A rail longitudinal corrugation vehicle-mounted measurement method based on horizontal and vertical light bar information cooperation

Abstract

The application provides a track longitudinal corrugation vehicle-mounted measurement method based on horizontal and vertical light strip information cooperation, and has the characteristics that it comprises the following steps: 1) arranging an H-shaped cross combination structure light unit system; 2) extracting and classifying the mixed laser light strips in the image, and obtaining the cross section profile light strip and the longitudinal corrugation light strip respectively; 3) based on the auxiliary projection profile, realizing the affine distortion correction of the cross section profile and the longitudinal corrugation; 4) based on the correlation mapping, realizing the vertical reference compensation correction of the longitudinal corrugation; on the basis of analyzing the advantages and disadvantages of the existing track longitudinal corrugation measurement methods, through the design of the H-shaped structure light cross combination layout scheme, the cross section profile curve and the longitudinal corrugation curve are effectively correlated under the same camera field of view, the profile registration is realized at the same time, the conversion of the corrugation curve from the time-varying camera coordinate system to the invariable track world coordinate system is realized, and then through the projection correction and the vertical reference compensation, the high-efficiency and accurate measurement of the longitudinal corrugation is realized.

Description

Technical Field

[0001] This invention belongs to the technical field of rail transit inspection, specifically relating to an onboard measurement method for longitudinal corrugation of rails based on the coordination of transverse and longitudinal light stripe information. Background Technology

[0002] As the infrastructure that carries trains in railway transportation, the condition of rails directly affects train operation safety. Due to the interaction between the wheel and rail, the deformation of the rail surface, i.e., rail wear, gradually intensifies. Rail wear mainly consists of two parts: cross-sectional wear on the side of the rail and longitudinal corrugation on the top of the rail. Figure 1 As shown, the former is used to characterize the wear degree of the rail cross-section and determine whether the rail needs to be replaced; the latter is used to characterize the regular undulations on the top surface of the rail along the direction of train operation, which has a direct impact on the smoothness of train operation and the comfort of passengers.

[0003] With the continuous expansion of the railway network, traditional manual static measurement methods can no longer meet the demand in terms of measurement efficiency, and have been replaced by on-board dynamic measurement systems. Structured light measurement based on photogrammetry principles is its main method. Currently, there are three main structured light layout methods used for longitudinal corrugation measurement: the chordal method based on point structured light, the longitudinal multi-line method based on line structured light, and the transverse single-line method.

[0004] (1) Sine measurement method based on point structured light

[0005] The chord measurement method measures track corrugation by combining multiple measurement points constructed from 1D laser displacement sensors on a chord. Depending on the number and spacing of the measurement points, chord measurement models are typically classified as two-point chords, three-point equal chords, three-point deflected chords, and multi-point chords. Taking the three-point equal chord model as an example, the principle is as follows... Figure 2-3 As shown, three 1D sensors A, B, and C, evenly spaced along the longitudinal direction of the track, are fixed to the bottom of the vehicle body at intervals of L / 2. Assuming their three measurement points (i.e., chord measurement points) at the middle of the track top are a', b', and c' respectively, the line connecting the two end measurement points a' and c' is taken as the reference chord, and the distance y(x) from point b' to the reference chord is taken as the corrugation measurement value, i.e., the chord measurement value y(x) satisfies;

[0006]

[0007] Clearly, the measured sine wave value y(x) and the true wave erosion value f(x) are not identical; there exists a transfer function h(n) between them. To correct this discrepancy, an inverse FIR filter h corresponding to h(n) is needed. i (n) is used to perform secondary processing on the chord measurement value, so that the output waveform once again approximates the true appearance of the track corrugation.

[0008] However, this method has several drawbacks: First, the dense sampling interval (10-30mm band, sampling interval not exceeding 5mm) becomes a key factor restricting its operational efficiency. Second, the influence of vehicle vibration is difficult to overcome. Since the rail top is an arc surface formed by multiple segments of circular arcs with different radii rather than a plane, on the one hand, the floating vibration of the vehicle along the Z-axis causes a change in the vertical distance between the light source center and the rail, and the lateral swaying vibration along the X-axis causes the corrugation curve to shift on the arc-shaped rail top. Both of these make it difficult to maintain a consistent vertical measurement reference for each segment of the corrugation curve during segmented measurement, affecting subsequent effective splicing. On the other hand, when the vehicle's lateral rolling vibration around the Y-axis and its head-shaking vibration around the Z-axis cause the laser plane used to measure corrugation to no longer be perpendicular to the track gauge direction, it will also cause affine deformation of the corrugation curve, requiring distortion correction. Third, changes in terrain cause low-frequency trend terms to mix with high-frequency corrugation, further affecting the measurement accuracy of corrugation.

[0009] (2) Vertical multi-line method based on line structured light

[0010] This method first constructs an auxiliary plane calibration system to address potential affine distortions in dynamic measurements by fusing information from multiple cross-sectional profiles within the same field of view. Then, it registers the calibrated measurement profiles with standard profiles to ensure consistency in measurement references across all profiles. Finally, by sequentially connecting the midpoints of the track tops of the cross-sectional profiles at different locations, the corrugation curve of the entire track segment can be obtained. Figure 4 As shown.

[0011] Since the corrugation measurement point is always located at the midpoint of the top of the distortion-corrected cross-sectional profile track, the vertical reference of each measurement point is completely consistent, resulting in very high measurement accuracy using the longitudinal multi-line method based on line structured light. However, when measuring short-wave corrugation, the small sampling interval makes it difficult to distinguish the densely packed light stripes on the image. Therefore, it is necessary to acquire the corrugation value at each location by sliding the light stripe point by point while allowing a certain gap, leading to low work efficiency.

[0012] (3) Lateral Single-Line Method Based on Line Structured Light

[0013] This method projects a line laser laterally onto the top of the rail, thus obtaining a corrugation curve for a range with a single sampling. The corrugation measurement of the entire track section is then rapidly achieved by splicing the segments together. Figure 5 As shown.

[0014] Since only one line is acquired per operation, the transverse single-line method based on line structured light significantly improves operational efficiency compared to the previous two methods. However, its measurement reference is located at the light source projection point, making it highly susceptible to vehicle vibration. Firstly, vehicle bobbing or lateral swaying vibrations make it difficult to maintain consistent vertical measurement references for each segment of the corrugated curve during segmented measurements, affecting subsequent effective splicing. Secondly, vehicle roll or head-shaking vibrations cause the line laser plane to tilt towards the track gauge direction, also resulting in affine deformation of the corrugated curve. Summary of the Invention

[0015] To address the deficiencies and shortcomings of the existing technologies, this invention provides an onboard measurement method for longitudinal corrugation of tracks based on the coordination of transverse and longitudinal light stripe information.

[0016] The technical solution provided by this invention is as follows:

[0017] A vehicle-mounted measurement method for longitudinal corrugation of rails based on the coordination of transverse and longitudinal light stripe information, characterized by the following steps:

[0018] 1) Deploy an H-shaped cross-combination structured light unit system;

[0019] 2) Extract and classify the mixed laser light stripes in the image to obtain cross-sectional contour light stripes and longitudinal wave-like light stripes respectively;

[0020] 3) Based on auxiliary projection, affine distortion correction of cross-sectional profile and longitudinal corrugation is achieved;

[0021] 4) Based on the correlation mapping, vertical reference compensation correction is performed on the longitudinal corrugation.

[0022] As a further preferred embodiment of the present invention, the H-type cross-combined structured light unit system in step 1) includes an integrated processing computer and several structured light units and image units connected to the integrated processing computer. The integrated processing computer controls the several structured light units to emit line lasers to the track, and the image units receive track images in real time and transmit them to the integrated processing computer.

[0023] As a further preferred embodiment of the present invention, the integrated processing computer is connected to a database and a printer. The database is used to store contour and corrugation measurement data, and the printer prints the measurement results according to user requirements.

[0024] As a further preferred embodiment of the present invention, the integrated processing computer is also connected to a photoelectric encoder and a frequency divider.

[0025] As a further preferred embodiment of the present invention, the structured light unit includes two sets of transverse structured light units corresponding to the cross-sectional contour and one set of longitudinal structured light units corresponding to the longitudinal corrugation.

[0026] As a further preferred embodiment of the present invention, in the H-type cross-combined structured light unit system in step 1), an image unit is provided at the bottom of the horizontal structured light unit and the vertical structured light unit. The image unit includes an area array camera, and the field of view of the camera can cover the horizontal output light and the vertical output light.

[0027] As a further preferred embodiment of the present invention, step 2) includes the following steps:

[0028] 2.1) Locate the longitudinal wave-polished light stripe from the mixed laser light stripe using Hough transform, and then remove it from the mixed laser light stripe;

[0029] 2.2) Two cross-sectional profile light stripes are obtained by dilation operation and centroid positioning;

[0030] 2.3) The Steger method is used to extract the sub-pixel image coordinates of the light stripe center. Combined with the pre-calibrated camera internal parameters, the three-dimensional reconstruction of the cross-sectional contour light stripe and the longitudinal corrugated light stripe from the pixel coordinate system to the camera coordinate system is completed.

[0031] As a further preferred embodiment of the present invention, step 3) includes the following steps for the distorted cross-sectional profile:

[0032] 3.1) Extract the track jaw points (x0, y0, z0) and (x1, y1, z1) of the two contours sequentially, and connect them to obtain the longitudinal direction vector n1 = (l x =x1-x0,l y =y1-y0,l z =z1-z0);

[0033] 3.2) Taking the coordinates of a first track jaw point (x0, y0, z0), the equation of the auxiliary surface perpendicular to the longitudinal direction of the track is:

[0034] l x (x-x0)+l y (y-y0)+l z (z-z0)=0 (1)

[0035] Where (x,y,z) are the coordinates of any point on the auxiliary surface;

[0036] 3.3) Take the coordinates (x, y) of any point on the distorted contour. d ,y d ,z d If ), then the corresponding point (x) on the projected contour. s ,y s ,z s )satisfy

[0037]

[0038] According to formula (2), the two distorted contours are projected and corrected in sequence to obtain the normal contours;

[0039] 3.4) After obtaining the normal contour, refer to the Rodriguez rotation formula to rotate the auxiliary surface normal vector so that it is parallel to the world coordinate system Y-axis direction vector n2=(0,1,0), i.e., projected onto the XOZ plane. Then the rotation angle θ, rotation axis n, and rotation matrix R are respectively

[0040]

[0041]

[0042]

[0043] In the formula, (n x ,n y ,n z ) is the unit normal vector perpendicular to the plane formed by vectors n1 and n2;

[0044] Transform all points on the longitudinal wave pattern in the camera coordinate system using the rotation matrix R to obtain the wave pattern curve in the world coordinate system. Take a corresponding point (x) on the wave pattern curve before and after the transformation. cc ,y cc ,z cc ), (x wc ,y wc ,z wc ),but

[0045] (x wc ,y wc ,z wc ) T =R(x) cc ,y cc ,z cc ) T .

[0046] As a further preferred embodiment of the present invention, in step 3), for distorted longitudinal corrugation, since the auxiliary plane is exactly located on the X=0 plane, the X coordinates of all points on the corrugation curve are set to zero, and the corrugation curve is projected onto the auxiliary plane to obtain the corrected corrugation curve.

[0047] As a further preferred embodiment of the present invention, step 4) includes the following steps:

[0048] 4.1) Map the coordinates of each point on the corrugated curve to the cross-sectional profile. The coordinates of any point on the corrugated curve are (x... wc ,y wc ,z wc), whose mapping point coordinates on the cross-sectional profile are (x wc ,y wp ,z wp );

[0049] 4.2) Calculate the vertical deviation between the midpoint of the profile rail top and each mapping point. The coordinates of the midpoint of the profile rail top are (0, y). wm ,z wm The vertical deviation between each mapping point and the midpoint of the contour track top is z. wm -z wp ;

[0050] 4.3) Adding the deviation value to the original Z-coordinate achieves vertical datum compensation correction for the corrugated area. The coordinates of the point after datum compensation correction satisfy...

[0051]

[0052] Compared with the prior art, the beneficial effects achieved by the present invention include:

[0053] 1) This invention provides an onboard measurement method for longitudinal corrugation of tracks based on the coordination of transverse and longitudinal light stripe information. Based on the analysis of the advantages and disadvantages of existing measurement methods for longitudinal corrugation of tracks, this invention designs an "H"-shaped structured light cross-combination layout scheme to effectively link the cross-sectional profile curve and the longitudinal corrugation curve under the same camera field of view. While performing profile registration, the corrugation curve is transformed from the time-varying camera coordinate system to the invariant track world coordinate system. Then, through projection correction and vertical reference compensation, efficient and accurate measurement of longitudinal corrugation is achieved.

[0054] 2) This invention provides an onboard measurement method for longitudinal corrugation of tracks based on the coordination of transverse and longitudinal light stripe information. The designed “H”-shaped structured light cross combination layout scheme realizes the effective correlation between the cross-sectional profile curve and the longitudinal corrugation curve under the same camera field of view. Thus, while registering the profile, the corrugation measurement reference is transformed from the time-varying camera coordinate system to the invariant track world coordinate system, eliminating the change in the vertical measurement reference caused by the floating and sinking vibration of the vehicle body.

[0055] 3) This invention provides an on-board measurement method for longitudinal corrugation of rails based on the coordination of transverse and longitudinal light stripe information. Referring to the principle of projection correction, by constructing auxiliary planes perpendicular to the longitudinal direction of the rail and the track gauge direction respectively, the affine distortion correction of the cross-sectional profile and longitudinal corrugation is realized.

[0056] 4) This invention provides a vehicle-mounted measurement method for longitudinal corrugation of rails based on the coordination of transverse and longitudinal light stripe information. According to the vertical deviation between each point on the corrugation curve and the midpoint of the rail top of the section, the measurement reference of all points is moved to the centerline of the rail top through compensation and correction, thereby ensuring the consistency of the vertical measurement reference of the corrugation curve at different positions. Attached Figure Description

[0057] Figure 1 This is a schematic diagram of rail wear in the existing technology.

[0058] Figure 2 This is a schematic diagram of the existing point structured light-based string measurement method.

[0059] Figure 3 This is a schematic diagram of the curve of the existing point structured light-based string measurement method.

[0060] Figure 4 This is a schematic diagram of the structure and curve of the longitudinal multi-line method based on line structured light in the prior art.

[0061] Figure 5 This is a schematic diagram of the transverse single-line method based on line structured light in the prior art.

[0062] Figure 6 This is a schematic diagram of the H-type cross-combination structured optical unit system in step 1) of the present invention.

[0063] Figure 7 This is a flowchart of steps 2), 3), and 4) of the present invention.

[0064] Figure 8 This is a schematic diagram of the extraction process of the longitudinal wave polishing strip in step 2) of the present invention.

[0065] Figure 9 This is a schematic diagram of the process for extracting the cross-sectional contour light stripe in step 2) of the present invention.

[0066] Figure 10 This is a schematic diagram of the cross-sectional structure of the rail provided by the present invention. Detailed Implementation

[0067] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0068] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0069] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0070] [First Embodiment]

[0071] like Figure 6-10 The above illustrates a vehicle-mounted measurement method for longitudinal corrugation of rails based on the coordination of transverse and longitudinal light stripe information, as provided in the first embodiment of the present invention, comprising the following steps:

[0072] 1) Arrange an H-shaped cross-connected structured light unit system; such as Figure 6 As shown, the H-type cross-combined structured light unit system includes an integrated processing computer and several structured light units and image units connected to the integrated processing computer. The integrated processing computer controls the several structured light units to emit line lasers to the track, and the image units receive track images in real time and transmit them to the integrated processing computer.

[0073] In this embodiment, the integrated processing computer is connected to a database and a printer. The database stores contour and corrugation measurement data, while the printer prints the measurement results according to user requirements. Furthermore, the integrated processing computer is also connected to a photoelectric encoder and a frequency divider to perform photoelectric signal conversion and signal frequency division.

[0074] like Figure 6 As shown, the structured light unit in this embodiment includes two sets of transverse structured light units corresponding to the cross-sectional contour and one set of longitudinal structured light units corresponding to the longitudinal corrugation. Preferably, the output light direction of the transverse structured light unit is perpendicular to the longitudinal direction of the track, and the output light direction of the longitudinal structured light unit is perpendicular to the track gauge direction, thereby minimizing the workload of subsequent distortion correction and compensation.

[0075] Image units are set at the bottom of the transverse structured light unit and the longitudinal structured light unit. The image units are area array cameras. The field of view of the cameras can cover the transverse output light and the longitudinal output light. The image units receive track images in real time and transmit them to the integrated processing computer. The integrated processing computer performs wear measurement and correction on the received real-time images of the rail.

[0076] The H-type cross-combination structured light unit system effectively correlates the cross-sectional profile curve and the longitudinal corrugation curve under the same camera field of view. This allows for simultaneous profile registration and transformation of the corrugation curve from a time-varying camera coordinate system to a constant track world coordinate system, thus eliminating changes in the vertical measurement reference caused by vehicle body buoyancy vibration. Based on this, and referring to the principle of projection correction, affine distortion correction for the cross-sectional profile and longitudinal corrugation is achieved by constructing auxiliary planes perpendicular to the track longitudinal direction and track gauge direction. Finally, based on the vertical deviation of each point on the corrugation curve from the midpoint of the rail top of its corresponding cross-section, compensation corrections are used to move the measurement reference of all points to the centerline of the rail top, ensuring the consistency of the vertical measurement reference for the corrugation curve at different locations.

[0077] The mixed laser light stripes in the image are extracted and classified to obtain cross-sectional contour light stripes and longitudinal corrugated light stripes, which specifically includes the following steps:

[0078] 2.1) For longitudinal corrugated polished strips, such as Figure 8 As shown, firstly, the original mixed light stripe image is binarized; then, a Hough transform is performed, and the line with the most curve intersections in the parameter space is the longitudinal wave-polished light stripe; finally, after locating the wave-polished light stripe, by setting a distance threshold, all pixels with a value of 1 in the binary image are traversed and their distances to the straight line are compared to obtain all pixels on the light stripe.

[0079] 2.2) For cross-sectional profile light stripes, such as Figure 9 As shown, firstly, the longitudinal wave-patterned light stripes are subtracted from the mixed light stripe image; then, through a dilation operation, the discrete track head curves are connected into a whole, and noise with fewer pixels in the image is removed to obtain four complete light stripe segments; finally, the centroids of the four light stripe segments are located, and the four light stripe curves are matched according to the centroid position relationship to obtain two complete cross-sectional profile curves.

[0080] 2.3) The Steger method is used to extract the sub-pixel image coordinates of the light stripe center. Then, combined with the pre-calibrated camera internal parameters, the three-dimensional reconstruction of the contour light stripe and the wave-like light stripe from the pixel coordinate system to the camera coordinate system is completed.

[0081] 3) Affine distortion correction of the cross-sectional profile and longitudinal corrugation is achieved based on the auxiliary projection profile. For the two distorted profiles, since the line connecting the rail jaw points at the rail head edge always aligns with the longitudinal direction of the track, they are sequentially extracted from the profile curve and connected as the direction vector of the track's longitudinal direction. This constructs an auxiliary plane perpendicular to the track's longitudinal direction. Projecting the distorted profile onto this auxiliary plane yields the corrected normal profile. Specifically, this is manifested as follows:

[0082] For distorted cross-sectional profiles, the following steps are included:

[0083] 3.1) Extract the track jaw points (x0, y0, z0) and (x1, y1, z1) of the two contours sequentially, and connect them to obtain the longitudinal direction vector n1 = (l x =x1-x0,l y =y1-y0,l z =z1-z0);

[0084] 3.2) Taking the coordinates of a first track jaw point (x0, y0, z0), the equation of the auxiliary surface perpendicular to the longitudinal direction of the track is:

[0085] l x (x-x0)+l y (y-y0)+l z (z-z0)=0 (1)

[0086] Where (x,y,z) are the coordinates of any point on the auxiliary surface;

[0087] 3.3) Take the coordinates (x, y) of any point on the distorted contour. d ,y d ,z d If ), then the corresponding point (x) on the projected contour. s ,y s ,z s )satisfy

[0088]

[0089] According to formula (2), the two distorted contours are projected and corrected in sequence to obtain the normal contours;

[0090] 3.4) After obtaining the normal contour, refer to the Rodriguez rotation formula to rotate the auxiliary surface normal vector so that it is parallel to the world coordinate system Y-axis direction vector n2=(0,1,0), i.e., projected onto the XOZ plane. Then the rotation angle θ, rotation axis n, and rotation matrix R are respectively

[0091]

[0092] In the formula, (n x ,n y ,n z) is the unit normal vector perpendicular to the plane formed by vectors n1 and n2;

[0093] Transform all points on the longitudinal wave pattern in the camera coordinate system using the rotation matrix R to obtain the wave pattern curve in the world coordinate system. Take a corresponding point (x) on the wave pattern curve before and after the transformation. cc ,y cc ,z cc ), (x wc ,y wc ,z wc ),but

[0094] (x wc ,y wc ,z wc ) T =R(x) cc ,y cc ,z cc ) T .

[0095] 4) Based on the correlation mapping, vertical reference compensation correction is performed on the longitudinal corrugation, such as... Figure 10 As shown, taking a 60kg / m rail cross-section as an example, the rail top is an arc surface formed by connecting three circular arcs of different radii (R300, R80, and R13) rather than a plane, with a maximum vertical deviation of 14.2mm. Although the affine distortion correction of the corrugation moves the X coordinates of all points to the centerline of the rail top, the Z coordinates of all points remain unchanged. The vertical reference deviation caused by the arc-shaped rail top at different X coordinates on the original curve still exists, so compensation correction is required.

[0096] Specifically, the following steps are included:

[0097] 4.1) Map the coordinates of each point on the corrugated curve to the cross-sectional profile. The coordinates of any point on the corrugated curve are (x... wc ,y wc ,z wc ), whose mapping point coordinates on the cross-sectional profile are (x wc ,y wp ,z wp );

[0098] 4.2) Calculate the vertical deviation between the midpoint of the profile rail top and each mapping point. The coordinates of the midpoint of the profile rail top are (0, y). wm ,z wm The vertical deviation between each mapping point and the midpoint of the contour track top is z. wm -z wp ;

[0099] 4.3) Adding the deviation value to the original Z-coordinate achieves vertical datum compensation correction for the corrugated area. The coordinates of the point after datum compensation correction satisfy...

[0100]

[0101] The system can obtain a longitudinal corrugation curve over a distance with a single acquisition, and there is no parameter iteration optimization process during the wear calculation, which significantly improves the overall operating speed and meets the requirements for efficient and accurate measurement of vehicle-mounted longitudinal corrugation.

[0102] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A vehicle-mounted measurement method for longitudinal corrugation of rail tracks based on the coordination of transverse and longitudinal light stripe information, characterized in that: Includes the following steps: 1) Deploy an H-shaped cross-combination structured light unit system; 2) Extract and classify the mixed laser light stripes in the image to obtain cross-sectional contour light stripes and longitudinal wave-like light stripes respectively; 3) Based on auxiliary projection, affine distortion correction of cross-sectional profile and longitudinal corrugation is achieved; 4) Based on the correlation mapping, vertical reference compensation correction is performed on the longitudinal corrugation; In step 1), the H-type cross-combined structured light unit system includes an integrated processing computer and several structured light units and image units connected to the integrated processing computer. The integrated processing computer controls the several structured light units to emit line lasers to the track, and the image units receive track images in real time and transmit them to the integrated processing computer. The structured light unit includes two sets of transverse structured light units corresponding to the cross-sectional profile and one set of longitudinal structured light units corresponding to the longitudinal corrugation; the output light direction of the transverse structured light unit is perpendicular to the longitudinal direction of the track, and the output light direction of the longitudinal structured light unit is perpendicular to the track gauge direction; thereby minimizing the workload of subsequent distortion correction and compensation. Image units are set at the bottom of the transverse structured light unit and the longitudinal structured light unit. The image unit uses an area array camera. The field of view of the camera can cover the transverse output light and the longitudinal output light. The image unit receives track images in real time and transmits them to the integrated processing computer. The integrated processing computer performs wear measurement and correction based on the received real-time images of the rail. In step 3), the distorted cross-sectional profile includes the following steps: 3.1) Extract the jaw points of the two contours sequentially. Connecting the lines yields the longitudinal direction vector of the track. ; 3.2) Obtain the coordinates of one jaw point. Then the equation of the auxiliary surface perpendicular to the longitudinal direction of the track is: （1）； in, Let the coordinates be any point on the auxiliary surface; 3.3) Take the coordinates of any point on the distorted contour. Then the corresponding point on the projected contour satisfy （2）； According to formula (2), the two distorted contours are projected and corrected in sequence to obtain the normal contours; 3.4) After obtaining the normal contour, refer to the Rodrigues rotation formula to rotate the auxiliary surface normal vector into a vector perpendicular to the Y-axis of the world coordinate system. Parallel, meaning projected onto the XOZ plane, then the rotation angle... Rotating axis Rotation matrix They are respectively （3）； In the formula, To be perpendicular to , The unit normal vector of the plane formed by the vectors; Rotate all points on the longitudinal wavelet of the camera coordinate system according to the rotation matrix. By performing a transformation, the corrugation curve in the world coordinate system can be obtained. Then, a corresponding point on the corrugation curve before and after the transformation is taken. , ,but ； Step 4) includes the following steps: 4.1) Map the coordinates of each point on the corrugated curve to the cross-sectional profile. The coordinates of any point on the corrugated curve are: The coordinates of its mapping point on the cross-sectional profile are ; 4.2) Calculate the vertical deviation between the midpoint of the profile rail top and each mapping point. The coordinates of the midpoint of the profile rail top are: The vertical deviation between each mapping point and the midpoint of the contour track top is... ; 4.3) By adding the deviation value to the original Z-coordinate, the vertical datum compensation correction of the corrugation can be achieved. The coordinates of the point after datum compensation correction satisfy... （4）。 2. The on-board measurement method for longitudinal corrugation of tracks based on the coordination of transverse and longitudinal light stripe information as described in claim 1, characterized in that: The integrated processing computer is connected to a database and a printer. The database is used to store contour and corrugation measurement data, and the printer prints the measurement results according to user requirements.

3. The on-board measurement method for longitudinal corrugation of tracks based on the coordination of transverse and longitudinal light stripe information as described in claim 1, characterized in that: The integrated processing computer is also connected to a photoelectric encoder and a frequency divider.

4. The on-board measurement method for longitudinal corrugation of tracks based on the coordination of transverse and longitudinal light stripe information as described in claim 1, characterized in that: Step 2) includes the following steps: 2.1) Locate the longitudinal wave-polished light stripe from the mixed laser light stripe using Hough transform, and then remove it from the mixed laser light stripe; 2.2) Two cross-sectional profile light stripes are obtained by dilation operation and centroid positioning; 2.3) The Steger method is used to extract the sub-pixel image coordinates of the light stripe center. Combined with the pre-calibrated camera internal parameters, the three-dimensional reconstruction of the cross-sectional contour light stripe and the longitudinal corrugated light stripe from the pixel coordinate system to the camera coordinate system is completed.

5. The on-board measurement method for longitudinal corrugation of tracks based on the coordination of transverse and longitudinal light stripe information according to claim 1, characterized in that: In step 3), for the distorted longitudinal corrugation, since the auxiliary plane is exactly located on the X=0 plane, the X coordinates of all points on the corrugation curve are set to zero, and the curve is projected onto the auxiliary plane to obtain the corrected corrugation curve.

Images