论文部分内容阅读
分析了基于结构光视觉的钢轨磨耗测量原理,提出一种钢轨磨耗车载动态测量方法.结构光视觉传感器安装在列车底部,测量钢轨内侧横断面轮廓.以钢轨轨腰轮廓作为测量基准,利用最近点迭代(ICP,Iterative Closest Point)算法确定光平面测量坐标系到设计坐标系的旋转矩阵和平移向量,将测量轮廓与设计轮廓对齐,在此基础上计算磨耗值.与已有的方法相比,该方法无需单独设置用于基准测量的视觉传感器,采用同一传感器实现了基准测量和磨耗测量,有效降低了系统成本,操作性强,且无需进行多传感器的全局校准,保证了测量精度.实验结果表明:该钢轨磨耗测量方法具有较好的重复性精度.
The principle of rail wear measurement based on structured light vision is analyzed and a dynamic measurement method of rail wear is put forward.The structural light sensor is installed at the bottom of the train to measure the cross section profile of the rail.The rail waist profile is taken as the measurement reference and the nearest point The Iterative Closest Point (ICP) algorithm determines the rotation matrix and translation vector from the light plane measurement coordinate system to the design coordinate system, aligns the measurement contour with the design contour, and calculates the wear value based on it. Compared with the existing methods, The method does not need to set up the visual sensor for the reference measurement separately, and uses the same sensor to make the reference measurement and the wear measurement, effectively reducing the system cost and the operability, and does not need the global calibration of the multi-sensor to ensure the measurement accuracy. It shows that the method of rail wear measurement has good repeatability.