基于视觉的车辆与轨道相对振动状态测量方法研究

Research on Relative Vibration State Measurement Method of Vehicle and Rail Based on Vision

车辆与轨道相对振动状态对轨道线形测量有重要影响;分析了传统检测车辆与轨道相对振动状态测量方法的缺陷,提出一种基于视觉的车轨相对振动状态测量方法,以轨道建立轨道坐标系,以车体建立车体坐标系;考虑相机镜头畸变,建立相机非线性模型,基于机器人手眼方法标定相机与车体,求解相机内外参数;依据车体运动姿态特征,推导基于双目机器视觉的车辆运动姿态偏移补偿计算方法;运用实验平台设计验证实验,通过计算所得的车体振动位移与真实值高度吻合,随着车速增加振动位移误差也随之增大,验证了该方法的正确性和可行性;提供一种车辆与轨道相对振动状态测量方法。

The relative vibration state of vehicle and rail has an important influence on the measurement of the track geometry. The de fects of the traditional method of measuring the relative vibration state of vehicle and rail are analyzed. A method for measuring the relative vibration state of vehicle and rail based on vision is proposed. The world coordinate system was constructed with tracks, and the vehicle coordinate system was constructed with body. Taking into consideration lens distortion, the non-linear model of cameras was set up. Calibrating the camera and body based on robot hand--eye calibrations, and acquire the internal and external parameters of the cameras. According to the characteristic of the vehicle body vibration, a calculation method of vehicle vibration displacement was deduced based on binocular machine vision. Using experiment platform design verification experiment, the vibration displacement of the vehicle body is in agreement with the real value. As the speed increases, the vibration displacement error increases. The correctness and feasibility of the proposed method are verified. It provides a method for measuring relative vibration state of vehicle and rail.