李田, 鲁寨军, 刘应龙, 刘东润. 利用摄影测量在线检测轨道车辆车体运行姿态[J]. 武汉大学学报 ( 信息科学版), 2018, 43(7): 1015-1021. doi: 10.13203/j.whugis20160213 引用本文: 李田, 鲁寨军, 刘应龙, 刘东润. 利用摄影测量在线检测轨道车辆车体运行姿态[J]. 武汉大学学报 ( 信息科学版), 2018, 43(7): 1015-1021. doi: 10.13203/j.whugis20160213 LI Tian, LU Zhaijun, LIU Yinglong, LIU Dongrun. On-line Detection of Car-Body Running Attitude for Railway Vehicle Based on Photogrammetry[J]. Geomatics and Information Science of Wuhan University, 2018, 43(7): 1015-1021. doi: 10.13203/j.whugis20160213 Citation: LI Tian, LU Zhaijun, LIU Yinglong, LIU Dongrun. On-line Detection of Car-Body Running Attitude for Railway Vehicle Based on Photogrammetry[J]. Geomatics and Information Science of Wuhan University , 2018, 43(7): 1015-1021. doi: 10.13203/j.whugis20160213 Author Bio: LI Tian, master, specializes in intelligent detection and control of traffic equipment.E-mail: r9lion@csu.edu.cn

Corresponding author: LU Zhaijun, PhD, associate professor.E-mail: qlzjzd@csu.edu.cn

轨道车辆运行时产生的各种振动导致车体相对于轨道的运行姿态发生变化，提出利用面阵相机和线激光组合的摄影测量方法在线检测车体运行姿态。检测系统安装在车体上可拍摄到轨面的任意位置(3点非共线)，选择激光在轨面投影的中点作为参考点，通过标定得到参考点在计算机图像坐标系和车体坐标系中的空间变换关系；车辆运动过程中，面阵相机拍摄线激光在轨面上的投影，将参考点在计算机图像坐标系中的坐标转化为车体坐标系中的坐标；结合参考点在轨面随行坐标系中的坐标特性，解算车体相对于轨道的坐标系转换，建立描述车体相对于轨道实时运行姿态的数学模型；构建检测系统，通过车体振动模拟平台及现场实车试验，验证了检测系统的可靠性。 摄影测量 /  车体运行姿态 /  空间变换 /  坐标系转换 / Abstract: The running attitude of car-body relative to the track will change because of various vibrations during railway vehicle operation. In this paper, a photogrammetric method based on area array camera and line laser is proposed to measure running attitude of car-body. Firstly, the system is installed at any position of the car-body as long as being able to scan the track and all three positions are non-collinear; the middle point of line laser projection on rail surface is selected as the reference point; and the calibration method is proposed to build the space coordinate transformation of the reference point between image coordinate system and vehicle coordinate system. Secondly, the area array camera will shoot the projection of line laser on rail surface, and the coordinate of the reference point in image coordinate system will be converted into the coordinate in vehicle coordinate system during operation. Then, the mathematical model is established to obtain the running attitude of car-body through coordinates transformation of three reference points in the vehicle coordinate system. Finally, the detection system is built and experiments were carried out both on the car-body vibration simulation platform and the real vehicle. The comparative results verify the reliability of measurement system. Key words: photogrammetry /  car-body running attitude /  space transformation /  coordinate system transformation /  on-line detection  郭寅, 刘常杰, 邾继贵, 等.高速列车动态包络线测量系统[J].中国激光, 2013, 40(2):1-7 http://mall.cnki.net/magazine/Article/ITSJ201003019.htm

Guo Yin, Liu Changjie, Zhu Jigui, et al. Measurement System for Dynamic Envelope Curve of High-Speed Train[J]. Chinese Journal of Lasers , 2013, 40(2):1-7 http://mall.cnki.net/magazine/Article/ITSJ201003019.htm 郭寅, 刘常杰, 邾继贵, 等.高速列车动态位姿测量方法及校准技术研究[J].光电子·激光. 2013, 24(1):112-118 http://www.cnki.com.cn/Article/CJFDTotal-GDZJ201301021.htm

Guo Yin, Liu Changjie, Zhu Jigui, et al. Research on Measurement and Calibration of Dynamic Posture of High-Speed Trains[J]. Journal of Optoelectronics·Laser , 2013, 24(1):112-118 http://www.cnki.com.cn/Article/CJFDTotal-GDZJ201301021.htm 孙丽丽, 肖世德.基于结构光原理的铁路货车超限检测算法研究[J].计算机应用, 2005, 21(1):213-214 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=jsjyy200501066

Sun Lili, Xiao Shide. Algorithm Research on Freight Train Gauge Inspection System Based on Structure Lighting Theorem[J]. Journal of Computer Applications , 2005, 21(1):213-214 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=jsjyy200501066 吴斌, 庄洵, 刘常杰, 等.铁路机车车辆静态限界测量系统校准方法研究[J].传感技术学报, 2013, 26(1):58-62 http://www.cnki.com.cn/Article/CJFDTotal-CGJS201301014.htm

Wu Bin, Zhuang Xun, Liu Changjie, et al. Research on Calibration Method of Static Railway Vehicle Clearance Gauge[J]. Chinese Journal of Sensors and Actuators , 2013, 26(1):58-62 http://www.cnki.com.cn/Article/CJFDTotal-CGJS201301014.htm 于冬, 顾培亮, 陈钟, 等.铁路货车装载状态监视和超限检测系统的研究[J].中国铁道科学, 2004, 25(5):141-144 http://www.cqvip.com/qk/97928X/200405/10743617.html

Yu Dong, Gu Peiliang, Chen Zhong, et al. Research on the Monitoring State and Overloading Detection System of Freight Car Loading[J]. China Railway Science , 2004, 25(5):141-144 http://www.cqvip.com/qk/97928X/200405/10743617.html 韩伯领, 陈治亚, 鲁寨军.铁路车辆动态偏移量的在线检测[J].中南大学学报(自然科学版), 2008, 39(4):787-792 http://cdmd.cnki.com.cn/Article/CDMD-10404-1015037666.htm

Han Boling, Chen Zhiya, Lu Zhaijun. Online Detection of Offset Generated by Vibration of Rolling Stock Based on Machine Vision[J]. Journal of Central South University (Science and Technology) , 2008, 39(4):787-792 http://cdmd.cnki.com.cn/Article/CDMD-10404-1015037666.htm Lu Zhaijun, Tian Hongqi, Liu Yinglong, et al. Correlation Matching Algorithm Based on Dynamic Gray Threshold for Catadioptric Stereo Vision[C]. IEEE International Conference on Intelligent Computing and Intelligent Systems, Shanghai, China, 2009 Lu Zhaijun, Tian Hongqi, Liu Yinglong. Measuring Technology of Rail Vehicle's Offset Caused by Vibration[C]. The 3rd International Conference on Measuring Technology and Mechatronics Automation, Shanghai, China, 2011 姚吉利, 韩保民, 杨元喜.罗德里格矩阵在三维坐标转换严密解算中的应用[J].武汉大学学报·信息科学版, 2006, 31(12):1094-1096 http://ch.whu.edu.cn/CN/abstract/abstract2625.shtml

Yao Jili, Han Baomin, Yang Yuanxi.Applications of Lodrigues Matrix in 3D Coordinate Transformation[J]. Geomatics and Information Science of Wuhan University , 2006, 31(12):1094-1096 http://ch.whu.edu.cn/CN/abstract/abstract2625.shtml 姚吉利.三维坐标转换的静态滤波模型[J].武汉大学学报·信息科学版, 2005, 30(9):825-828 http://ch.whu.edu.cn/CN/abstract/abstract2271.shtml

Yao Jili. SARC Model of Three-Dimensional Coordinate Transformation[J]. Geomatics and Information Science of Wuhan University , 2005, 30(9):825-828 http://ch.whu.edu.cn/CN/abstract/abstract2271.shtml 曾怀恩, 黄声享.三维坐标转换参数求解的一种直接搜索法[J].武汉大学学报·信息科学版, 2008, 33(11):1118-1121 http://ch.whu.edu.cn/CN/abstract/abstract1760.shtml

Zeng Huai'en, Huang Shengxiang. A Kind of Direct Search Method Adapted to Solution of 3D Coordinate Transformation Parameters[J]. Geomatics and Information Science of Wuhan University , 2008, 33(11):1118-1121 http://ch.whu.edu.cn/CN/abstract/abstract1760.shtml 李腾, 张宝钢, 程晓, 张媛媛, 惠凤鸣, 赵天成, 秦为稼, 梁建宏, 杨元德, 刘旭颖, 李新情. 无人机在南极科学研究的应用：进展与展望 . 武汉大学学报 ( 信息科学版), 2022, 47(5): 651-664. doi: 10.13203/j.whugis20200098 邸凯昌, 刘斌, 彭嫚, 辛鑫, 贾萌娜, 左维, 平劲松, 吴波, OBERSTJürgen. 利用多探测任务数据建立新一代月球全球控制网的方案与关键技术 . 武汉大学学报 ( 信息科学版), 2018, 43(12): 2099-2105. doi: 10.13203/j.whugis20170385

1. 中南大学轨道交通安全教育部重点实验室, 湖南 长沙, 410075

2. 轨道交通安全关键技术国际合作联合实验室, 湖南 长沙, 410075

3. 轨道交通列车安全保障技术国家地方联合工程研究中心, 湖南 长沙, 410075

4. 中南大学现代教育中心, 湖南 长沙, 410075

摘要: 轨道车辆运行时产生的各种振动导致车体相对于轨道的运行姿态发生变化，提出利用面阵相机和线激光组合的摄影测量方法在线检测车体运行姿态。检测系统安装在车体上可拍摄到轨面的任意位置(3点非共线)，选择激光在轨面投影的中点作为参考点，通过标定得到参考点在计算机图像坐标系和车体坐标系中的空间变换关系；车辆运动过程中，面阵相机拍摄线激光在轨面上的投影，将参考点在计算机图像坐标系中的坐标转化为车体坐标系中的坐标；结合参考点在轨面随行坐标系中的坐标特性，解算车体相对于轨道的坐标系转换，建立描述车体相对于轨道实时运行姿态的数学模型；构建检测系统，通过车体振动模拟平台及现场实车试验，验证了检测系统的可靠性。

On-line Detection of Car-Body Running Attitude for Railway Vehicle Based on Photogrammetry

LI Tian ^{1, 2, 3 ,} ,

LU Zhaijun ^{1, 2, 3 , ,} ,

LIU Yinglong

LIU Dongrun ^{1, 2, 3}

1. Key Laboratory of Traffic Safety on Track, Ministry of Education, Central South University, Changsha 410075, China

2. Joint International Research Laboratory of Key Technology for Rail Traffic Safety, Changsha 410075, China

3. National & Local Joint Engineering Research Center of Safety Technology for Rail Vehicle, Changsha 410075, China

4. Modern Education Center, Central South University, Changsha 410075, China

引用本文: 李田, 鲁寨军, 刘应龙, 刘东润. 利用摄影测量在线检测轨道车辆车体运行姿态[J]. 武汉大学学报 ( 信息科学版), 2018, 43(7): 1015-1021. doi: 10.13203/j.whugis20160213 LI Tian, LU Zhaijun, LIU Yinglong, LIU Dongrun. On-line Detection of Car-Body Running Attitude for Railway Vehicle Based on Photogrammetry[J]. Geomatics and Information Science of Wuhan University, 2018, 43(7): 1015-1021. doi: 10.13203/j.whugis20160213 Citation: LI Tian, LU Zhaijun, LIU Yinglong, LIU Dongrun. On-line Detection of Car-Body Running Attitude for Railway Vehicle Based on Photogrammetry[J]. Geomatics and Information Science of Wuhan University , 2018, 43(7): 1015-1021. doi: 10.13203/j.whugis20160213 由于轨道车辆运动的特殊性, 车体运行姿态的检测是指运行过程中车体相对于轨道而不是相对于大地坐标系的变化。文献[ 9 - 11 ]提出在沿车体纵向、横向对称的矩形平面内布置4个测点, 利用线阵CCD相机与面光源组成的单目CCD相机加平面镜虚拟双目立体视觉检测方案, 在线检测车体运动姿态及动态偏移量。该方案对相机与光源布置条件要求较高, 不易于实现; 且单目线阵相机获取测点垂向偏移时需要加平面镜虚拟双目立体视觉; 采用三角测量方法恢复深度信息时, 受参考点像素坐标误差的影响较大。针对以上问题, 本文提出了一种基于面阵相机与线激光组合的摄影测量检测方法, 检测系统安装在车体上可拍摄到轨面的任意位置(3点非共线), 测量精度高, 能够实时检测车体相对于轨道的运行姿态, 通过车体振动模拟平台试验和现场实车试验, 对检测系统的精度及可靠性进行了验证。

{S_t} = {S_0}\left( {C\tan \delta - {x_0}} \right)/\left( {C\tan \delta - {x_t}} \right) \Delta {Z_b} = \frac{{{S_0}\left( {{x_0} - {x_t}} \right)}}{{C\sin \delta - {x_t}\cos \delta }} \Delta {Y_b} = \frac{{{y_t}{S_0}\left( {C\tan \delta - {x_0}} \right)}}{{C\left( {C\tan \delta - {x_t}} \right)}} - \frac{{{y_0}{S_0}}}{C} {{Y_{wit}}}\\ {{Z_{wit}}} \end{array}} \right] = \mathit{\boldsymbol{R}}\left[ {\begin{array}{*{20}{c}} {{X_{bit}}}\\ {{Y_{bit}}}\\ {{Z_{bit}}} \end{array}} \right] + {\mathit{\boldsymbol{T}}_{bw}} \end{array}} \right] = \mathit{\boldsymbol{R}}\left[ {\begin{array}{*{20}{c}} {{X_{b2t}} - {X_{b1t}}}\\ {{Y_{b2t}} - {Y_{b1t}}}\\ {{Z_{b2t}} - {Z_{b1t}}} \end{array}} \right] {{Y_{w4t}} - {Y_{w1t}}}\\ \end{array}} \right] = \mathit{\boldsymbol{R}}\left[ {\begin{array}{*{20}{c}} {{X_{b4t}} - {X_{b1t}}}\\ {{Y_{b4t}} - {Y_{b1t}}}\\ {{Z_{b4t}} - {Z_{b1t}}} \end{array}} \right] \left\{ \begin{array}{l} \left( {{X_{b2t}} - {X_{b1t}}} \right)\tan \beta - \left( {{Y_{b2t}} - {Y_{b1t}}} \right)\sin \alpha - \\ \;\;\;\;\;\;\left( {{Z_{b2t}} - {Z_{b1t}}} \right)\cos \alpha = 0\\ \left( {{X_{b4t}} - {X_{b1t}}} \right)\tan \beta - \left( {{Y_{b4t}} - {Y_{b1t}}} \right)\sin \alpha - \\ \;\;\;\;\;\;\left( {{Z_{b4t}} - {Z_{b1t}}} \right)\cos \alpha = 0 \end{array} \right. \alpha = \arctan \left[ {\frac{{\left( {{X_{b20}} - {X_{b10}}} \right)\left( {\Delta {Z_{b4}} - \Delta {Z_{b1}}} \right) - \left( {{X_{b40}} - {X_{b10}}} \right)\left( {\Delta {Z_{b2}} - \Delta {Z_{b1}}} \right)}}{{\left( {{X_{b40}} - {X_{b10}}} \right)\left( {\Delta {Y_{b2}} - \Delta {Y_{b1}}} \right) - \left( {{X_{b20}} - {X_{b10}}} \right)\left( {2W + \Delta {Y_{b4}} - \Delta {Y_{b1}}} \right)}}} \right] \beta = \arctan \left[ {\frac{{\left( {\Delta {Y_{b2}} - \Delta {Y_{b1}}} \right)\sin \alpha + \left( {\Delta {Z_{b2}} - \Delta {Z_{b1}}} \right)\cos \alpha }}{{{X_{b20}} - {X_{b10}}}}} \right] \gamma = \arctan \left[ {\frac{{\left( {\Delta {Z_{b2}} - \Delta {Z_{b1}}} \right)\sin \alpha - \left( {\Delta {Y_{b2}} - \Delta {Y_{b1}}} \right)\cos \alpha }}{{\left( {{X_{b20}} - {X_{b10}}} \right)\cos \beta + \left( {\Delta {Y_{b2}} - \Delta {Y_{b1}}} \right)\sin \beta \sin \alpha - \left( {\Delta {Z_{b2}} - \Delta {Z_{b1}}} \right)\sin \beta \cos \alpha }}} \right] {\Delta Y}\\ {\Delta Z} \end{array}} \right] = {\mathit{\boldsymbol{T}}_{bw}} = \left[ {\begin{array}{*{20}{c}} {{X_{wit}}}\\ {{Y_{wit}}}\\ {{Z_{wit}}} \end{array}} \right] - \mathit{\boldsymbol{R}}\left[ {\begin{array}{*{20}{c}} {{X_{bit}}}\\ {{Y_{bit}}}\\ {{Z_{bit}}} \end{array}} \right]