点云频域配准的双目双线结构光列车轮对检测

王华; 邢春齐; 高金刚; 张爽; 朱可可

doi:10.3788/OPE.20172503.0616

您当前的位置：

首页 >

文章列表页 >

点云频域配准的双目双线结构光列车轮对检测

现代应用光学 | 更新时间：2020-07-07

- 点云频域配准的双目双线结构光列车轮对检测
- Detection of wheel-set size of rail vehicle using double 2D laser displacement sensors based on point cloud data registration in frequency domain
- 光学精密工程 2017年25卷第3期页码：616-624
- 作者机构：
  
  1.长春工业大学机电工程学院, 吉林长春 130012
  2.长春工程学院机电工程学院, 吉林长春 130012
  3.长春理工大学机电工程学院, 吉林长春 130022
- 作者简介：
  
  [ "王华 (1963-), 男, 吉林长春人, 教授, 硕士生导师, 1985年、1990年于吉林工业大学分别获得学士、硕士学位, 2009年于吉林大学获得博士学位, 主要从事智能检测、机器视觉等方面的研究。E-mail:wh-changchun@tom.com; 1336528482@qq.com" ]
  邢春齐 (1988-), 男, 河北张家口人, 硕士研究生, 主要从事机器视觉方面的研究。E-mail:524719665@qq.com XING Chun-qi, E-mail: 524719665@qq.com
- 基金信息：
  
  吉林省科技发展计划资助项目(20160204005GX)
- DOI：10.3788/OPE.20172503.0616
  中图分类号： TB92;TP391
- 收稿日期：2016-09-09，
  
  录用日期：2016-10-12，
  
  纸质出版日期：2017-03-25
- 稿件说明：
移动端阅览
王华, 邢春齐, 高金刚, 等. 点云频域配准的双目双线结构光列车轮对检测[J]. 光学精密工程, 2017,25(3):616-624.

Hua WANG, Chun-qi XING, Jin-gang GAO, et al. Detection of wheel-set size of rail vehicle using double 2D laser displacement sensors based on point cloud data registration in frequency domain[J]. Optics and precision engineering, 2017, 25(3): 616-624.
王华, 邢春齐, 高金刚, 等. 点云频域配准的双目双线结构光列车轮对检测[J]. 光学精密工程, 2017,25(3):616-624. DOI： 10.3788/OPE.20172503.0616.

Hua WANG, Chun-qi XING, Jin-gang GAO, et al. Detection of wheel-set size of rail vehicle using double 2D laser displacement sensors based on point cloud data registration in frequency domain[J]. Optics and precision engineering, 2017, 25(3): 616-624. DOI： 10.3788/OPE.20172503.0616.

摘要

针对单线结构光测量因范围有限以及遮挡等原因而无法检测整个车轮的轮缘及踏面的问题，提出了一种列车轮对双目双线结构光检测方法。该方法采用两组双线结构光传感器进行测量和数据采集。在两传感器产生的点云进行配准的过程中使用截面点云数据还原点云矩阵，然后对其进行傅里叶变换，在计算旋转角度时先进行极坐标转换，最后求取两矩阵的互功率谱，从而得到点云的旋转和平移矩阵。在此过程中考虑到点云噪声的存在，将辛格函数近似代替无噪声的互功率谱傅里叶反变换，从而确定在频域配准时噪声对配准参数的确定并无影响。接着采用相对值比较的算法和主成分分析拟合基准平面，对轮对直径方向进行标定。利用标定值对扫描数据进行处理，得出包括车轮直径、车轮滚动圆径向跳动等对尺寸参数。实验表明：点云频域配准的双目双线轮对检测技术对车轮直径的测量尺寸误差≤±0.05 mm，车轮端跳的测量误差≤±0.06 mm，车轮径跳的测量误差≤0.04 mm。与标准轮对检测数据相比可知，该系统满足轮对检测精度的要求。

Abstract

Detection method for train wheel set was proposed based on binocular and double-line structured light for solving the problem that rim and tread of the whole wheel can not be detected due to the limited measurement scope and shield of single-line structured light and other relevant reasons. Two groups of line structured sensor were employed in the measurement and data aquisition. Each group contained two laser displacement sensors. Point cloud matrix was restored with point cloud data on section in the process of registration of point cloud produced by the sensors

then was coverted by Fourier transform. In calculation of rotation angle

polar coordinates were conversed firstly and the cross-power spectrum of two matrices was solved finally to obtain rotation and translation matrices of the point cloud. During the process

Fourier inversion transform of noise-free cross-power spectrum was replaced by Sinc function approximation to determine that the noise in the registration of frequency domain had no influence on determination of registration parameters. Then datum plane was fitted with relative value comparison algorithm and Principal Component Analysis (PCA) to calibrate the diameter directions of wheel set. The canning data was processed with calibration values to acquire the dimension parameters of wheel set

such as diameter

radial runout of rolling circle. The result shows that the measurement error of the binocular and double-line detection system based on point cloud registration in frequency domain is less than ±0.05 mm in diameter

the axial runout is less than ±0.06 mm and radial runout of wheel is less than ±0.04 mm. Compared with standard wheel set detection technology

this system meets the requirements for precision of wheel set detection.

关键词

Keywords

references

王君可. 基于CCD成像技术的火车轮对检测系统[D]. 大连: 大连交通大学, 2008.

WANG J K. A Detection System of Train Wheel Based on CCD Imaging Technology [D]. Dalian:Dalian Jiaotong University, 2008.(in Chinese)

刘畅. 列车轮对踏面几何参数检测技术研究[D]. 长春: 长春理工大学, 2014.

LIU CH. Research on Detection Technology of Geometric Parameters of Train Wheelset Tread [D].Changchun:Changchun University of Science and Technology, 2014. (in Chinese)

任宏伟, 李声.基于图像的轮对在线动态检测应用研究[J].机车车辆工艺, 2004(5):29-31.

REN H W, LI SH. Research on the application of online dynamic detection of wheelset based on image [J]. Locomotive & Rolling Stock Technology, 2004(5):29-31. (in Chinese)

冯其波, 陈士谦, 崔建英, 等.轮对几何参数动态测量系统[J].中国铁道科学, 2008, 29(5):138-144.

FENG Q B, CHEN SH Q, CHUI J Y, et al.. A system for dynamically measuring geometric parameters of wheelset [J]. China Railway Science, 2008, 29(5):138-144. (in Chinese)

薛琴, 陈玮.双CCD轮对图像测量系统研究[J].微计算机信息, 2007, 23(19):164-166, 163.

XUE Q, CHEN W. Research on the image measurement system of wheel set with double CCD [J]. Microcomputer Information, 2007, 23(19):164-166, 163. (in Chinese)

李学雷. 轮对参数全自动测量系统[D]. 成都: 西南交通大学, 2005.

LI X L. Anautomatic Diagraph for the Parameter of the Wheelset [D]. Chengdu:Southwest Jiaotong University, 2005. (in Chinese)

XING Z Y, CHEN Y J, WANG X H, et al.. Online detection system for wheel-set size of rail vehicle based on 2D laser [J]. Optik-International Journal for Light and Electron Optics, 2015, 127(4):1695-1702.

高岩, 邵双运, 冯其波.一种激光扫描自动测量轮对几何参数的方法[J].中国激光, 2013, 40(7):0708005.

GAO Y, SHAO SH Y, FENG Q B.A novel method for automatically measuring wheel geometric parameters by laser scanning [J]. Chinese Journal of Lasers, 2013, 40(7):0708005. (in Chinese)

毕超, 房建国, 刘京亮, 等.基于球形目标的激光位移传感器光束方向标定[J].光学精密工程, 2015, 23(3):678-685.

BI CH, FANG J G, LIU J L, et al..Calibration of beam direction of laser displacement sensor based on spherical target [J]. Opt. Precision Eng., 2015, 23(3):678-685. (in Chinese)

FOROOSH H, ZERUBIA J B, BERTHOD M. Extension of phase correlation to subpixel registration [J]. IEEE Transactions on Image Processing, 2002, 11(3):188-200.

王学伟, 王春歆, 张玉叶.点目标图像信噪比计算方法[J].电光与控制, 2010, 17(1):18-21.

WANG X W, WANG CH X, ZHANG Y Y. Research on SNR of point target image [J]. Electronics Optics & Control, 2010, 17(1):18-21. (in Chinese)

孙辉, 李志强, 孙丽娜, 等.一种空域和频域相结合的运动图像亚像素配准技术[J].中国光学, 2011, 4(2):154-160.

SUN H, LI ZH Q, SUN L N, et al.. Sub-pixel registration of special and frequency domains for video sequences [J]. Chin. Opt., 2011, 4(2):154-160.(in Chinese)

李超, 刘树昌, 刘鹏, 等.外触发方式下相机同步抓拍系统研究[J].测试技术学报, 2014(4):339-344.

LI CH, LIU SH CH, LIU P, et al.. Research of camera synchronous capture system under external trigger mode [J]. Journal of Test and Measurement Technology, 2014(4):339-344.(in Chinese)

冯英翘, 万秋华, 王树洁.小型光电编码器长周期误差的修正[J].光学精密工程, 2014, 22(9):2491-2497.

FENG Y Q, WANG Q H, WANG SH J.Correction of long-period error for small photoelectric encoders [J]. Opt. Precision Eng., 2014, 22(9):2491-2497.(in Chinese)

浮丹丹, 周绍光, 徐洋, 等.基于主成分分析的点云平面拟合技术研究[J].测绘工程, 2014, 23(4):20-23.

FU D D, ZHOU SH G, XU Y, et al.. Point cloud fitting technology based on principal component analysis [J]. Engineering of Surveying and Mapping, 2014, 23(4):20-23.(in Chinese)

田晓, 李全海.基于坐标转换的三维空间圆柱面拟合[J].工程勘察, 2014, 42(12):79-82.

TIAN X, LI Q H. Fitting of spatial cylindrical surface based on 3D coordinate transformation [J]. Geotechnical Investigation & Surveying, 2014, 42(12):79-82.(in Chinese)

浏览量

204

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

叶片进排气边光学测量系统的实现

未知相对位置条件下回转体厚度的双激光检测

砂轮偏心信号的高精度检测方法

封闭玻璃管道内液体折射率的非接触测量

激光位移传感器在自由曲面测量中的应用