Support rail geometric parameter detection method based on point cloud data

Abstract

The invention relates to the technical field of detection, and discloses a supporting rail geometric parameter detection method based on point cloud data. The method comprises the steps that supporting rail feature points are determined, and the supporting rail feature points comprise a supporting rail center point and supporting rail corner points; a collecting device is used for collecting point cloud data of the rail corner points of the supporting rail, and the collecting device is arranged on the inspection vehicle; calculating relative position information of the central point of the support rail by using the control device according to the collected point cloud data; measuring the attitude angle of the inspection vehicle by using an attitude measurement device; and compensating the relative position information by using a control device according to the attitude angle to obtain geometric parameters of the support rail. Therefore, the geometrical parameters of the U-shaped track support rail can be measured by adopting a non-contact measurement method of the acquisition device, and the abnormal position can be accurately positioned.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, and in particular to a method for detecting geometric parameters of a support rail based on point cloud data. Background Art

[0002] The operation of ultra-high-speed low-vacuum pipeline aircraft is divided into acceleration stage, suspension stage and braking stage. In the acceleration stage, the aircraft glides on the support rail through the support wheels and relies on the ground module to generate propulsion; in the suspension stage, it mainly relies on the ground module to generate propulsion and suspension force. In this case, due to the influence of factors such as pipeline land settlement, cement support rail casting error, temperature change, and wear caused by long-term use, the support rail will become uneven, affecting the operation stability and safety of the aircraft. Therefore, it is necessary to detect the unevenness of the support rail, but there is no relevant detection method in the prior art. Summary of the invention

[0003] The present invention provides a method for detecting geometric parameters of a support rail based on point cloud data, which can solve the problems in the prior art.

[0004] The present invention provides a method for detecting geometric parameters of a support rail based on point cloud data, wherein the method comprises:

[0005] Determine the characteristic points of the support rail, the characteristic points of the support rail include the center point of the support rail and the corner points of the support rail;

[0006] The point cloud data of the corner points of the support rail are collected by using a collection device, and the collection device is arranged on the inspection vehicle;

[0007] Utilizing the control device to calculate the relative position information of the center point of the support rail according to the collected point cloud data;

[0008] Using the attitude measuring device to measure the attitude angle of the inspection vehicle;

[0009] The control device is used to compensate the relative position information according to the attitude angle to obtain the geometric parameters of the support rail.

[0010] Preferably, the geometric parameters of the support rail include the support rail gauge and the support rail height, wherein the support rail gauge is the distance between the center points of two rail tops in the same support rail track section, and the support rail height is the deviation of the rail vertex of one side of the support rail perpendicular to the support rail track direction from the average position of the rail vertex.

[0011] Preferably, the relative position information of the center points of the support rails includes the lateral distance between the center point of the left support rail and the origin point of the left acquisition device and the lateral distance between the center point of the right support rail and the origin point of the right acquisition device.

[0012] Preferably, using the control device to compensate the relative position information according to the attitude angle to obtain the geometric parameters of the support rail includes:

[0013] The relative position information is compensated by the control device according to the roll angle or the yaw angle to obtain the support rail gauge;

[0014] The control device is used to compensate the relative position information according to the pitch angle and the roll angle to obtain the height of the support rail.

[0015] Preferably, the support rail gauge is obtained by the following formula:

[0016]

[0017] Where G' is the support rail gauge, h is the distance between the origin of the left acquisition device and the origin of the right acquisition device, l 1 ' is the horizontal distance between the center point of the left support rail and the origin of the left acquisition device, l 2 ' is the horizontal distance between the center point of the right support rail and the origin of the right acquisition device, is the roll angle.

[0018] Preferably, the support rail gauge is obtained by the following formula:

[0019]

[0020] Where G' is the support rail gauge, h is the distance between the origin of the left acquisition device and the origin of the right acquisition device, l 1 ' is the horizontal distance between the center point of the left support rail and the origin of the left acquisition device, l 2 ' is the lateral distance from the center point of the right support rail to the origin of the right acquisition device, and β is the yaw angle.

[0021] Preferably, the height of the left support rail is obtained by the following formula:

[0022] G 1 =|h′ 1 ×cosθ-x 1 |,

[0023] Among them, G 1 is the height of the left support rail, h 1 ' is the vertical distance from the center point of the left support rail to the left acquisition device, x is the vertical relative displacement of the left acquisition device measured by the attitude measurement device, and θ is the pitch angle.

[0024] Preferably, the height of the left support rail is obtained by the following formula:

[0025]

[0026] Among them, G 1 is the height of the left support rail, h 1' is the vertical distance from the center point of the left support rail to the left acquisition device, x is the vertical relative displacement of the left acquisition device measured by the attitude measurement device, is the roll angle.

[0027] Preferably, the height of the right support rail is obtained by the following formula:

[0028] G 2 =|h′ 2 ×cosθ-x 2 |,

[0029] Among them, G 2 is the height of the right support rail, h 2 ' is the vertical distance from the center point of the right support rail to the right acquisition device, x is the vertical relative displacement of the right acquisition device measured by the attitude measurement device, and θ is the pitch angle.

[0030] Preferably, the height of the right support rail is obtained by the following formula:

[0031]

[0032] Among them, G 2 is the height of the right support rail, h 2 ' is the vertical distance from the center point of the right support rail to the right acquisition device, x is the vertical relative displacement of the right acquisition device measured by the attitude measurement device, is the roll angle.

[0033] Through the above technical solution, the non-contact measurement method of the acquisition device can be used to measure the geometric parameters of the U-shaped track support rail, and accurately locate the abnormal position, thereby providing guarantee for the safe operation of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 A flow chart of a method for detecting geometric parameters of a support rail based on point cloud data according to an embodiment of the present invention is shown;

[0036] Figure 2 A schematic diagram of setting a track coordinate system according to an embodiment of the present invention is shown;

[0037] Figure 3 A schematic diagram of characteristic points of a support rail according to an embodiment of the present invention is shown;

[0038] Figure 4 A schematic diagram of the support rail gauge according to an embodiment of the present invention is shown;

[0039] Figure 5 A schematic diagram of support rail gauge detection according to an embodiment of the present invention is shown;

[0040] Figure 6 A schematic diagram showing the effect of the roll angle on the track gauge measurement according to an embodiment of the present invention is shown;

[0041] Figure 7 A schematic diagram showing the influence of the yaw angle on the track gauge measurement according to an embodiment of the present invention is shown;

[0042] Figure 8 A schematic diagram of supporting rail height detection according to an embodiment of the present invention is shown;

[0043] Fig. 9 A schematic diagram showing the effect of the pitch angle on the height measurement according to an embodiment of the present invention is shown;

[0044] Fig.10 A schematic diagram showing the effect of the roll angle on height measurement according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0045] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0047] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0048] Figure 1 A flow chart of a method for detecting geometric parameters of a support rail based on point cloud data according to an embodiment of the present invention is shown.

[0049] like Figure 1 As shown, an embodiment of the present invention provides a method for detecting geometric parameters of a support rail based on point cloud data, wherein the method comprises:

[0050] S100, determining the characteristic points of the support rail, the characteristic points of the support rail include the center point of the support rail and the corner points of the support rail, such as Figure 3 As shown;

[0051] S102, collecting point cloud data of corner points of the support rail using a collection device, where the collection device is arranged on the inspection vehicle;

[0052] For example, the acquisition device may be a stereo intersection camera, through which the point cloud data of the points to be detected are acquired.

[0053] S104, using the control device to calculate the relative position information of the center point of the support rail according to the collected point cloud data;

[0054] S106, measuring the attitude angle of the inspection vehicle using an attitude measurement device;

[0055] S108, using the control device to compensate the relative position information according to the attitude angle to obtain the geometric parameters of the support rail.

[0056] For example, the attitude measurement device may be an attitude sensor, which may be combined with the attitude sensor to correct the attitude deviation of the installation position of the stereo intersection camera, thereby calculating the geometric parameters of the support rail.

[0057] Through the above technical solution, the non-contact measurement method of the acquisition device can be used to measure the geometric parameters of the U-shaped track support rail, and accurately locate the abnormal position, thereby providing guarantee for the safe operation of the aircraft.

[0058] In the present invention, the coordinate system is set as Figure 2 During the geometric parameter inspection process, the vehicle (inspection vehicle) coordinate system is a right-hand coordinate system: the Z axis is upward; the Y direction is the vehicle's forward direction, and the center of the vehicle body is the 0 point; the X direction is the lateral direction of the vehicle body, with the right side of the vehicle's forward direction as positive.

[0059] During the inspection preparation stage, the reference position of the inspection vehicle at rest in the test track is used as the horizontal reference for the inspection vehicle camera, and the camera is calibrated relative to the track position. The values ​​of various geometric parameters measured at rest at this time are used as the detection standard.

[0060] According to one embodiment of the present invention, the geometric parameters of the support rail include the support rail gauge (e.g. Figure 4 The support rail gauge is the distance between the center points of the two rail tops in the same support rail track section, and the support rail height is the deviation of the rail vertex of one side of the support rail perpendicular to the support rail track direction from the average position of the rail vertex.

[0061] Among them, the height of the supporting rail reflects the longitudinal unevenness of the rail vertex along the track mileage direction.

[0062] According to an embodiment of the present invention, the relative position information of the center points of the support rails includes the lateral distance between the center point of the left support rail and the origin point of the left acquisition device and the lateral distance between the center point of the right support rail and the origin point of the right acquisition device.

[0063] The top surface of the rail can be photographed by a stereo intersection camera to obtain the position information of the corner points of the top surface of the rail, and then the relative position information of the center point of the supporting rail can be calculated.

[0064] When the inspection vehicle offset error does not affect the track gauge, the support rail gauge can be obtained by the following formula:

[0065] G=h+l 1 +l 2 ,

[0066] Where G is the support rail gauge without the influence of offset error, h is the distance between the origin of the left acquisition device and the origin of the right acquisition device, l 1 is the lateral distance between the center point of the left support rail and the origin of the left camera without the influence of the offset error, l 2 is the lateral distance from the center point of the right support rail to the origin of the right camera without the influence of offset error, such as Figure 5 shown.

[0067] According to an embodiment of the present invention, using a control device to compensate the relative position information according to the attitude angle to obtain the geometric parameters of the support rail includes:

[0068] The relative position information is compensated by the control device according to the roll angle or the yaw angle to obtain the support rail gauge;

[0069] The control device is used to compensate the relative position information according to the pitch angle and the roll angle to obtain the height of the support rail.

[0070] During the operation of the inspection vehicle, lateral vibration and vertical vibration may occur. Through the above steps, the vibration offset can be compensated to obtain accurate support rail gauge and support rail height.

[0071] Among them, the roll angle, yaw angle and pitch angle can be measured by an attitude measurement device.

[0072] According to one embodiment of the present invention, the support rail gauge is obtained by the following formula:

[0073]

[0074] Where G' is the support rail gauge, h is the distance between the origin of the left acquisition device and the origin of the right acquisition device, l 1 ' is the horizontal distance between the center point of the left support rail and the origin of the left acquisition device, l 2 ' is the horizontal distance between the center point of the right support rail and the origin of the right acquisition device, is the roll angle, such as Figure 6 shown.

[0075] According to one embodiment of the present invention, the support rail gauge is obtained by the following formula:

[0076]

[0077] Where G' is the support rail gauge, h is the distance between the origin of the left acquisition device and the origin of the right acquisition device, l 1 ' is the horizontal distance between the center point of the left support rail and the origin of the left acquisition device, l 2 ' is the lateral distance between the center point of the right support rail and the origin of the right acquisition device, β is the yaw angle, such as Figure 7 shown.

[0078] When the inspection vehicle offset error does not affect the track gauge, the height of the support rail can be obtained by the following formula:

[0079] G=|hx|,

[0080] Where G is the height of the support rail without the influence of offset error, and h is the vertical distance between the origin of the acquisition device and the center of the support rail (when there is no influence of offset error, h = h1 =h 2 ,h 1 h is the vertical distance from the origin of the left acquisition device to the center of the left support rail, 2 is the vertical distance from the origin of the right acquisition device to the center of the right support rail), such as Figure 8 shown.

[0081] According to one embodiment of the present invention, the height of the left support rail is obtained by the following formula:

[0082] G 1 =|h′ 1 ×cosθ-x 1 |,

[0083] Among them, G 1 is the height of the left support rail, h 1 ' is the vertical distance from the center point of the left support rail to the left acquisition device, x is the vertical relative displacement of the left acquisition device measured by the attitude measurement device, and θ is the pitch angle. Fig. 9 shown.

[0084] According to one embodiment of the present invention, the height of the left support rail is obtained by the following formula:

[0085]

[0086] Among them, G 1 is the height of the left support rail, h 1 ' is the vertical distance from the center point of the left support rail to the left acquisition device, x is the vertical relative displacement of the left acquisition device measured by the attitude measurement device, is the roll angle, such as Fig.10 shown.

[0087] According to one embodiment of the present invention, the height of the right support rail is obtained by the following formula:

[0088] G 2 =|h′ 2 ×cosθ-x 2 |,

[0089] Among them, G 2 is the height of the right support rail, h 2 ' is the vertical distance from the center point of the right support rail to the right acquisition device, x is the vertical relative displacement of the right acquisition device measured by the attitude measurement device, and θ is the pitch angle. Fig. 9 shown.

[0090] According to one embodiment of the present invention, the height of the right support rail is obtained by the following formula:

[0091]

[0092] Among them, G2 is the height of the right support rail, h 2 ' is the vertical distance from the center point of the right support rail to the right acquisition device, x is the vertical relative displacement of the right acquisition device measured by the attitude measurement device, is the roll angle, such as Fig.10 shown.

[0093] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0094] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0095] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0096] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for detecting geometric parameters of support rails based on point cloud data. It is characterized in that The method comprises: determining a support rail feature point, the support rail feature point comprising a support rail center point and a support rail corner point; The point cloud data of the corner points of the support rail are collected by using a collection device, and the collection device is arranged on the inspection vehicle; Utilizing the control device to calculate the relative position information of the center point of the support rail according to the collected point cloud data; Using the attitude measuring device to measure the attitude angle of the inspection vehicle; The control device is used to compensate the relative position information according to the attitude angle to obtain the geometric parameters of the support rail.

2. The method according to claim 1, It is characterized in that The geometric parameters of the support rail include the support rail gauge and the support rail height, wherein the support rail gauge is the distance between the center points of the two rail tops in the same support rail track section, and the support rail height is the deviation of the rail vertex on one side from the average position of the rail vertex perpendicular to the support rail track direction.

3. The method according to claim 2, It is characterized in that The relative position information of the center points of the support rails includes the lateral distance between the center point of the left support rail and the origin of the left acquisition device and the lateral distance between the center point of the right support rail and the origin of the right acquisition device.

4. The method according to claim 3, It is characterized in that The control device is used to compensate the relative position information according to the attitude angle to obtain the geometric parameters of the support rail, including: The relative position information is compensated by the control device according to the roll angle or the yaw angle to obtain the support rail gauge; The control device is used to compensate the relative position information according to the pitch angle and the roll angle to obtain the height of the support rail.

5. The method according to claim 4, It is characterized in that The supporting rail gauge is obtained by the following formula: Where G' is the support rail gauge, h is the distance between the origin of the left acquisition device and the origin of the right acquisition device, l 1 ' is the horizontal distance between the center point of the left support rail and the origin of the left acquisition device, l 2 ' is the horizontal distance between the center point of the right support rail and the origin of the right acquisition device, is the roll angle.

6. The method according to claim 4, It is characterized in that The supporting rail gauge is obtained by the following formula: Where G' is the support rail gauge, h is the distance between the origin of the left acquisition device and the origin of the right acquisition device, l 1 ' is the horizontal distance between the center point of the left support rail and the origin of the left acquisition device, l 2 ' is the lateral distance from the center point of the right support rail to the origin of the right acquisition device, and β is the yaw angle.

7. The method according to claim 4, It is characterized in that The height of the left support rail is obtained by the following formula: G 1 =|h′ 1 ×cosθ-x 1 |, Among them, G 1 is the height of the left support rail, h 1 ' is the vertical distance from the center point of the left support rail to the left acquisition device, x is the vertical relative displacement of the left acquisition device measured by the attitude measurement device, and θ is the pitch angle.

8. The method according to claim 4, It is characterized in that The height of the left support rail is obtained by the following formula: Among them, G 1 is the height of the left support rail, h 1 ' is the vertical distance from the center point of the left support rail to the left acquisition device, x is the vertical relative displacement of the left acquisition device measured by the attitude measurement device, is the roll angle.

9. The method according to claim 4, It is characterized in that The height of the right support rail is obtained by the following formula: G 2 =|h′ 2 ×cosθ-x 2 |, Among them, G 2 is the height of the right support rail, h 2 ' is the vertical distance from the center point of the right support rail to the right acquisition device, x is the vertical relative displacement of the right acquisition device measured by the attitude measurement device, and θ is the pitch angle.

10. The method according to claim 4, It is characterized in that The height of the right support rail is obtained by the following formula: Among them, G 2 is the height of the right support rail, h 2 ' is the vertical distance from the center point of the right support rail to the right acquisition device, x is the vertical relative displacement of the right acquisition device measured by the attitude measurement device, is the roll angle.

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