Method, device and measuring equipment for measuring the movement of cotter pins

Abstract

The present application relates to a method, apparatus, measuring device, system, and storage medium for measuring the play of a cotter pin. The method comprises: obtaining target three-dimensional point cloud data of a cotter pin of a bogie to be tested in a railway freight car; matching and fitting the target three-dimensional point cloud data with a standard CAD model based on a reference alignment algorithm and a best fit algorithm to obtain combined three-dimensional point cloud data; and performing point cloud gap width analysis on the combined three-dimensional point cloud data to obtain the play of the cotter pin of the bogie to be tested. This method can improve the efficiency and accuracy of measuring the play of the cotter pin of the bogie to be tested.

Description

Technical Field

[0001] The present application relates to the field of visual measurement technology, and in particular to a method, device, measuring equipment, a system and storage medium for measuring the movement of a cotter pin. Background Art

[0002] Railways are the main arteries of transportation. my country's railway industry has experienced rapid development in recent years. As freight train speeds continue to increase, train safety faces significant challenges. Due to my country's vast territory and the wide variation in operating conditions across different lines, the play of the cotter pins in train bogies on freight trains is a key factor affecting train safety.

[0003] During the implementation process, the inventors discovered that there are at least the following problems in the conventional technology: the measurement accuracy of the movement of the cotter pins of the train bogie in the railway freight car is low. Summary of the Invention

[0004] Based on this, it is necessary to provide a method, device, measuring equipment, system and storage medium for measuring the movement of the cotter pins of the train bogie in traditional railway freight cars to address the problem of low accuracy in measuring the movement of the cotter pins.

[0005] In a first aspect, a method for measuring the movement of a cotter pin is provided, the method comprising:

[0006] Obtain target 3D point cloud data of the cotter pin of the bogie to be tested in a railway freight car;

[0007] Based on the benchmark alignment algorithm and the best fitting algorithm, the target 3D point cloud data and the standard CAD model are matched and fitted to obtain the combined 3D point cloud data;

[0008] The point cloud gap width analysis is performed on the combined 3D point cloud data to obtain the play of the cotter pin of the bogie to be tested.

[0009] In one embodiment, the step of obtaining target three-dimensional point cloud data of a cotter pin of a bogie to be tested in a railway freight car includes: obtaining initial three-dimensional point cloud data of the cotter pin of the bogie to be tested; performing point cloud denoising on the initial three-dimensional point cloud data to obtain target three-dimensional point cloud data.

[0010] In one embodiment, the step of performing point cloud denoising on the initial three-dimensional point cloud data to obtain target three-dimensional point cloud data includes: performing point cloud denoising on the initial three-dimensional point cloud data, and performing point cloud simplification on the result of the point cloud denoising to obtain target three-dimensional point cloud data.

[0011] In one embodiment, the step of performing point cloud gap width analysis on the combined three-dimensional point cloud data to obtain the movement amount of the cotter pin includes: performing point cloud gap width analysis on the combined three-dimensional point cloud data to obtain the first target distance, second target distance, third target distance and fourth target distance of the cotter pin of the bogie to be tested; the first target distance refers to the distance between the bottom extension of the round pin cap and the bottom surface of the round pin of the cotter pin of the bogie to be tested; the second target distance refers to the thickness of the lever pull rod of the cotter pin of the bogie to be tested; the third target distance refers to the width of the flat cotter pin of the cotter pin of the bogie to be tested; the fourth target distance refers to the distance between the bottom surface of the flat cotter pin and the bottom surface of the round pin of the cotter pin of the bogie to be tested; and the movement amount of the cotter pin of the bogie to be tested is obtained by calculation based on the first target distance, the second target distance, the third target distance and the fourth target distance.

[0012] In one embodiment, before the step of matching and fitting the target three-dimensional point cloud data and the standard CAD model, the step also includes: obtaining the standard three-dimensional point cloud data of the cotter pin of the standard bogie in the railway freight car; and performing reverse design processing on the standard three-dimensional point cloud data based on the maximum movement amount of the cotter pin of the standard bogie to obtain a standard CAD model.

[0013] In one embodiment, after the step of performing gap width analysis on the combined three-dimensional point cloud data, the step also includes: if the amount of movement of the cotter pin of the bogie to be tested is greater than the maximum amount of movement, then the cotter pin of the bogie to be tested is determined to be unqualified; if the amount of movement of the cotter pin of the bogie to be tested is less than or equal to the maximum amount of movement, then the cotter pin of the bogie to be tested is determined to be qualified.

[0014] In a second aspect, a device for measuring the movement of a cotter pin is provided, the device comprising a data acquisition module, a matching and fitting module, and a width analysis module.

[0015] Among them, the data acquisition module is used to obtain the target three-dimensional point cloud data of the cotter pin of the bogie to be tested in the railway freight car; the matching and fitting module is used to match and fit the target three-dimensional point cloud data and the standard CAD model based on the benchmark alignment algorithm and the best fitting algorithm to obtain combined three-dimensional point cloud data; the width analysis module is used to perform point cloud gap width analysis on the combined three-dimensional point cloud data to obtain the movement amount of the cotter pin of the bogie to be tested.

[0016] In a third aspect, a measuring device is provided, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of any method in the above method embodiments are implemented.

[0017] In a fourth aspect, a system for measuring the movement of a cotter pin is provided, the system comprising a data acquisition device and a measuring device of any one of the above-mentioned device embodiments; wherein the data acquisition device is connected to the measuring device; the data acquisition device is used to collect target three-dimensional point cloud data.

[0018] In a fifth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any method in the above method embodiments are implemented.

[0019] The above-mentioned method, device, measuring equipment, system and storage medium for measuring the play of a cotter pin obtain the target three-dimensional point cloud data of the cotter pin of the bogie to be tested in a railway freight car; then, based on the reference alignment algorithm and the best fit algorithm, the target three-dimensional point cloud data and the standard CAD model are matched and fitted to obtain combined three-dimensional point cloud data; finally, the point cloud gap width analysis is performed on the combined three-dimensional point cloud data to obtain the play of the cotter pin of the bogie to be tested; thus, the problems of low efficiency and large error in manually measuring the play of the cotter pin are avoided, and the efficiency and accuracy of measuring the play of the cotter pin of the bogie to be tested are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of a first flow chart of a method for measuring the movement of a cotter pin in one embodiment;

[0021] Figure 2 A schematic flow chart of steps for obtaining target three-dimensional point cloud data of a cotter pin of a bogie to be tested in a railway freight car in one embodiment;

[0022] Figure 3 A second flow chart of a method for measuring the movement of a cotter pin in one embodiment;

[0023] Figure 4 A schematic flow chart of the steps of performing point cloud gap width analysis on combined three-dimensional point cloud data to obtain the movement amount of a cotter pin in one embodiment;

[0024] Figure 5 Schematic diagram of the structure of the first target distance, the second target distance, the third target distance and the fourth target distance in a specific example;

[0025] Figure 6 A third flow chart of a method for measuring the movement of a cotter pin in one embodiment;

[0026] Figure 7 1. A structural block diagram of a device for measuring the movement of a cotter pin in one embodiment;

[0027] Figure 8is a diagram showing the internal structure of a measuring device in one embodiment;

[0028] Figure 9 The figure is a structural block diagram of a system for measuring the assembly gap width of a bogie to be tested in a railway freight car in one embodiment. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0030] In one embodiment, Figure 1 As shown, a method for measuring the play of a cotter pin is provided. This embodiment uses the method applied to a measuring device as an example for illustration. In this embodiment, the method includes the following steps 102 to 106.

[0031] Step 102: Acquire target three-dimensional point cloud data of a cotter pin of a bogie to be tested in a railway freight car.

[0032] The bogie is one of the most critical components in a railway freight car's vehicle structure. The cotter pin is a connecting pin used in the bogie's assembly. The measuring device can obtain target 3D point cloud data of the cotter pin in the bogie under test from a data acquisition device.

[0033] In one embodiment, Figure 2 As shown, the step of obtaining target three-dimensional point cloud data of a cotter pin of a bogie to be tested in a railway freight car includes steps 201 and 202.

[0034] Step 201: Acquire initial three-dimensional point cloud data of the cotter pin of the bogie to be tested.

[0035] Among them, the measuring device can obtain the initial three-dimensional point cloud data of the cotter pin of the bogie to be tested in the railway freight car from the data acquisition device. In a specific example, the data acquisition device is connected to the measuring device, and the data acquisition device can be set at the corresponding position of the cotter pin of the bogie to be tested, and is used to collect the initial three-dimensional point cloud data of the cotter pin of the bogie to be tested by scanning the cotter pin of the bogie to be tested. Then, the measuring device can obtain the initial three-dimensional point cloud data of the cotter pin of the bogie to be tested in the railway freight car through the data acquisition device. The above is only a specific example. In actual application, it can be flexibly set according to needs and is not limited here.

[0036] Step 202: performing point cloud denoising processing on the initial three-dimensional point cloud data to obtain target three-dimensional point cloud data.

[0037] Among them, the measuring device can perform point cloud denoising on the initial three-dimensional point cloud data of the cotter pin of the bogie to be measured, so as to obtain the target three-dimensional point cloud data. In one embodiment, the measuring device can perform point cloud denoising on the initial three-dimensional point cloud data based on the K clustering algorithm, so as to obtain the target three-dimensional point cloud data. In addition, the K clustering algorithm is derived from a vector quantization algorithm in signal processing. It was proposed by Stuart Lloyd in 1957 as a pulse modulation technology. Sometimes this algorithm is also called the Loyd-Forgy algorithm. Now it is more used as a clustering algorithm based on segmentation method in fields such as data mining. It is a classic and commonly used partitioning clustering algorithm.

[0038] In a specific example, the process of performing point cloud denoising on the initial three-dimensional point cloud data of the cotter pin of the bogie to be tested includes: inputting the initial three-dimensional point cloud data of the cotter pin of the bogie to be tested, and performing point cloud layering and K value comparison processing on the initial three-dimensional point cloud data; when the K value is less than the corresponding preset threshold, cyclically running the K clustering algorithm, and performing denoising on the above initial three-dimensional point cloud data according to the denoising principle until the K value is greater than or equal to the corresponding preset threshold; and when the K value is greater than or equal to the corresponding preset threshold, selecting the mouth corner denoising effect according to the denoising effect and time, thereby obtaining the target three-dimensional point cloud data. The above is only a specific example, and it can be flexibly set according to needs in actual applications, and is not limited here.

[0039] In this embodiment, accurate target three-dimensional point cloud data can be obtained by obtaining the initial three-dimensional point cloud data of the cotter pin of the bogie to be tested and performing point cloud denoising on the initial three-dimensional point cloud data, thereby improving the accuracy and speed of measuring the movement of the cotter pin.

[0040] In one embodiment, the step of performing point cloud denoising on the initial three-dimensional point cloud data to obtain target three-dimensional point cloud data includes:

[0041] The initial three-dimensional point cloud data is subjected to point cloud denoising processing, and the result after point cloud denoising processing is subjected to point cloud simplification processing to obtain the target three-dimensional point cloud data.

[0042] The measuring device can obtain the initial three-dimensional point cloud data of the cotter pin of the bogie to be measured in the railway freight car from the data acquisition device, and perform point cloud denoising on the initial three-dimensional point cloud data to obtain the result after the point cloud denoising. Then, by performing point cloud simplification on the result after the point cloud denoising, the initial three-dimensional point cloud data can be retained while the cloud curvature is smoothed and noise is removed, thereby obtaining the target three-dimensional point cloud data with uniformly arranged point clouds at convenient locations. Therefore, in this embodiment, the above steps improve the efficiency and accuracy of measuring the movement of the cotter pin.

[0043] In a specific example, the specific steps of performing point cloud simplification on the result after point cloud denoising include inputting the result after point cloud denoising; then, establishing a bounding box based on the result after point cloud denoising; and, searching the K-domain and calculating the curvature of each point based on the least squares method and the surface until the curvature of all points is calculated; then, judging whether the point should be deleted based on the curvature simplification principle; then, when it is judged that the point should be deleted based on the curvature simplification principle, obtaining the point deleted by curvature simplification, dividing each point into corresponding cells according to the coordinate value, and calculating the confidence points of all points in each cell, and retaining the point closest to the confidence point; at the same time, when it is judged that the point should not be deleted based on the curvature simplification principle, retaining the point. Therefore, through the above steps, after curvature simplification, the points that are deleted because they are less than the average curvature value can be resampled to apply the uniform grid method simplification as the point cloud data of the point, and the points retained by the uniform grid method simplification and the points retained by the curvature simplification are merged to finally obtain the target three-dimensional point cloud data. The above are only specific examples. In actual applications, they can be flexibly configured according to needs and are not limited here.

[0044] Step 104 : Based on the reference alignment algorithm and the best fit algorithm, the target three-dimensional point cloud data and the standard CAD model are matched and fitted to obtain combined three-dimensional point cloud data.

[0045] Based on the benchmark alignment algorithm and the best fitting algorithm, the measuring equipment can accurately match and fit the target 3D point cloud data of the target assembly clearance of the bogie to be measured and the standard CAD model, thereby obtaining combined 3D point cloud data.

[0046] In one embodiment, Figure 3 As shown, the step of matching and fitting the target three-dimensional point cloud data and the standard CAD model also includes steps 100 and 101.

[0047] Step 100: Acquire standard three-dimensional point cloud data of a cotter pin of a standard bogie in a railway freight car.

[0048] The standard bogie refers to a bogie that meets the corresponding bogie production standards. The measuring device can obtain standard three-dimensional point cloud data of the cotter pin of the standard bogie in the railway freight car from the data acquisition device.

[0049] In one specific example, a data acquisition device is connected to a measuring device. The data acquisition device can be positioned at a location corresponding to the cotter pin of the bogie to be tested, collecting standard 3D point cloud data of the cotter pin of a standard bogie. The measuring device can then use the data acquisition device to obtain standard 3D point cloud data of the cotter pin of a standard bogie in a railway freight car. This is merely a specific example; in actual applications, this configuration can be flexibly adjusted based on specific needs and is not intended to be limiting.

[0050] Step 101: Based on the maximum value of the movement of the cotter pin of the standard bogie, reverse design processing is performed on the standard three-dimensional point cloud data to obtain a standard CAD model.

[0051] The measuring device can set the maximum value of the movement of the cotter pin of the standard bogie according to the corresponding standard of the standard bogie, and perform reverse design processing on the standard three-dimensional point cloud data based on the maximum value of the movement to obtain a standard CAD model.

[0052] In a specific example, the measuring equipment obtains the standard 3D point cloud data of the cotter pin of the standard bogie in the railway freight car, and the standard 3D point cloud data is triangulated and the corresponding data is simplified by Geomagic Wrap software to obtain the mesh data; then, the mesh data is converted into a CAD model by data fitting, contour projection, mesh fitting, surface adjustment, etc. through the reverse design algorithm of Geomagic Design X and NX software, and the CAD model is standardized by adjusting the size constraint; then, the data is analyzed and compared based on the maximum amount of movement of the cotter pin of the standard bogie and the measured size of the standard bogie, and the data model is optimized and adjusted to finally obtain the standard CAD model. The above is only a specific example. In actual application, it can be flexibly set according to needs and is not limited here.

[0053] Step 106 , performing point cloud gap width analysis on the combined three-dimensional point cloud data to obtain the movement amount of the cotter pin of the bogie to be tested.

[0054] The measuring equipment matches and fits the target 3D point cloud data and the standard CAD model to obtain combined 3D point cloud data; then, the measuring equipment can obtain the missing edge line information and missing plane information based on the combined 3D point cloud data, and perform point cloud gap width analysis on the missing edge line information and missing plane information to obtain the movement amount of the cotter pin of the bogie to be measured.

[0055] Based on this, the target three-dimensional point cloud data of the cotter pin of the bogie to be tested in the railway freight car is obtained; then, based on the reference alignment algorithm and the best fit algorithm, the target three-dimensional point cloud data and the standard CAD model are matched and fitted to obtain the combined three-dimensional point cloud data; finally, the point cloud gap width analysis is performed on the combined three-dimensional point cloud data to obtain the play of the cotter pin of the bogie to be tested; this avoids the problems of low efficiency and large error in manually measuring the play of the cotter pin, and improves the efficiency and accuracy of measuring the play of the cotter pin of the bogie to be tested.

[0056] In one embodiment, Figure 4As shown, the step of performing point cloud gap width analysis on the combined three-dimensional point cloud data to obtain the movement amount of the cotter pin includes step 401 and step 402.

[0057] Step 401 , performing point cloud gap width analysis on the combined three-dimensional point cloud data to obtain a first target distance, a second target distance, a third target distance, and a fourth target distance of a cotter pin of a bogie to be tested.

[0058] Among them, the first target distance refers to the distance between the bottom extension of the round pin cap of the cotter pin of the bogie to be tested and the bottom surface of the round pin; the second target distance refers to the thickness of the lever pull rod of the cotter pin of the bogie to be tested; the third target distance refers to the width of the flat cotter pin of the cotter pin of the bogie to be tested; the fourth target distance refers to the distance between the bottom surface of the flat cotter pin and the bottom surface of the round pin of the cotter pin of the bogie to be tested.

[0059] Step 402 , performing calculation based on the first target distance, the second target distance, the third target distance, and the fourth target distance to obtain the movement amount of the cotter pin of the bogie to be tested.

[0060] The measuring device can calculate the movement amount of the cotter pin of the bogie to be measured based on the first target distance, the second target distance, the third target distance and the fourth target distance.

[0061] In a specific example, Figure 5 As shown, the measuring device performs point cloud gap width analysis on the combined 3D point cloud data to obtain the first target distance, second target distance, third target distance, and fourth target distance of the cotter pin of the bogie to be tested. The play of the cotter pin of the bogie to be tested can be calculated according to the following expression:

[0062] L=ABCD

[0063] Among them, L refers to the amount of play of the cotter pin of the bogie under test; A refers to the first target distance, i.e., the distance between the bottom extension of the round pin cap and the bottom surface of the round pin of the cotter pin of the bogie under test; B refers to the second target distance, i.e., the thickness of the lever pull rod of the cotter pin of the bogie under test; C refers to the third target distance, i.e., the width of the flat cotter pin of the cotter pin of the bogie under test; and D refers to the fourth target distance, i.e., the distance between the bottom surface of the flat cotter pin and the bottom surface of the round pin of the cotter pin of the bogie under test. The above are only specific examples. In actual applications, they can be flexibly set according to needs and are not limited here.

[0064] In one embodiment, Figure 6 The step of performing gap width analysis on the combined three-dimensional point cloud data further includes steps 601 and 602 .

[0065] Step 601: If the movement amount of the cotter pin of the bogie to be tested is greater than the maximum movement amount, it is determined that the cotter pin of the bogie to be tested is unqualified.

[0066] Step 602: If the movement amount of the cotter pin of the bogie to be tested is less than or equal to the maximum movement amount, the cotter pin of the bogie to be tested is determined to be qualified.

[0067] Among them, the measuring equipment obtains the amount of movement of the cotter pin of the bogie to be tested by performing gap width analysis on the combined three-dimensional point cloud data; then, if the amount of movement of the cotter pin of the bogie to be tested is greater than the maximum amount of movement, the cotter pin of the bogie to be tested is judged to be unqualified; and, if the amount of movement of the cotter pin of the bogie to be tested is less than or equal to the maximum amount of movement, the cotter pin of the bogie to be tested is judged to be qualified; thereby improving the applicability and convenience of measuring the assembly gap width of the bogie to be tested.

[0068] It should be understood that although Figure 1 、 2 The steps in the flowcharts of , 3, 4 and 6 are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 、 2 At least part of the steps in 3, 4 and 6 may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0069] In one embodiment, Figure 7 As shown, a device for measuring the movement of a cotter pin is provided, and the device includes a data acquisition module 710, a matching and fitting module 720 and a width analysis module 730.

[0070] Among them, the data acquisition module 710 is used to obtain the target three-dimensional point cloud data of the cotter pin of the bogie to be tested in the railway freight car; the matching and fitting module 720 is used to match and fit the target three-dimensional point cloud data and the standard CAD model based on the reference alignment algorithm and the best fitting algorithm to obtain combined three-dimensional point cloud data; the width analysis module 730 is used to perform point cloud gap width analysis on the combined three-dimensional point cloud data to obtain the movement amount of the cotter pin of the bogie to be tested.

[0071] In one embodiment, the data acquisition module 710 includes a data acquisition unit and a denoising unit. The data acquisition unit is used to obtain initial 3D point cloud data of the cotter pin of the bogie to be tested; the denoising unit is used to perform point cloud denoising on the initial 3D point cloud data to obtain target 3D point cloud data.

[0072] In one embodiment, the denoising processing unit is also used to perform point cloud denoising on the initial three-dimensional point cloud data, and the steps of obtaining the target three-dimensional point cloud data include: performing point cloud denoising on the initial three-dimensional point cloud data, and performing point cloud simplification on the result after the point cloud denoising processing to obtain the target three-dimensional point cloud data.

[0073] In one embodiment, the width analysis module 730 includes a width analysis unit and a play calculation unit. The width analysis unit is used to perform point cloud gap width analysis on the combined three-dimensional point cloud data to obtain a first target distance, a second target distance, a third target distance, and a fourth target distance of the cotter pin of the bogie to be tested. The first target distance refers to the distance between the bottom extension of the round pin cap and the bottom surface of the round pin of the cotter pin of the bogie to be tested; the second target distance refers to the thickness of the lever pull rod of the cotter pin of the bogie to be tested; the third target distance refers to the width of the flat cotter pin of the cotter pin of the bogie to be tested; and the fourth target distance refers to the distance between the bottom surface of the flat cotter pin and the bottom surface of the round pin of the cotter pin of the bogie to be tested. The play calculation unit is used to calculate the play of the cotter pin of the bogie to be tested based on the first target distance, the second target distance, the third target distance, and the fourth target distance.

[0074] In one embodiment, the above-mentioned cotter pin movement measurement device also includes a reverse design module.

[0075] Among them, the data acquisition module 710 is also used to obtain the standard three-dimensional point cloud data of the cotter pin of the standard bogie in the railway freight car; the reverse design module is used to perform reverse design processing on the standard three-dimensional point cloud data based on the maximum movement amount of the cotter pin of the standard bogie to obtain a standard CAD model.

[0076] In one embodiment, the above-mentioned cotter pin movement measurement device also includes a quality judgment module.

[0077] Among them, the quality judgment module is used to judge that the cotter pin of the bogie to be tested is unqualified if the amount of movement of the cotter pin of the bogie to be tested is greater than the maximum amount of movement; the quality judgment module is also used to judge that the cotter pin of the bogie to be tested is qualified if the amount of movement of the cotter pin of the bogie to be tested is less than or equal to the maximum amount of movement.

[0078] The specific definition of the device for measuring the amount of play of a cotter pin can be found in the definition of the method for measuring the amount of play of a cotter pin described above and will not be repeated here. The various modules in the above-mentioned device for measuring the amount of play of a cotter pin can be implemented in whole or in part through software, hardware, or a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of the above-mentioned modules.

[0079] In one embodiment, a measuring device 820 is provided. The measuring device 820 may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 8 As shown. The measuring device 820 includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. The processor of the measuring device 820 is used to provide computing and control capabilities. The memory of the measuring device 820 includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the measuring device 820 is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for measuring the assembly gap width of a bogie to be tested in a railway freight car is implemented. The display screen of the measuring device 820 can be a liquid crystal display screen or an electronic ink display screen, and the input device of the measuring device 820 can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the housing of the measuring device 820, or an external keyboard, touchpad or mouse.

[0080] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the measuring device 820 to which the solution of the present application is applied. The specific measuring device 820 may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0081] In one embodiment, a measuring device 820 is provided. The measuring device 820 includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps of any method in the above method embodiments are implemented.

[0082] In one embodiment, Figure 9As shown, a system for measuring the assembly gap width of a bogie to be tested in a railway freight car is provided, the system comprising a data acquisition device 810 and a measuring device 820 of any one of the above-mentioned device embodiments; wherein the data acquisition device 810 is connected to the measuring device 820.

[0083] The data acquisition device 810 is used to acquire target three-dimensional point cloud data.

[0084] In one embodiment, the data acquisition device 810 may be, but is not limited to, a 3D camera. By actively projecting a Gray code grating, the 3D camera can accurately capture target 3D point cloud data of the target assembly gap of the bogie under test and standard 3D point cloud data of the target assembly gap of the standard bogie. This improves the accuracy of the measurement results output by the assembly gap width measurement system for the bogie under test in a railway freight car.

[0085] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any method in the above method embodiments are implemented.

[0086] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0087] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0088] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A method for measuring the movement of a cotter pin, characterized in that: The method comprises: Obtain target 3D point cloud data of the cotter pin of the bogie to be tested in a railway freight car; Based on a reference alignment algorithm and a best fit algorithm, matching and fitting the target three-dimensional point cloud data and a standard CAD model are performed to obtain combined three-dimensional point cloud data; Performing point cloud gap width analysis on the combined three-dimensional point cloud data to obtain the movement amount of the cotter pin of the bogie to be tested; The step of performing point cloud gap width analysis on the combined three-dimensional point cloud data to obtain the movement amount of the cotter pin includes: Performing point cloud gap width analysis on the combined three-dimensional point cloud data to obtain a first target distance, a second target distance, a third target distance, and a fourth target distance of the cotter pin of the bogie to be tested; the first target distance refers to the distance between the bottom extension of the round pin cap of the cotter pin of the bogie to be tested and the bottom surface of the round pin; the second target distance refers to the thickness of the lever pull rod of the cotter pin of the bogie to be tested; the third target distance refers to the width of the flat cotter pin of the cotter pin of the bogie to be tested; and the fourth target distance refers to the distance between the bottom surface of the flat cotter pin of the cotter pin of the bogie to be tested and the bottom surface of the round pin; The movement amount of the cotter pin of the bogie to be tested is obtained by calculation based on the first target distance, the second target distance, the third target distance and the fourth target distance.

2. The method according to claim 1, characterized in that The step of obtaining target three-dimensional point cloud data of a cotter pin of a bogie to be tested in a railway freight car comprises: Acquiring initial three-dimensional point cloud data of the cotter pin of the bogie to be tested; Performing point cloud denoising processing on the initial three-dimensional point cloud data to obtain the target three-dimensional point cloud data.

3. The method according to claim 2, characterized in that The step of performing point cloud denoising on the initial three-dimensional point cloud data to obtain the target three-dimensional point cloud data comprises: The initial three-dimensional point cloud data is subjected to point cloud denoising processing, and the result of the point cloud denoising processing is subjected to point cloud simplification processing to obtain the target three-dimensional point cloud data.

4. The method according to claim 1, wherein Before the step of matching and fitting the target three-dimensional point cloud data and the standard CAD model, the following steps are further included: Obtain standard 3D point cloud data of the cotter pin of a standard bogie in a railway freight car; According to the maximum value of the movement of the cotter pin of the standard bogie, the standard three-dimensional point cloud data is reversely designed to obtain the standard CAD model.

5. The method according to claim 4, characterized in that After the step of performing gap width analysis on the combined three-dimensional point cloud data, the following steps are further included: If the movement amount of the cotter pin of the bogie to be tested is greater than the maximum movement amount, the cotter pin of the bogie to be tested is determined to be unqualified; If the amount of movement of the cotter pin of the bogie to be tested is less than or equal to the maximum amount of movement, the cotter pin of the bogie to be tested is determined to be qualified.

6. A device for measuring the movement of a cotter pin, characterized in that: The device comprises: A data acquisition module is used to obtain target three-dimensional point cloud data of a cotter pin of a bogie to be tested in a railway freight car; A matching and fitting module is used to match and fit the target three-dimensional point cloud data and the standard CAD model based on a reference alignment algorithm and a best fit algorithm to obtain combined three-dimensional point cloud data; A width analysis module is used to perform point cloud gap width analysis on the combined three-dimensional point cloud data to obtain the amount of movement of the cotter pin of the bogie to be tested, including: performing point cloud gap width analysis on the combined three-dimensional point cloud data to obtain the first target distance, second target distance, third target distance and fourth target distance of the cotter pin of the bogie to be tested; the first target distance refers to the distance between the bottom extension of the round pin cap and the bottom surface of the round pin of the cotter pin of the bogie to be tested; the second target distance refers to the thickness of the lever pull rod of the cotter pin of the bogie to be tested; the third target distance refers to the width of the flat cotter pin of the cotter pin of the bogie to be tested; the fourth target distance refers to the distance between the bottom surface of the flat cotter pin of the cotter pin of the bogie to be tested and the bottom surface of the round pin; calculation is performed based on the first target distance, the second target distance, the third target distance and the fourth target distance to obtain the amount of movement of the cotter pin of the bogie to be tested.

7. A measuring device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A system for measuring the movement of a cotter pin, characterized in that: The system includes a data acquisition device and a measuring device as claimed in claim 7; wherein, the data acquisition device is connected to the measuring device; the data acquisition device is used to acquire the target three-dimensional point cloud data.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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