Leveling data measurement method and system based on line laser sensor and medium

Abstract

The invention discloses a leveling data measurement method based on a line laser sensor, which comprises the following steps of: horizontally irradiating line laser on an imaging plate of a laser measurement sensor on a horizontal track to form a bright line in the horizontal direction, and collecting the position of the line laser as a reference position; in the leveling operation process, a laser measurement sensor collects light intensity gray scale data of line laser, and a binary mask of one-dimensional line laser data is generated through a dynamic threshold value method; according to the binary mask of the one-dimensional line laser data, calculating a laser center position by adopting a gray centroid method; and calculating a real-time leveling value of the track according to the current laser center position and the reference position. The technical problems that in the prior art, a chord line connection leveling sensor is poor in precision, and a double-chord-line photoelectric measuring device is complex in structure and difficult to control in cost are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of track leveling data measurement, in particular to a leveling data measurement method and system based on a linear laser sensor and a medium. BACKGROUND

[0002] The traditional leveling sensor is connected to the slider of the balance frame through a string. When the track slope changes, the balance frame drives the potentiometer to produce a deviation and outputs a corresponding potential difference. The track slope is detected by measuring the potential difference of the potentiometer. This scheme combines the working conditions of the tamping vehicle, and the following defects exist: during the operation process, the string is affected by gravity and is vertically and vertically shaken with vibration, thereby affecting the measurement accuracy; the signal output is abnormal due to the wear of the steel wire rope, the line is damaged, and even the situation of breaking and hurting people occurs.

[0003] In view of the deficiencies of the traditional leveling sensor, in order to overcome the problems of string wear, breakage and string shaking, and to meet the measurement accuracy requirements of the leveling sensor, a non-contact string measurement method is developed based on the traditional string measurement method. The laser string is used instead of the steel wire string to realize non-contact measurement, reduce the error caused by contact measurement, and has the advantages of not easy to wear, high precision, fast speed and easy to use. However, the double-string photoelectric measurement device uses many components, the structure is relatively complex, and the cost is difficult to control. SUMMARY

[0004] The purpose of the present application is to overcome the above technical deficiencies, and to provide a solution to the technical problems of poor precision of the string connection leveling sensor and complex structure and difficult to control cost of the double-string photoelectric measurement device in the prior art.

[0005] To achieve the above technical purpose, in a first aspect, the technical scheme of the present application provides a leveling data measurement method based on a linear laser sensor, applied to a tamping vehicle leveling system, the tamping vehicle leveling system comprising: a linear laser transmitter for fixed installation at the bottom of the tamping vehicle, the linear laser transmitter emitting a horizontal linear laser as a reference for linear measurement; a measurement trolley fixedly installed below the bottom of the tamping vehicle through a vertical telescopic rod, the measurement trolley being provided with a linear laser measurement sensor, the linear laser measurement sensor being arranged on the light path of the linear laser for collecting the position of the linear laser, and the measurement method comprising the steps of: obtaining a reference position, the reference position being used to represent the position of the horizontal bright line formed by the linear laser emitted by the linear laser sensor on the imaging plate of the laser measurement sensor; obtaining light intensity gray data of the linear laser, the light intensity gray data being collected by the linear laser measurement sensor; A binary mask for one-dimensional line laser data is generated based on the light intensity grayscale data using the dynamic thresholding method. The binary mask for one-dimensional line laser data is used to characterize the effective laser region segmented by the dynamic thresholding method. The laser center position is calculated using the gray-scale centroid method based on the binary mask of the one-dimensional line laser data. Based on the current laser center position and reference position, the real-time track leveling value is calculated.

[0006] Compared with the prior art, the beneficial effects of the present invention include: This invention uses a line laser emitter to emit a horizontal line laser as the reference for line measurement. Line lasers are characterized by good directionality, high brightness, and uniformity, providing a stable measurement reference, reducing interference from external factors, and ensuring the accuracy of the leveling data measurement. During the leveling operation, the effective laser area is segmented using a dynamic thresholding method. This method can dynamically adjust the threshold based on the local characteristics of the image. Compared to the global thresholding method, it is more suitable for handling images with uneven illumination or complex backgrounds, has stronger robustness to noise and illumination changes, and can more stably segment the effective laser area, improving the accuracy of subsequent calculations.

[0007] This invention boasts high computational efficiency and excellent real-time performance. It employs the gray-scale centroid method to calculate the laser center position, a fast calculation method that meets the demands of real-time measurement. During tamping machine operations, the laser center position can be quickly calculated, providing timely data support for calculating real-time track leveling values ​​and improving the efficiency of the tamping machine. This invention also offers high measurement accuracy. By accurately acquiring the linear laser position as a reference and utilizing the dynamic threshold method and gray-scale centroid method to precisely calculate the laser center position, it can accurately obtain the actual track conditions, thereby calculating accurate real-time track leveling values. This provides reliable data for track flatness adjustments, ensuring the quality of track construction and maintenance.

[0008] The system of this invention is simple to install and operate. The line laser emitter of the tamping machine leveling system is fixedly installed below the bottom of the tamping machine. The measuring trolley is fixedly installed via a vertical telescopic rod, ensuring that the measuring trolley is fixed in the horizontal direction relative to the tamping machine. The measuring trolley can only move vertically up and down relative to the tamping machine. The overall structure is relatively simple, facilitating installation and debugging. Furthermore, compared to some complex measurement techniques, the line laser sensor-based measurement method is simpler to operate and easier for workers to master and use.

[0009] According to some embodiments of the present invention, after calculating the laser center position using the gray-scale centroid method, the method includes the following steps: The laser center position data is filtered using a digital low-pass filter algorithm to remove changes in the laser center position caused by vibration.

[0010] According to some embodiments of the present invention, after calculating the laser center position using the gray-scale centroid method, the method includes the following steps: By setting temperature intervals within the operating temperature range and performing linear interpolation compensation on the laser center position, the temperature-compensated laser center position is obtained.

[0011] According to some embodiments of the present invention, a temperature interval is set within the operating temperature range to perform linear interpolation compensation on the laser center position to obtain the temperature-compensated laser center position, including the following steps: Linear interpolation compensation was performed on the laser center position in 5℃ intervals within the operating temperature range of -10℃ to 45℃ to obtain the temperature-compensated laser center position.

[0012] According to some embodiments of the present invention, generating a binary mask for one-dimensional line laser data based on the light intensity grayscale data using a dynamic thresholding method includes the following steps: The one-dimensional linear laser intensity grayscale data is divided into sub-blocks to obtain M sub-intervals; Calculate the average gray value of each sub-interval based on the gray values ​​of each point within the sub-interval; Calculate the standard deviation of gray level for each sub-interval based on the gray level and mean gray level of each point within the sub-interval; Calculate the local threshold of the sub-interval based on the standard deviation and mean gray value of each point within the sub-interval; Calculate the global threshold interpolation based on the local threshold of the sub-interval; A binary mask for the one-dimensional line laser data is generated based on the gray values ​​of each point within the sub-interval and the global threshold interpolation.

[0013] According to some embodiments of the present invention, after dividing the one-dimensional line laser intensity grayscale data into sub-blocks, the method further includes the following steps: By setting a dividing point, the measurement range of the one-dimensional line laser intensity grayscale data is divided into two measurement intervals. An independent second-order linear calibration model is established in each measurement interval. Local nonlinear errors are eliminated through piecewise linear calibration.

[0014] According to some embodiments of the present invention, the real-time track leveling value is calculated based on the current laser center position and the reference position, including the following steps; Calculate the height difference between the current laser center position and the reference position, and use it as the real-time track leveling value.

[0015] Secondly, the present invention provides a leveling data measurement system based on a line laser sensor, comprising: A storage unit is used to acquire a reference position, which is used to characterize the position of the horizontal bright line formed by the line laser emitted by the line laser sensor illuminating the imaging plate of the laser measurement sensor. The data acquisition module is used to acquire the light intensity grayscale data of the line laser, which is acquired by the line laser measurement sensor. The binary mask generation module generates a binary mask of one-dimensional line laser data based on the light intensity grayscale data using a dynamic thresholding method. The binary mask of the one-dimensional line laser data is used to characterize the effective laser region segmented by the dynamic thresholding method. The laser center position calculation module is used to calculate the laser center position using the gray-scale centroid method based on the binary mask of the one-dimensional line laser data. The real-time leveling module is used to calculate the real-time leveling value of the track based on the current laser center position and the reference position.

[0016] Thirdly, the present invention provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the leveling data measurement method based on a line laser sensor as described in any one of the first aspects. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the horizontal direction of the hardware device used in the leveling data measurement method based on a line laser sensor according to an embodiment of the present invention; Figure 2 This is a grayscale data image of the leveling data measurement method based on a line laser sensor according to an embodiment of the present invention; Figure 3 This is a laser center position diagram of the leveling data measurement method based on a line laser sensor according to an embodiment of the present invention; Figure 4 This is a data filtering diagram of the leveling data measurement method based on a line laser sensor according to an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the principle of calculating the leveling value in the leveling data measurement method based on a line laser sensor according to an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] Reference Figures 1 to 5 , Figure 1This is a schematic diagram of the horizontal direction of the hardware device used in the leveling data measurement method based on a line laser sensor according to an embodiment of the present invention; Figure 2 This is a grayscale data image of the leveling data measurement method based on a line laser sensor according to an embodiment of the present invention; Figure 3 This is a laser center position diagram of the leveling data measurement method based on a line laser sensor according to an embodiment of the present invention; Figure 4 This is a data filtering diagram of the leveling data measurement method based on a line laser sensor according to an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the principle of calculating the leveling value in the leveling data measurement method based on a line laser sensor according to an embodiment of the present invention.

[0020] In one embodiment, the leveling data measurement method based on a line laser sensor is applied to a tamping machine leveling system. The tamping machine leveling system includes: a line laser emitter, fixedly installed on the bottom of the tamping machine, which emits a horizontal line laser as a reference for line measurement; and a measuring trolley, fixedly installed below the bottom of the tamping machine via a vertical telescopic rod, on which a line laser measuring sensor is installed. The line laser measuring sensor is positioned along the optical path of the line laser to collect the line laser position. The measurement method includes the step of: obtaining a reference position, which is used to characterize the line laser transmission... The line laser emitted by the sensor illuminates the position of the horizontal bright line formed by the imaging plate of the laser measurement sensor; the light intensity grayscale data of the line laser is acquired, and the light intensity grayscale data is collected by the line laser measurement sensor; a one-dimensional line laser data binary mask is generated based on the light intensity grayscale data using a dynamic thresholding method, and the one-dimensional line laser data binary mask is used to characterize the effective laser area segmented by the dynamic thresholding method; the laser center position is calculated using the grayscale centroid method based on the one-dimensional line laser data binary mask; and the real-time track leveling value is calculated based on the current laser center position and the reference position.

[0021] This invention employs a horizontal line laser emitted by a line laser transmitter fixedly installed below the bottom of the tamping vehicle as the measurement reference. Line lasers are characterized by good directionality, uniform and stable brightness, providing a precise and stable reference for track leveling measurements. This reduces measurement errors caused by reference instability and offers higher reliability and accuracy compared to some traditional reference setting methods. During the leveling operation, the effective laser area is segmented using a dynamic threshold method. This method automatically adjusts the threshold to segment the laser area based on actual conditions at the work site, such as changes in lighting and background noise, rather than using a fixed threshold. Therefore, it can better adapt to different working environments and lighting conditions, effectively avoiding inaccurate laser area segmentation caused by environmental factors, and improving the environmental adaptability of the measurement system and the accuracy of data processing.

[0022] This invention employs the grayscale centroid method to calculate the laser center position. This method is relatively simple and fast, capable of processing large amounts of laser data quickly and accurately determining the laser center position. This is crucial for tamping machines to monitor track smoothness in real time and make timely adjustments, meeting the need for real-time track smoothness measurement during high-speed operation and significantly improving work efficiency.

[0023] This invention accurately acquires the reference position of a line laser and processes the laser data using precise algorithms such as dynamic thresholding and grayscale centroid methods to calculate the laser center position, enabling relatively accurate acquisition of the actual flatness information of the track. This high-precision measurement method provides accurate data support for track leveling operations, ensuring that track laying and maintenance meet high precision standards, reducing the impact of track irregularities on train operation, and improving the safety and comfort of train operation. The installation method of the line laser emitter and measuring carriage of the tamping machine leveling system is relatively simple. The line laser emitter is fixedly installed at the bottom of the tamping machine, and the measuring carriage is fixedly installed via a vertical telescopic rod. This installation method facilitates integration and debugging on the tamping machine, eliminating the need for complex installation procedures and special equipment, reducing the system's installation and maintenance costs, and also facilitating on-site operation and use by personnel.

[0024] The hardware equipment used in the leveling data measurement method based on line laser sensors, such as... Figure 1 As shown, a laser emitter is mounted on the tamping machine, and a line laser measuring sensor is mounted on the measuring trolley. The laser emitter emits a horizontal line laser, which serves as the reference for track measurement; the sensor collects the laser position, calculates the leveling value, and reports it to the tamping machine system. The line laser horizontally illuminates the sensor's imaging plate, forming a horizontal bright line. When the track leveling value changes, the position of the line laser illuminating the sensor's imaging plate changes accordingly. The line laser sensor monitors the light intensity grayscale data on the imaging plate in real time.

[0025] The process of segmenting the effective laser region using a dynamic thresholding method to generate a binary mask of one-dimensional line laser data includes the following steps: The one-dimensional linear laser intensity grayscale data is divided into sub-blocks to obtain M sub-intervals; Calculate the mean gray value of each sub-interval based on the gray values ​​of each point within the sub-interval; Calculate the standard deviation of gray level for each sub-interval based on the gray level value and gray level mean of each point within the sub-interval; Calculate the local threshold of the sub-interval based on the standard deviation and mean gray value of each point within the sub-interval; Calculate the global threshold interpolation based on the local threshold of the sub-interval; A binary mask for one-dimensional line laser data is generated based on the gray values ​​of each point within the sub-interval and the global threshold interpolation.

[0026] The specific steps are as follows: After acquiring the light intensity grayscale data of the line laser, the effective laser area is first segmented using the dynamic thresholding method.

[0027] Divide the one-dimensional linear laser intensity grayscale data into sub-blocks: Where M represents the number of sub-intervals; N=2048 represents the amount of one-dimensional linear laser intensity grayscale data; L=32 represents the length of the sub-block window; S=16 represents the step size (adjacent sub-intervals have 50% overlap, such as the range of the 0th sub-interval being [0,32], and the range of the 1st sub-interval being [16,48]).

[0028] Calculate the mean gray value for each sub-interval (window Ω=[x,x+L-1]): Where μ block The grayscale mean; This represents the grayscale value of each point within a sub-interval.

[0029] Calculate the standard deviation of gray levels for each sub-interval (window Ω=[x,x+L-1]), which is the noise intensity.

[0030] Calculate the local threshold of the subinterval: in is the sub-interval threshold; k=1.8 is the sensitivity coefficient.

[0031] Calculate global threshold interpolation: in This represents the global comparison threshold for the data at point x. This represents the local threshold of the k-th subinterval; This indicates the position of the midpoint of the k-th subinterval.

[0032] Binary mask for generating one-dimensional line laser data: The laser center position was calculated using the gray-scale centroid method. in This is the calculated laser center position.

[0033] This invention divides one-dimensional line laser intensity grayscale data into sub-blocks and determines the threshold by calculating local features such as the mean grayscale value and standard deviation of each sub-block. This local analysis-based approach allows for targeted processing of situations such as uneven illumination and large differences in grayscale variations that may exist in different regions of the data. It avoids the drawbacks of using a single global threshold, which cannot adapt to local changes. This approach better reflects the grayscale differences caused by various complex environmental factors during actual acquisition of line laser data, and improves the adaptability to data of different qualities and characteristics.

[0034] This invention comprehensively considers multiple factors, including the grayscale value, mean grayscale value, and standard deviation of each point within a sub-interval, when calculating the local threshold. The mean grayscale value reflects the average grayscale level of the sub-interval, while the standard deviation reflects the dispersion of the data. By comprehensively utilizing these factors, a local threshold that conforms to the actual data distribution characteristics can be determined more accurately. Compared to simply relying on experience or fixed algorithms to determine the threshold, this greatly improves the accuracy of the threshold, thus laying the foundation for accurate segmentation of the effective laser region.

[0035] This invention first calculates the local threshold of a sub-interval, and then further calculates a global threshold interpolation based on it. This processing method takes into account the individual characteristics of local regions, and integrates local information into a globally usable threshold through reasonable interpolation, effectively balancing the relationship between local details and overall consistency. This ensures that the final generated global threshold interpolation can guarantee reasonable segmentation of the overall line laser data while not ignoring the special cases of local regions, achieving relatively accurate delineation of effective laser regions at both macroscopic and microscopic levels.

[0036] This invention, based on the rigorously calculated global threshold interpolation, generates a binary mask for the one-dimensional line laser data, enabling more precise differentiation between the effective laser region and other interference regions. The resulting binary mask clearly shows the location of the effective laser, providing reliable preliminary data for subsequent operations such as accurately calculating the laser center position using the grayscale centroid method. This helps improve the accuracy and reliability of the entire leveling data measurement, resulting in more precise real-time track leveling values.

[0037] The process includes the following steps after calculating the laser center position using the gray-scale centroid method: filtering the laser center position data using a digital low-pass filtering algorithm to remove changes in the laser center position caused by vibration.

[0038] Since the tamping machine introduces severe vibration noise during operation, a digital low-pass filter algorithm is used to filter the laser center position to remove the changes in the laser center position caused by vibration.

[0039] Where y[n] represents the current filter output; y[n-1] represents the previous filter output; y[n-2] represents the filter output two years ago; x[n] represents the current filter input; x[n-1] represents the previous filter input; x[n-2] represents the filter input two years ago; and b0, b1, b2, a0, a1, and a2 are filter coefficients.

[0040] During tamping operations, vibration is unavoidable, causing additional, non-accurate changes in the laser center position that do not accurately reflect the track's condition. A digital low-pass filtering algorithm effectively filters out these high-frequency interference signals caused by vibration, retaining only the low-frequency, valid signals that reflect the actual leveling of the track. This results in more stable laser center position data, reduced data fluctuations, and a more accurate representation of the track's true condition.

[0041] By eliminating spurious positional changes caused by vibration, the calculation of real-time track leveling values ​​based on the filtered laser center position avoids errors due to vibration interference, thus improving the accuracy of leveling value calculations. This enhances the overall accuracy of the track flatness measurement system, providing a reliable guarantee for the tamping machine to perform precise leveling operations based on accurate data. Filtering out unnecessary interference factors makes the data output by the entire line laser sensor-based leveling data measurement system more reliable and accurate, reducing the possibility of incorrect track condition judgments due to external interference such as vibration. This contributes to the long-term stable and effective operation of the system, enabling it to more accurately assist the tamping machine in completing high-quality leveling operations under different working conditions.

[0042] The process of calculating the laser center position using the gray-scale centroid method includes the following steps: Linear interpolation compensation was performed on the laser center position in 5℃ intervals within the operating temperature range of -10℃ to 45℃ to obtain the temperature-compensated laser center position.

[0043] Since the tamping machine operates outdoors, the working temperature range can reach -10℃ to 45℃. To prevent the laser center position from changing with temperature, linear interpolation compensation is performed on the laser center position at 5℃ intervals within the range of -10℃ to 45℃.

[0044] in This is the current temperature compensation value; Indicates the current temperature; This indicates the maximum calibrated temperature point not exceeding T (e.g., -10℃, -5℃, etc.). This indicates the minimum calibrated temperature point exceeding T; express Temperature compensation value; express Temperature compensation value; Indicates the laser center position after temperature compensation; This indicates the position of the laser center before temperature compensation.

[0045] In practical applications, tamping machines may operate in different seasons and environments, facing complex and variable temperature conditions. By pre-setting a linear interpolation compensation mechanism within the temperature range, the system can automatically adapt to the measurement needs under different temperature conditions. Whether in cold low-temperature environments or hot high-temperature environments, it can ensure the reliability of laser center position data, preventing the entire leveling data measurement system from experiencing large measurement errors due to temperature fluctuations. This enhances the system's adaptability to different external temperature conditions, ensuring that it can stably and efficiently serve the leveling operation of the tamping machine.

[0046] After temperature compensation at the laser center position, relatively stable and accurate data can be output under different temperature scenarios, avoiding the problems of large data fluctuations and lack of consistency caused by temperature differences. This allows the tamping machine to perform leveling operations based on accurate and stable data, ensuring the quality of the entire leveling operation, allowing the track flatness to better meet standard requirements, and thus improving the safety and comfort of the track in subsequent use.

[0047] The process of dividing the one-dimensional linear laser intensity grayscale data into sub-blocks also includes the following steps: Using the leveling measurement center as the dividing point, the measurement range of one-dimensional linear laser intensity grayscale data is divided into two measurement intervals. An independent second-order linear calibration model is established in each measurement interval, and local nonlinear errors are eliminated through piecewise linear calibration.

[0048] The calibration method is as follows: in For calibration output; For calibration input; This is the dividing point between the two measurement intervals, i.e., the leveling measurement center; , , This is the calibration coefficient for measurement interval 1; , , This is the calibration coefficient for measurement interval 2.

[0049] When calculating calibration parameters, three calibration points are selected in each measurement interval, and the actual laser center positions of the calibration points are experimentally obtained. Using the actual acquired values ​​as input and the theoretical values ​​as output, the coefficients of the second-order linear calibration are calculated using the least squares method.

[0050] In actual leveling measurements, one-dimensional linear laser intensity grayscale data often exhibits local nonlinear errors. These errors can affect the accurate determination of critical data such as the laser center position. By dividing the measurement into two intervals with the leveling measurement center as the dividing point and establishing independent second-order linear calibration models within each interval, specialized calibration processing can be performed on the nonlinear characteristics of each interval. Compared to using a single calibration model to address the overall data, this segmented processing approach can more accurately reflect the actual data variation patterns of each interval, more effectively capture and eliminate local nonlinear errors, thereby improving data accuracy.

[0051] The nonlinearity of light intensity grayscale data in different measurement intervals may vary due to factors such as differences in optical path propagation and uneven environmental interference. Establishing an independent second-order linear calibration model gives each measurement interval the ability to calibrate flexibly according to its own characteristics. This allows the calibration process to fully consider the uniqueness of the data in each interval, better adapt to complex and changing actual measurement environments, improve the adaptability of the entire calibration process to data from different intervals, ensure that all data undergoes appropriate calibration processing, and reduce the impact of errors on the measurement results.

[0052] The process includes calculating the real-time track leveling value based on the current laser center position and the reference position, including the following steps: calculating the height difference between the current laser center position and the reference position as the real-time track leveling value.

[0053] Reference Figure 5 A straight line L is formed between the two wheels of the tamping trolley. The vertical height difference H1 between the trolley wheel and line L is measured. A line laser image is formed at point P2 on the sensor imaging plate. P1 is the image point when the trolley wheel is on line L, and H2 is the distance between P1 and P2. Therefore, H1 and H2 are equal. By measuring the distance between the laser imaging positions P2 and P1 on the sensor in real time, the real-time track leveling value can be obtained.

[0054] The key to track flatness lies in the height difference between different positions and the reference position. By directly calculating the height difference between the laser center position and the reference position as the real-time track leveling value, the height change of the current track position relative to the reference can be presented very intuitively. Workers can quickly and clearly know whether the track is higher or lower than the reference at that point, as well as the specific deviation value, which facilitates direct judgment and corresponding adjustment of track flatness based on this value.

[0055] The calculation method of this invention is relatively simple and clear. It only requires obtaining two key data points: the current laser center position and the pre-set reference position. Then, a simple height difference calculation can be performed to obtain the leveling value. It does not require complex conversions or comprehensive calculations involving multiple intermediate variables. The calculation process is efficient and can quickly produce results in real time during tamping machine operation. This meets the actual needs of real-time monitoring of track conditions and timely adjustment of leveling operations, and helps to improve the efficiency of the entire tamping machine operation.

[0056] In one embodiment, a leveling data measurement system based on a line laser sensor includes: a storage unit for acquiring a reference position, the reference position being used to characterize the position of a horizontal bright line formed by the line laser emitted by the line laser sensor illuminating the imaging plate of the laser measurement sensor; a data acquisition module for acquiring the light intensity grayscale data of the line laser, the light intensity grayscale data being acquired by the line laser measurement sensor; a binary mask generation module for generating a binary mask of one-dimensional line laser data based on the light intensity grayscale data using a dynamic thresholding method, the one-dimensional line laser data binary mask being used to characterize the effective laser region segmented by the dynamic thresholding method; a laser center position calculation module for calculating the laser center position using the grayscale centroid method based on the one-dimensional line laser data binary mask; and a real-time leveling module for calculating the real-time track leveling value based on the current laser center position and the reference position.

[0057] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0058] Furthermore, one embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions that are executed by a processor or controller, for example, by a processor in the above-described terminal embodiment, causing the processor to perform the line laser sensor-based leveling data measurement method in the above-described embodiment.

[0059] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0060] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

[0061] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A method for measuring leveling data based on a line laser sensor, characterized in that, This invention relates to a tamping machine leveling system, comprising: a line laser emitter, fixedly installed on the bottom of the tamping machine, which emits a horizontal line laser as a reference for line measurement; and a measuring trolley, fixedly installed below the bottom of the tamping machine via a vertical telescopic rod, the measuring trolley being equipped with a line laser measuring sensor positioned along the optical path of the line laser to acquire its position. The measurement method includes the following steps: Obtain a reference position, which is used to characterize the position of the horizontal bright line formed by the line laser emitted by the line laser sensor illuminating the imaging plate of the laser measurement sensor; Acquire the light intensity grayscale data of the line laser, which is collected by the line laser measurement sensor; A binary mask for one-dimensional line laser data is generated based on the light intensity grayscale data using the dynamic thresholding method. The binary mask for one-dimensional line laser data is used to characterize the effective laser region segmented by the dynamic thresholding method. The laser center position is calculated using the gray-scale centroid method based on the binary mask of the one-dimensional line laser data. Based on the current laser center position and reference position, the real-time track leveling value is calculated.

2. The method for measuring leveling data based on a line laser sensor according to claim 1, characterized in that, After calculating the laser center position using the gray-scale centroid method, the steps include: The laser center position data is filtered using a digital low-pass filter algorithm to remove changes in the laser center position caused by vibration.

3. The method for measuring leveling data based on a line laser sensor according to claim 2, characterized in that, After calculating the laser center position using the gray-scale centroid method, the steps include: By setting temperature intervals within the operating temperature range and performing linear interpolation compensation on the laser center position, the temperature-compensated laser center position is obtained.

4. The method for measuring leveling data based on a line laser sensor according to claim 3, characterized in that, The laser center position is linearly interpolated and compensated for by setting temperature intervals within the operating temperature range, resulting in the temperature-compensated laser center position. This includes the following steps: Linear interpolation compensation was performed on the laser center position in 5℃ intervals within the operating temperature range of -10℃ to 45℃ to obtain the temperature-compensated laser center position.

5. The method for measuring leveling data based on a line laser sensor according to claim 2, characterized in that, Generating a binary mask for one-dimensional line laser data based on the light intensity grayscale data using the dynamic thresholding method includes the following steps: The one-dimensional linear laser intensity grayscale data is divided into sub-blocks to obtain M sub-intervals; Calculate the average gray value of each sub-interval based on the gray values ​​of each point within the sub-interval; Calculate the standard deviation of gray level for each sub-interval based on the gray level and mean gray level of each point within the sub-interval; Calculate the local threshold of the sub-interval based on the standard deviation and mean gray value of each point within the sub-interval; Calculate the global threshold interpolation based on the local threshold of the sub-interval; A binary mask for the one-dimensional line laser data is generated based on the gray values ​​of each point within the sub-interval and the global threshold interpolation.

6. The method for measuring leveling data based on a line laser sensor according to claim 5, characterized in that, After dividing the one-dimensional linear laser intensity grayscale data into sub-blocks, the following steps are also included: By setting a dividing point, the measurement range of the one-dimensional line laser intensity grayscale data is divided into two measurement intervals. An independent second-order linear calibration model is established in each measurement interval. Local nonlinear errors are eliminated through piecewise linear calibration.

7. The method for measuring leveling data based on a line laser sensor according to claim 1, characterized in that, Based on the current laser center position and reference position, the real-time track leveling value is calculated, including the steps; Calculate the height difference between the current laser center position and the reference position, and use it as the real-time leveling value of the track.

8. A leveling data measurement system based on a line laser sensor, characterized in that, include: A storage unit is used to acquire a reference position, which is used to characterize the position of the horizontal bright line formed by the line laser emitted by the line laser sensor illuminating the imaging plate of the laser measurement sensor. The data acquisition module is used to acquire the light intensity grayscale data of the line laser, which is acquired by the line laser measurement sensor. The binary mask generation module generates a binary mask of one-dimensional line laser data based on the light intensity grayscale data using a dynamic thresholding method. The binary mask of the one-dimensional line laser data is used to characterize the effective laser region segmented by the dynamic thresholding method. The laser center position calculation module is used to calculate the laser center position using the gray-scale centroid method based on the binary mask of the one-dimensional line laser data. The real-time leveling module is used to calculate the real-time leveling value of the track based on the current laser center position and the reference position.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the leveling data measurement method based on a line laser sensor as described in any one of claims 1 to 7.

Images