基于线结构光传感器的轨道板几何形貌检测方法

祝祥; 邵双运; 宋志军

doi:10.3788/CO.20181105.0841

基于线结构光传感器的轨道板几何形貌检测方法

doi: 10.3788/CO.20181105.0841

北京交通大学理学院光电检测所, 北京 100044

基金项目:

科技部国家重点研发计划 2017YFC0805406

详细信息

作者简介:
祝祥(1992-), 男, 内蒙古呼和浩特人, 硕士研究生, 主要从事光电检测技术方面的研究。E-mail:529569434@qq.com

邵双运(1972—)，男，河南平顶山人，博士，副教授，主要从事光学三维测量技术及应用等方面的研究。E-mail:shao_sy@tom.com

中图分类号: O439
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出版历程
- 收稿日期: 2018-02-04
- 修回日期: 2018-03-21
- 刊出日期: 2018-10-01

A detection method based on line-structured light sensor for geometrical morphology of track slab

School of Science, Beijing Jiaotong university, Beijing 100044, China

Funds:

the National Key Research and Development Program of China 2017YFC0805406

More Information

Corresponding author: SHAO Shuang-yun, E-mail: shao_sy@tom.com

摘要

摘要: 轨道板的外形尺寸精度对于保证高速铁路轨道质量起着至关重要的作用，针对现有轨道板检测方法存在的问题，本文建立了一种基于线结构光传感器的轨道板测量系统并提出了基于轨道板点云数据的几何参数测量方法。线结构光传感器按照固定间隔扫描CRTS Ⅲ型轨道板，获得点云数据；利用轨道板中特殊位置点云数据对整个点云数据进行位置和姿态的校正；最后根据特征参数定义，实现轨道板四项关键几何参数的快速非接触测量。实验结果表明，本文提出的测量方法测量精度可达0.2 mm，满足轨道板的在线检测要求
- 激光三维测量 /
- CRTS型轨道板 /
- 位姿校正 /
- 承轨面
Abstract: The dimensional accuracy of track slab plays an important role in ensuring the quality of the high-speed railway track. Aiming at the problems existing in the pressent track slam detection methods, we establish a track slam measurement system based on line-structured light sensor and propose a geometric parameter measurement method based on track slam point cloud data. The line-structured laser sensor scans the CRTS Ⅲ type track slab at regular intervals to obtain point cloud data. The position and attitude of the entire point cloud data are corrected by using the point cloud data at a special position in the track slam. Finally, according to the definition of the characteristic parameters, the rapid non-contact measurement of four key geometric parameters of track slab is realized. The experimental results show that the measurement accuracy of this proposed method can reach 0.2 mm, which meets the on-line detection requirements of track slabs.
- laser 3D measurement /
- CRTS Ⅲ track slab /
- position and attitude correction /
- bearing surface

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图 1 三角法测量光路图

Figure 1. Optical path schematic of triangulation measurement

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图 2 测量装置图

Figure 2. Setup of measuring device

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图 3 测量过程流程图

Figure 3. Flow chart of measurement process

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图 4 灰度信息和三维点云信息

Figure 4. Grayscale information and three dimensional point cloud information

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图 5 测量系统坐标系

Figure 5. Coordinate systems in measurement system

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图 6 扫描方向与轨道板中轴线存在夹角

Figure 6. Angle between the central axis of track plate and scanning direction

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图 7 两个坐标系之间存在偏差

Figure 7. Coordinate deviations between two coordinate systems

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图 8 位姿校正流程图

Figure 8. Flow chart of position and attitude correction

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图 9 (a) 轨道板灰度矩阵图像; (b)边缘提取效果

Figure 9. (a)Grayscale matrix image of track plate; (b)extracted effect of edge

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图 10 霍夫变换中的坐标系转换

Figure 10. Coordinate transformation in Hough transform

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图 11 霍夫变换检测到的边缘轮廓线

Figure 11. Edge contour detected by Hough transform

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图 12 平面拟合效果图

Figure 12. Effect diagram of fitting plane

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图 13 位姿校正效果图

Figure 13. Position and attitude correction effect

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图 14 轨道板轮廓图

Figure 14. Contour map of track plate

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表 1 轨道板外形尺寸偏差及检测要求

Table 1. Dimension deviation and test requirements of track plate

检测项目	标准值	允许偏差	每批检测数量
承轨面坡度/(°)	1.430	±0.2	全检
承轨台与钳口面夹角/(°)	110.00	±1.0	全检
左钳口高度/mm	78.00	±0.5	全检
右钳口高度/mm	88.00	±0.5	全检
小钳口距离/mm	376.00	±0.5	全检

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表 2 测量结果

Table 2. Measurement results

测量参数	测量值(校正前)	测量误差(校正前)	测量值(校正后)	测量误差(校正后)
承轨面坡度/(°)	1.410	0.020	1.432	0.002
左钳口夹角/(°)	112.454	2.454	110.636	0.634
右钳口夹角/(°)	108.448	1.552	109.860	0.140
左钳口高度/mm	78.15	0.15	78.10	0.10
右钳口高度/mm	88.42	0.42	88.20	0.20
小钳口距离/mm	376.43	0.43	376.13	0.13

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