outer image acquisition module;
determining the space position of an inner image acquisition module by adopting a mileage positioning synchronization module, and then calculating to obtain the initial track gauge and the initial track bottom slope of the current positions of the two steel rails by combining the inner images of the two steel rails;
when at least one of the initial track gauge and the initial track bottom slope exceeds a preset threshold value with standard data deviation, determining the space position of an outside image acquisition module by adopting a mileage positioning synchronization module, and correcting the initial track gauge and the initial track bottom slope by combining outside images of two steel rails to obtain a corrected track gauge and a corrected track bottom slope;
the method for obtaining the initial track gauge and the initial track bottom slope comprises the following steps:
acquiring initial surface contours of the steel rails based on an optical interception method by adopting a data processor according to the space position of the inner image acquisition module and the inner images of the two steel rails; calculating according to the initial surface profile to obtain initial track gauges and initial track bottom slopes of the current positions of the two steel rails;
the method for obtaining the corrected track gauge and the corrected track bottom slope comprises the following steps:
when at least one of the initial track gauge and the initial track bottom slope exceeds a preset threshold value with standard data deviation, acquiring a correction profile of the steel rail by adopting a data processor based on the light interception method according to the spatial position of the outside image acquisition module and the outside images of the two steel rails; correcting the initial track gauge and the initial track bottom slope according to the corrected profile to obtain a corrected track gauge and a corrected track bottom slope;
the method for obtaining the initial surface profile comprises the following steps:
based on the optical triangle principle, according to the deformation rule of light rays of a light source, three-dimensional information of the upper surface and the inner surface of the steel rail is demodulated from the inner image to serve as the inner image;
the method for obtaining the corrected contour comprises the following steps:
based on the optical triangle principle, according to the deformation rule of light source light rays, three-dimensional information of the upper surface and the outer surface of the steel rail is demodulated from the outer image to serve as the outer image.
2. The dynamic detection method for geometric position parameters of a subway rail based on the light interception method according to claim 1, wherein the mileage positioning and synchronizing module adopts a vehicle-mounted axle head photoelectric encoder to initially position the space; and then combining an mile mark in the tunnel and a detection vehicle position obtained by a subway train control ground system transponder to dynamically correct the preliminary positioning result so as to realize the final positioning of the space position.
3. The dynamic detection method for geometric position parameters of subway rails based on the light interception method according to claim 2, wherein the mileage positioning synchronization module sends a trigger signal to the industrial personal computer at the same time of starting, and the industrial personal computer controls the inner side structure light source, the inner side image acquisition module, the outer side structure light source and the outer side image acquisition module to start synchronously according to the trigger signal.
4. The dynamic detection method for geometric position parameters of subway rail based on light interception method according to claim 3, wherein the composition structure of the inner side structure light source and the outer side structure light source is the same;
the inner side structure light source comprises an LD laser and a cylindrical lens;
the LD laser starts to emit light beams according to the trigger signals of the industrial personal computer, and the light beams are shaped into fan-shaped surfaces through a cylindrical lens and irradiate on the upper surface and the inner side surface of the steel rail; the LD laser stops emitting light beams according to the ending instruction of the industrial personal computer.
5. The dynamic detection method for geometric position parameters of subway rail based on light interception method according to claim 4, wherein the wavelength of the emitted light beam of the LD laser is the same as the center wavelength of the optical filters of the inner image acquisition module and the outer image acquisition module.
6. The dynamic detection method for geometric position parameters of subway rail based on light interception method according to claim 5, wherein the wavelength of the emitted light beam of the LD laser is 915nm.
7. The dynamic detection method for geometric position parameters of subway rail based on light interception method according to claim 6, wherein the inner side structure light source and the outer side structure light source are positioned on the same horizontal plane; the light beam irradiation range of each structure light source is the same as the shooting range of the corresponding image acquisition module.
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