基于机器视觉的限界系统振动位移补偿方法研究

Research on vibration compensation for clearance system based on machine vision

针对列车车体的随机振动影响到限界系统的测量结果的问题,提出一种基于机器视觉的振动补偿测试系统。该系统以轨道为参考建立轨面基准坐标系,结合车体的振动特性,根据激光摄像组件所测位移,推导出车体振动偏移补偿计算方法,用于补偿激光扫描传感器的测量结果。为测试系统系统动态精度,提出基于扩展卡尔曼滤波的多传感器信息融合算法。动静态试验结果表明:实测误差接近于理论分析误差,验证了算法的可行性。对于当前的传感器安装高度,补偿精度可达到1 mm。当前已完成线路上的动态测试,将应用于综合巡检车中。

In order to overcome the negative influence on the measurement accuracy of the clearance system due to train vibration,a vibration compensation algorithm based on machine vision is proposed.In the system,the world coordinate system was constructed with tracks as the reference system.The vibration compensation algorithm is derived according to displacement measured by Camera&Laser and combining vibration characteristics,which is applied to compensate the results of laser scanning sensor.The EKF algorithm is proposed for testing system dynamic precision.The results show that the measured error is close to the theoretical analysis error,which verifies the feasibility of the algorithm,and the accuracy reaches 1 mm.Now the system is ready to be installed in the comprehensive inspection train.