A method, device and measuring equipment for measuring assembly height difference of bogie

Abstract

The present application relates to a method, device, measuring equipment, measuring system and storage medium for measuring the assembly height difference of a bogie. The method comprises: obtaining target three-dimensional point cloud data corresponding to the target assembly height difference of the bogie to be measured in a railway freight car; the target three-dimensional point cloud data is automatically spliced ​​in the X-axis direction of the reference coordinate system according to the first target data and the second target data; the target assembly height difference refers to the height difference between the first target accessory and the second target accessory; 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; the combined three-dimensional point cloud data is analyzed for the gap height difference to obtain the target assembly height difference of the bogie to be measured. The present method can accurately obtain the target assembly height difference of the bogie to be measured.

Description

Technical Field

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

[0002] Railway is the main artery of transportation. In recent years, my country's railway industry has developed rapidly. With the continuous increase in the speed of railway freight cars, train operation safety faces huge challenges. Due to my country's vast territory and the large differences in working conditions of different lines, the height difference of each assembly of the train bogie in the railway freight car is one of the important factors affecting the safety of the train.

[0003] During the implementation process, the inventors found that there are at least the following problems in the conventional technology: the accuracy of the assembly height difference of the train bogies in the railway freight car is low. Summary of the invention

[0004] Based on this, it is necessary to provide a measurement method, device, measuring equipment, measuring system and storage medium for the assembly height difference of the bogie, which can accurately obtain the transfer height difference of the bogie, in order to solve the above-mentioned technical problems.

[0005] In a first aspect, a method for measuring an assembly height difference of a bogie is provided, the method comprising:

[0006] Obtain target three-dimensional point cloud data corresponding to the target assembly height difference of the bogie to be tested in the railway freight car; the target three-dimensional point cloud data is obtained by automatically splicing the first target data and the second target data in the X-axis direction of the reference coordinate system; the first target data refers to the three-dimensional point cloud data of the first target accessory in the bogie to be tested in the reference coordinate system; the second target data refers to the three-dimensional point cloud data of the second target accessory in the bogie to be tested in the reference coordinate system; the target assembly height difference refers to the height difference between the first target accessory and the second target accessory;

[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 clearance height difference analysis is performed on the combined 3D point cloud data to obtain the target assembly height difference of the bogie to be tested.

[0009] In one of the embodiments, the step of obtaining target three-dimensional point cloud data corresponding to the target assembly height difference of the bogie to be tested in the railway freight car includes: obtaining first initial data and second initial data; the first initial data refers to the three-dimensional point cloud data of the first target accessory in the detection coordinate system; the second initial data refers to the three-dimensional point cloud data of the second target accessory in the detection coordinate system; converting the first initial data to the reference coordinate system to obtain the first target data; converting the second initial data to the reference coordinate system to obtain the second target data; and automatically splicing the first target data and the second target data in the X-axis direction of the reference coordinate system to obtain the target three-dimensional point cloud data.

[0010] In one of the embodiments, before the step of matching and fitting the target three-dimensional point cloud data and the standard CAD model, the step also includes: obtaining standard three-dimensional point cloud data corresponding to the target assembly height difference of the standard bogie in the railway freight car; and reverse designing the standard three-dimensional point cloud data according to the maximum value of the target assembly height difference of the standard bogie to obtain the standard CAD model.

[0011] In one of the embodiments, after the step of matching and fitting the target three-dimensional point cloud data and the standard CAD model, the step also includes: if the target assembly height difference of the bogie to be tested is greater than a maximum value, the bogie to be tested is judged to be unqualified; if the target assembly height difference of the bogie to be tested is less than or equal to the maximum value, the bogie to be tested is judged to be qualified.

[0012] In one embodiment, the first target component is the lower center plate of the bogie to be tested; the second target component is the cross beam or the lower plate bearing of the bogie to be tested.

[0013] In a second aspect, a device for measuring the assembly height difference of a bogie is provided, the measuring device comprising a first data acquisition module, a data matching and fitting module and a gap height difference analysis module.

[0014] Among them, the first data acquisition module is used to obtain the target three-dimensional point cloud data corresponding to the target assembly height difference of the bogie to be tested in the railway freight car; the target three-dimensional point cloud data is obtained by automatically splicing the first target data and the second target data in the X-axis direction of the reference coordinate system; the first target data refers to the three-dimensional point cloud data of the first target accessory in the bogie to be tested in the reference coordinate system; the second target data refers to the three-dimensional point cloud data of the second target accessory in the bogie to be tested in the reference coordinate system; the target assembly height difference refers to the height difference between the first target accessory and the second target accessory; the data 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 the combined three-dimensional point cloud data; the gap height difference analysis module is used to perform gap height difference analysis on the combined three-dimensional point cloud data to obtain the target assembly height difference of the bogie to be tested.

[0015] In a third aspect, a measuring device is provided. The measuring device 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.

[0016] In a fourth aspect, a system for measuring the assembly height difference of a bogie is provided, the system comprising an image acquisition device and a measuring device; wherein the measuring device comprises a memory and a processor, the memory stores a computer program, and the processor implements the steps of the method in the above-mentioned second method embodiment when executing the computer program; the image acquisition device is electrically connected to the measuring device, and is used to acquire the first initial data and the second initial data.

[0017] In one of the embodiments, the measurement system further includes: a guiding and fixing mechanism, mechanically connected to the image acquisition device, for fixing the image acquisition device and guiding the image acquisition device to move.

[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 bogie assembly height difference measurement method, device, measuring equipment, measuring system and storage medium obtain the target three-dimensional point cloud data corresponding to the target assembly height difference of the bogie to be measured in the railway freight car; and the target three-dimensional point cloud data corresponding to the target assembly height difference of the bogie to be measured is automatically spliced ​​in the X-axis direction of the reference coordinate system according to the first target data and the second target data; 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 combined three-dimensional point cloud data is analyzed for the gap height difference to obtain the target assembly height difference of the bogie to be measured; this also avoids the situation that the target three-dimensional point cloud data cannot include the complete three-dimensional point cloud data of the first target accessories and the second target accessories in the reference coordinate system, thereby improving the integrity and accuracy of the target three-dimensional point cloud data, and thus also improving the measurement accuracy of the assembly height difference of the bogie. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a first flow chart of a method for measuring the assembly height difference of a bogie in one embodiment;

[0021] Figure 2 A schematic diagram of a flow chart of steps for obtaining target three-dimensional point cloud data in one embodiment;

[0022] Figure 3A second flow chart of a method for measuring an assembly height difference of a bogie in another embodiment;

[0023] Figure 4 A third flow chart of a method for measuring an assembly height difference of a bogie in another embodiment;

[0024] Figure 5 A first structural block diagram of a device for measuring the assembly height difference of a bogie in one embodiment;

[0025] Figure 6 is a structural block diagram of a first data acquisition module in an embodiment;

[0026] Figure 7 A second structural block diagram of a device for measuring the assembly height difference of a bogie in another embodiment;

[0027] Figure 8 A third structural block diagram of a device for measuring the assembly height difference of a bogie in another embodiment;

[0028] Fig. 9 is an internal structure diagram of a measuring device in one embodiment;

[0029] Fig.10 The internal structure block diagram of a system for measuring the assembly height difference of a bogie in one embodiment;

[0030] Fig.11 FIG. 1 is a mechanical structure diagram of a system for measuring the assembly height difference of a bogie in one embodiment. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0032] In one embodiment, Figure 1 As shown, a method for measuring the assembly height difference of a bogie is provided. This embodiment uses the method applied to a measuring device as an example. In this embodiment, the method includes the following steps 102 to 106.

[0033] Step 102: acquiring target three-dimensional point cloud data corresponding to a target assembly height difference of a bogie to be tested in a railway freight car.

[0034] Among them, the bogie is one of the most important components in the vehicle structure of a railway freight car. The target three-dimensional point cloud data corresponding to the target assembly height difference of the bogie to be tested is obtained by automatically splicing the first target data and the second target data in the X-axis direction of the reference coordinate system. The first target data refers to the three-dimensional point cloud data of the first target accessory in the bogie to be tested in the reference coordinate system; the second target data refers to the three-dimensional point cloud data of the second target accessory in the bogie to be tested in the reference coordinate system; the target assembly height difference refers to the height difference between the first target accessory and the second target accessory. The measuring equipment can directly obtain the target three-dimensional point cloud data corresponding to the target assembly height difference of the bogie to be tested in the railway freight car. In addition, the reference coordinate system can be any three-dimensional rectangular coordinate system established at the corresponding position of the bogie to be tested.

[0035] In one embodiment, the first target component is the lower center plate of the bogie to be tested; the second target component is the cross beam or the lower plate bearing of the bogie to be tested. It can be understood that the target assembly height difference can be the height difference between the lower center plate and the lower plate bearing of the bogie to be tested, or can be the height difference between the lower center plate and the cross beam of the bogie to be tested. Therefore, the applicable scope of the method for measuring the assembly height difference of the bogie is improved.

[0036] In one embodiment, if Figure 2 As shown, steps 201 to 204 are performed to obtain target three-dimensional point cloud data corresponding to the target assembly height difference of the bogie to be tested in the railway freight car.

[0037] Step 201, obtaining first initial data and second initial data.

[0038] The first initial data refers to the three-dimensional point cloud data of the first target accessory in the detection coordinate system; the second initial data refers to the three-dimensional point cloud data of the second target accessory in the detection coordinate system. The image acquisition device can acquire the first initial data and the second initial data, and the measuring device can obtain the first initial data and the second initial data through the image acquisition device. In addition, the detection coordinate system can be, but is not limited to, a three-dimensional rectangular coordinate system where the image acquisition device is located.

[0039] Step 202: convert the first initial data into a reference coordinate system to obtain first target data.

[0040] Step 203: convert the second initial data into a reference coordinate system to obtain second target data.

[0041] The measuring device acquires the first initial data and the second initial data through the image acquisition device; and based on the hand-eye calibration algorithm, the measuring device converts the first initial data to the reference coordinate system to obtain the first target data. At the same time, based on the hand-eye calibration algorithm, the measuring device converts the second initial data to the reference coordinate system to obtain the second target data.

[0042] Step 204 , automatically splicing the first target data and the second target data in the X-axis direction of the reference coordinate system to obtain target three-dimensional point cloud data.

[0043] The measuring device performs coordinate conversion processing on the first initial data and the second initial data to obtain first target data and second target data respectively; and automatically performs splicing processing on the first target data and the second target data in the X direction of the reference coordinate system to obtain target three-dimensional point cloud data.

[0044] In a specific example, a method for measuring the assembly height difference of a bogie is applied to a measuring system for the assembly height difference of a bogie. The measuring system includes an image acquisition device, a measuring device, and a guiding and fixing mechanism. The guiding and fixing mechanism is mechanically connected to the image acquisition device, and is used to fix the image acquisition device and guide the image acquisition device to move. The image acquisition device is used to collect first initial data and second initial data. In other words, the first initial data refers to the three-dimensional point cloud data of the first target accessory in the coordinate system where the measuring device is located, that is, the detection coordinate system; the second initial data refers to the three-dimensional point cloud data of the second target accessory in the coordinate system where the measuring device is located, that is, the detection coordinate system. The measuring device obtains the first initial data and the second initial data collected by the image acquisition device. The measuring device also converts the first initial data to the coordinate system where the guiding and fixing mechanism is located, that is, the reference coordinate system, based on the hand-eye calibration algorithm, to obtain the first target data. At the same time, the measuring device also converts the second initial data to the coordinate system where the guiding and fixing mechanism is located, that is, the reference coordinate system, based on the hand-eye calibration algorithm, to obtain the second target data. When ensuring that the guide fixing mechanism moves only in its axial direction, the first target data and the second target data are automatically spliced ​​according to the maximum threshold of movement in the axial direction of the guide fixing mechanism, so as to obtain the target three-dimensional point cloud data; that is, according to the maximum threshold of movement in the axial direction of the guide fixing mechanism, the first target data and the second target data are automatically offset in the axial direction of the guide fixing mechanism to complete the automatic splicing process, so as to obtain the target three-dimensional point cloud data. The above is only a specific example, which can be flexibly set according to the actual application and is not limited here.

[0045] In this embodiment, the first initial data and the second initial data are obtained; then, the first initial data is converted to the reference coordinate system to obtain the first target data; and the second initial data is converted to the reference coordinate system to obtain the second target data. Finally, the first target data and the second target data are automatically spliced ​​in the X-axis direction of the reference coordinate system to obtain accurate target three-dimensional point cloud data. This avoids the situation where the target three-dimensional point cloud data cannot include the complete three-dimensional point cloud data of the first target accessory and the second target accessory in the reference coordinate system, thereby improving the integrity and accuracy of the target three-dimensional point cloud data, thereby improving the measurement accuracy of the assembly height difference of the bogie.

[0046] 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.

[0047] According to the reference 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 height difference of the bogie to be measured and the standard CAD model, thereby obtaining combined 3D point cloud data.

[0048] In one embodiment, if 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 to 101.

[0049] Step 100, obtaining standard three-dimensional point cloud data corresponding to a target assembly height difference of a standard bogie in a railway freight car.

[0050] Among them, the standard bogie refers to a bogie that meets the corresponding production standards of the bogie. The measuring equipment can obtain standard three-dimensional point cloud data of the target assembly height difference of the standard bogie in the railway freight car. It can be understood that in the process of measuring the assembly height difference of the bogie to be tested in the railway freight car, the target assembly height difference of the standard bogie and the target assembly height difference of the bogie to be tested should be the assembly height difference corresponding to the same position in the bogie. In addition, the specific steps for obtaining the standard three-dimensional point cloud data corresponding to the target assembly height difference of the standard bogie in the railway freight car are similar to the specific steps for obtaining the target three-dimensional point cloud data corresponding to the target assembly height difference of the bogie to be tested in the railway freight car.

[0051] Step 101, according to the maximum value of the target assembly height difference of the standard bogie, reverse design processing is performed on the standard three-dimensional point cloud data to obtain a standard CAD model.

[0052] The measuring device can set the maximum value of the target assembly height difference 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 according to the maximum value to obtain a standard CAD model.

[0053] In a specific example, the measuring equipment obtains the standard three-dimensional point cloud data of the target assembly height difference of the standard bogie in the railway freight car, and the standard three-dimensional point cloud data is triangulated and the corresponding data is simplified by Geomagic Wrap software to obtain the patch data; then, the CAD model conversion is completed by data fitting, contour projection, patch fitting, surface adjustment and other methods of the above patch data through the reverse design algorithm of Geomagic Design X and NX software, and the CAD model is standardized by the size constraint adjustment method; then, according to the maximum value of the target assembly height difference of the standard bogie and the measured size of the standard bogie, the data model is optimized and adjusted, and finally the standard CAD model is obtained. The above is only a specific example, and it can be flexibly set according to the needs in actual application, and it is not limited here.

[0054] Step 106 , performing a clearance height difference analysis on the combined three-dimensional point cloud data to obtain a target assembly height difference of the bogie to be tested.

[0055] 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 the missing plane information based on the combined 3D point cloud data, and perform a gap height difference analysis on the missing edge line information and the missing plane information to obtain the height difference of the target assembly gap of the bogie to be measured.

[0056] Based on this, the target three-dimensional point cloud data corresponding to the target assembly height difference of the bogie to be tested in the railway freight car is obtained; and the target three-dimensional point cloud data corresponding to the target assembly height difference of the bogie to be tested is automatically spliced ​​in the X-axis direction of the reference coordinate system according to the first target data and the second target data; then, based on the benchmark 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 gap height difference analysis is performed on the combined three-dimensional point cloud data to obtain the target assembly height difference of the bogie to be tested; this also avoids the problem that the target three-dimensional point cloud data cannot include the complete three-dimensional point cloud data of the first target accessories and the second target accessories in the reference coordinate system, thereby improving the integrity and accuracy of the target three-dimensional point cloud data, and thereby also improving the measurement accuracy of the assembly height difference of the bogie.

[0057] In one embodiment, if Figure 4As shown, after the step of matching and fitting the target three-dimensional point cloud data and the standard CAD model, steps 107 to 108 are also included.

[0058] Step 107: If the target assembly height difference of the bogie to be tested is greater than the maximum value, the bogie to be tested is determined to be unqualified.

[0059] Step 108: If the target assembly height difference of the bogie to be tested is less than or equal to the maximum value, the bogie to be tested is determined to be qualified.

[0060] The measuring device obtains the target assembly height difference of the bogie to be tested after performing gap height difference analysis on the combined three-dimensional point cloud data; then, if the target assembly height difference of the bogie to be tested is greater than the maximum value, the bogie to be tested is judged to be unqualified; and if the target assembly height difference of the bogie to be tested is less than or equal to the maximum value, the bogie to be tested is judged to be qualified. Therefore, the applicability and convenience of measuring the assembly height difference of the bogie are improved.

[0061] It should be understood that although Figure 1-4 The steps in the flowchart 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 in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1-4 At least part of the steps 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.

[0062] In one embodiment, Figure 5 As shown, a device for measuring the assembly height difference of a bogie is provided, and the measuring device includes a first data acquisition module 510 , a data matching and fitting module 520 and a gap height difference analysis module 530 .

[0063] Among them, the first data acquisition module 510 is used to obtain the target three-dimensional point cloud data corresponding to the target assembly height difference of the bogie to be tested in the railway freight car; the target three-dimensional point cloud data is obtained by automatically splicing the first target data and the second target data in the X-axis direction of the reference coordinate system; the first target data refers to the three-dimensional point cloud data of the first target accessory in the bogie to be tested in the reference coordinate system; the second target data refers to the three-dimensional point cloud data of the second target accessory in the bogie to be tested in the reference coordinate system; the target assembly height difference refers to the height difference between the first target accessory and the second target accessory; the data matching and fitting module 520 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 the combined three-dimensional point cloud data; the gap height difference analysis module 530 is used to perform gap height difference analysis on the combined three-dimensional point cloud data to obtain the target assembly height difference of the bogie to be tested.

[0064] In one embodiment, if Figure 6 As shown, the first data acquisition module 510 includes a data acquisition unit 511 , a coordinate conversion unit 512 and a splicing processing unit 513 .

[0065] Among them, the data acquisition unit 511 is used to acquire the first initial data and the second initial data; the first initial data refers to the three-dimensional point cloud data of the first target accessory in the detection coordinate system; the second initial data refers to the three-dimensional point cloud data of the second target accessory in the detection coordinate system; the coordinate conversion unit 512 is used to convert the first initial data to the reference coordinate system to obtain the first target data; the coordinate conversion unit 513 is also used to convert the second initial data to the reference coordinate system to obtain the second target data; the stitching processing unit 513 is used to automatically stitch the first target data and the second target data in the X-axis direction of the reference coordinate system to obtain the target three-dimensional point cloud data.

[0066] In one embodiment, if Figure 7 As shown, the device for measuring the assembly height difference of the bogie further includes a second data acquisition module 540 and a model building module 550 .

[0067] The second data acquisition module 540 is used to acquire the standard three-dimensional point cloud data corresponding to the target assembly height difference of the standard bogie in the railway freight car. The model building module 550 is used to perform reverse design processing on the standard three-dimensional point cloud data according to the maximum value of the target assembly height difference of the standard bogie to obtain a standard CAD model.

[0068] In one embodiment, if Figure 8 As shown, the device for measuring the assembly height difference of the bogie further includes a quality evaluation module 560 .

[0069] The quality evaluation module 560 is used to determine that the bogie to be tested is unqualified when the target assembly height difference of the bogie to be tested is greater than the maximum value; the quality evaluation module 560 is also used to determine that the bogie to be tested is qualified when the target assembly height difference of the bogie to be tested is less than or equal to the maximum value.

[0070] In one embodiment, the first target component is the lower center plate of the bogie to be tested; the second target component is the cross beam or the lower plate bearing of the bogie to be tested.

[0071] The specific definition of the measuring device for the assembly height difference of the bogie can be found in the definition of the measuring method for the assembly height difference of the bogie mentioned above, which will not be repeated here. Each module in the above-mentioned measuring device for the assembly height difference of the bogie can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0072] In one embodiment, a measuring device is provided. The measuring device may be a terminal, and its internal structure diagram may be as follows: Fig. 9 As shown. The measuring device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the measuring device is used to provide computing and control capabilities. The memory of the measuring device 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 is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved 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 height difference of a bogie is implemented. The display screen of the measuring device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the measuring device can be a touch layer covered on the display screen, or a button, a trackball or a touch pad set on the housing of the measuring device, or an external keyboard, touch pad or mouse, etc.

[0073] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is merely a block diagram of a portion of the structure related to the scheme of the present application, and does not constitute a limitation on the measuring device to which the scheme of the present application is applied. The specific measuring device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0074] In one embodiment, a measuring device is provided. The measuring device 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.

[0075] In one embodiment, Fig.10 As shown, a system for measuring the assembly height difference of a bogie is provided, and the system includes an image acquisition device 1010 and a measuring device 1020.

[0076] The measuring device 1020 includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the method in the second method embodiment when executing the computer program; the image acquisition device 1010 is electrically connected to the measuring device 1020, and is used to collect the first initial data and the second initial data. Therefore, the convenience and accuracy of measuring the assembly height difference of the bogie are improved.

[0077] In one embodiment, the image acquisition device 101 may be, but is not limited to, a 3D camera. The 3D camera can acquire the first initial data and the second initial data with high precision by actively projecting a Gray code grating. Therefore, the accuracy of the measurement result output by the measurement system of the assembly height difference of the bogie is improved.

[0078] In a specific example, after adjusting the 3D camera hardware, the 3D camera becomes a short-focus device, and the depth of field of the device is increased while ensuring that the focal length and aperture remain unchanged, so that by collecting the first initial data and the second initial data, data collection can be completed at a spatial position with a large height difference such as the lower center plate and the cross beam in the bogie. The above is only a specific example, and it can be flexibly set according to needs in actual applications, and is not limited here.

[0079] In one embodiment, if Fig.11 As shown, the system for measuring the assembly height difference of the bogie further includes a guide fixing mechanism 1030 .

[0080] The guiding and fixing mechanism 1030 is mechanically connected to the image acquisition device 1010, and is used to fix the image acquisition device 1010 and guide the image acquisition device 1010 to move. In this embodiment, by setting the guiding and fixing mechanism 1030, not only the convenience of moving the image acquisition device 1010 is improved, but also the stability of the image acquisition device during data acquisition is improved, which also improves the convenience and accuracy of measuring the assembly height difference of the bogie.

[0081] In one embodiment, the guiding and fixing mechanism 1030 may be, but is not limited to, a mechanical arm, which is connected to a measuring device, and the measuring device may output a control instruction so that the guiding and fixing mechanism 1030 guides the image acquisition device 1010 to move according to the instruction of the control instruction. Therefore, the convenience and accuracy of measuring the assembly height difference of the bogie are improved.

[0082] 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.

[0083] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed 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 can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can 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).

[0084] The technical features of the above embodiments may 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.

[0085] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for measuring the assembly height difference of a bogie, characterized in that: The measuring method comprises: Obtain target three-dimensional point cloud data corresponding to a target assembly height difference of a bogie to be tested in a railway freight car; the target three-dimensional point cloud data is obtained by automatically splicing the first target data and the second target data in the X-axis direction of the reference coordinate system; the first target data refers to the three-dimensional point cloud data of the first target accessory in the bogie to be tested in the reference coordinate system; the second target data refers to the three-dimensional point cloud data of the second target accessory in the bogie to be tested in the reference coordinate system; the target assembly height difference refers to the height difference between the first target accessory and the second target accessory; 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 a clearance height difference analysis on the combined three-dimensional point cloud data to obtain a target assembly height difference of the bogie to be tested; Before the step of matching and fitting the target three-dimensional point cloud data and the standard CAD model, the following steps are also included: Obtaining standard three-dimensional point cloud data corresponding to the target assembly height difference of a standard bogie in a railway freight car; According to the maximum value of the target assembly height difference of the standard bogie, the standard three-dimensional point cloud data is reversely designed to obtain the standard CAD model.

2. The measuring method according to claim 1, characterized in that: The step of obtaining target three-dimensional point cloud data corresponding to the target assembly height difference of the bogie to be tested in the railway freight car comprises: Acquire first initial data and second initial data; the first initial data refers to the three-dimensional point cloud data of the first target accessory in the detection coordinate system; the second initial data refers to the three-dimensional point cloud data of the second target accessory in the detection coordinate system; Convert the first initial data to the reference coordinate system to obtain the first target data; Convert the second initial data to the reference coordinate system to obtain the second target data; In the X-axis direction of the reference coordinate system, the first target data and the second target data are automatically spliced ​​to obtain the target three-dimensional point cloud data.

3. The measuring method according to claim 1, characterized in that: After the step of matching and fitting the target three-dimensional point cloud data and the standard CAD model, the following steps are further included: If the target assembly height difference of the bogie to be tested is greater than the maximum value, the bogie to be tested is judged to be unqualified; If the target assembly height difference of the bogie to be tested is less than or equal to the maximum value, the bogie to be tested is determined to be qualified.

4. The measuring method according to claim 1, characterized in that: The first target component is the lower center plate of the bogie to be tested; the second target component is the cross beam or the lower plate bearing of the bogie to be tested.

5. A device for measuring the assembly height difference of a bogie, characterized in that: The measuring device comprises: The first data acquisition module is used to acquire target three-dimensional point cloud data corresponding to the target assembly height difference of the bogie to be tested in the railway freight car; the target three-dimensional point cloud data is obtained by automatically splicing the first target data and the second target data in the X-axis direction of the reference coordinate system; the first target data refers to the three-dimensional point cloud data of the first target accessory in the bogie to be tested in the reference coordinate system; the second target data refers to the three-dimensional point cloud data of the second target accessory in the bogie to be tested in the reference coordinate system; the target assembly height difference refers to the height difference between the first target accessory and the second target accessory; A data 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 fitting algorithm to obtain combined three-dimensional point cloud data; A gap height difference analysis module is used to perform a gap height difference analysis on the combined three-dimensional point cloud data to obtain a target assembly height difference of the bogie to be tested; The second data acquisition module is used to acquire standard three-dimensional point cloud data corresponding to the target assembly height difference of the standard bogie in the railway freight car; The model building module is used to perform reverse design processing on the standard three-dimensional point cloud data according to the maximum value of the target assembly height difference of the standard bogie to obtain the standard CAD model.

6. The measuring device according to claim 5, characterized in that Also includes: The quality evaluation module is used to determine that the bogie to be tested is unqualified when the target assembly height difference of the bogie to be tested is greater than a maximum value; and is also used to determine that the bogie to be tested is qualified when the target assembly height difference of the bogie to be tested is less than or equal to a maximum value.

7. A measuring device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

8. A system for measuring the assembly height difference of a bogie, characterized in that: The system comprises an image acquisition device and a measuring device; wherein the measuring device comprises a memory and a processor, the memory stores a computer program, and the processor implements the steps of the method described in claim 2 when executing the computer program; The image acquisition device is electrically connected to the measuring device, and is used for acquiring the first initial data and the second initial data.

9. The measuring system according to claim 8, characterized in that The measuring system further comprises: The guiding and fixing mechanism is mechanically connected to the image acquisition device and is used to fix the image acquisition device and guide the image acquisition device to move.

10. 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 4 are implemented.

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