公开(公告)号：US20090112487A1

公开(公告)日：2009-04-30

申请号：US12258398

申请日：2008-10-25

申请人： Guangjun Zhang ,  Junhua Sun ,  Zhenzhong Wei ,  Fuqiang Zhou ,  Qingbo Li ,  Zhen Liu ,  Qianzhe Liu

发明人： Guangjun Zhang ,  Junhua Sun ,  Zhenzhong Wei ,  Fuqiang Zhou ,  Qingbo Li ,  Zhen Liu ,  Qianzhe Liu

IPC分类号： G01B11/00

CPC分类号： G01B11/2513 ,  B61K9/08 ,  G01B11/2522

摘要： The invention discloses a vehicle dynamic measurement device for comprehensive parameters of rail wear, which comprises a vision sensor, a computer and a milometer. A high-speed image acquisition card and a measurement module are installed in the computer. The vision sensor comprises imaging system for rail cross-section and a raster projector which can project more than one light plane perpendicular to the measured rail. The measurement module is used for calculating vertical wear, horizontal wear, the amplitude and wavelength of corrugation wear. The invention also discloses a vehicle dynamic measurement method for comprehensive parameters of rail wear. The invention can increase the sampling rate of image sensing and acquisition hardware equipment with no need of improving the performance of it, thereby satisfy high-speed on-line dynamic measurement requirements for corrugation wear, and the amplitude and wavelength of corrugation wear can be calculated more precisely.

摘要翻译： 本发明公开了一种用于轨道磨损综合参数的车辆动态测量装置，其包括视觉传感器，计算机和千米。 计算机中安装有高速图像采集卡和测量模块。 视觉传感器包括用于轨道横截面的成像系统和光栅投影仪，该投影仪可以投影多个垂直于测量轨道的光平面。 测量模块用于计算垂直磨损，水平磨损，波纹磨损的振幅和波长。 本发明还公开了一种用于铁路磨损综合参数的车辆动态测量方法。 本发明可以增加图像感测和采集硬件设备的采样率，不需要提高其性能，从而满足波纹磨损的高速在线动态测量要求，并且可以计算波纹磨损的幅度和波长 更确切地说。

公开(公告)号：US08019147B2

公开(公告)日：2011-09-13

申请号：US12025741

申请日：2008-02-04

申请人： Guangjun Zhang ,  Junhua Sun ,  Zhenzhong Wei ,  Qianzhe Liu

发明人： Guangjun Zhang ,  Junhua Sun ,  Zhenzhong Wei ,  Qianzhe Liu

IPC分类号： G06K9/00

CPC分类号： G06K9/209 ,  G06K2209/40 ,  G06T7/593 ,  G06T7/85 ,  G06T2207/10012

摘要： The present disclosure is directed to a three-dimensional data registration method for vision measurement in flow style based on a double-sided target. An embodiment of the disclosed method that comprises A. Setting up two digital cameras which can observe the entire measured object; B. Calibrating intrinsic parameters and a transformation between the two digital camera coordinate frames; C. A double-sided target being placed near the measured area of the measured object, the two digital cameras and a vision sensor taking images of at least three non-collinear feature points of the double-sided target; D. Removing the target, measuring the measured area by using the vision sensor; E. Respectively computing the three dimensional coordinates of the feature points in the global coordinate frame and in the vision sensor coordinate frame; F. Estimating the transformation from the vision sensor coordinate frame to the global coordinate frame through the three dimensional coordinates of the three or more non-collinear feature points obtained at step E, then transforming the three dimensional data of the measured area to the global coordinate frame; and G. Repeating step C, D, E, F, then completing three dimensional data registration for all measured areas. The present disclosure improves three dimensional data registration precision and efficiency.

摘要翻译： 本公开涉及一种用于基于双面目标的流动式视觉测量的三维数据登记方法。 所公开的方法的实施例包括A.设置可以观察整个测量对象的两个数码相机; B.校准固有参数和两个数码相机坐标系之间的变换; C.一个双面目标放置在测量对象的测量区域附近，两个数字照相机和视觉传感器拍摄双面目标的至少三个非共线特征点的图像。 D.去除目标，使用视觉传感器测量测量面积; E.分别计算全局坐标系和视觉传感器坐标系中特征点的三维坐标; F.通过在步骤E获得的三个或多个非共线特征点的三维坐标来估计从视觉传感器坐标系到全局坐标系的变换，然后将测量区域的三维数据变换为全局坐标 帧; 和G.重复步骤C，D，E，F，然后完成所有测量区域的三维数据登记。 本公开改进了三维数据配准精度和效率。

公开(公告)号：US08078025B2

公开(公告)日：2011-12-13

申请号：US12258398

申请日：2008-10-25

申请人： Guangjun Zhang ,  Junhua Sun ,  Zhenzhong Wei ,  Fuqiang Zhou ,  Qingbo Li ,  Zhen Liu ,  Qianzhe Liu

发明人： Guangjun Zhang ,  Junhua Sun ,  Zhenzhong Wei ,  Fuqiang Zhou ,  Qingbo Li ,  Zhen Liu ,  Qianzhe Liu

IPC分类号： G06K9/00 ,  G01C11/12

CPC分类号： G01B11/2513 ,  B61K9/08 ,  G01B11/2522

摘要： The invention discloses a vehicle dynamic measurement device for comprehensive parameters of rail wear, which comprises a vision sensor, a computer and a milometer. A high-speed image acquisition card and a measurement module are installed in the computer. The vision sensor comprises imaging system for rail cross-section and a raster projector which can project more than one light plane perpendicular to the measured rail. The measurement module is used for calculating vertical wear, horizontal wear, the amplitude and wavelength of corrugation wear. The invention also discloses a vehicle dynamic measurement method for comprehensive parameters of rail wear. The invention can increase the sampling rate of image sensing and acquisition hardware equipment with no need of improving the performance of it, thereby satisfy high-speed on-line dynamic measurement requirements for corrugation wear, and the amplitude and wavelength of corrugation wear can be calculated more precisely.

摘要翻译： 本发明公开了一种用于轨道磨损综合参数的车辆动态测量装置，其包括视觉传感器，计算机和千米。 计算机中安装有高速图像采集卡和测量模块。 视觉传感器包括用于轨道横截面的成像系统和光栅投影仪，该投影仪可以投影多个垂直于测量轨道的光平面。 测量模块用于计算垂直磨损，水平磨损，波纹磨损的振幅和波长。 本发明还公开了一种用于铁路磨损综合参数的车辆动态测量方法。 本发明可以增加图像感测和采集硬件设备的采样率，不需要提高其性能，从而满足波纹磨损的高速在线动态测量要求，并且可以计算波纹磨损的幅度和波长 更确切地说。

公开(公告)号：US20080298673A1

公开(公告)日：2008-12-04

申请号：US12025741

申请日：2008-02-04

申请人： Guangjun Zhang ,  Junhua Sun ,  Zhenzhong Wei ,  Qianzhe Liu

发明人： Guangjun Zhang ,  Junhua Sun ,  Zhenzhong Wei ,  Qianzhe Liu

IPC分类号： G06K9/00

CPC分类号： G06K9/209 ,  G06K2209/40 ,  G06T7/593 ,  G06T7/85 ,  G06T2207/10012

摘要： The present disclosure is directed to a three-dimensional data registration method for vision measurement in flow style based on a double-sided target. An embodiment of the disclosed method that comprises A. Setting up two digital cameras which can observe the entire measured object; B. Calibrating intrinsic parameters and a transformation between the two digital camera coordinate frames; C. A double-sided target being placed near the measured area of the measured object, the two digital cameras and a vision sensor taking images of at least three non-collinear feature points of the double-sided target; D. Removing the target, measuring the measured area by using the vision sensor; E. Respectively computing the three dimensional coordinates of the feature points in the global coordinate frame and in the vision sensor coordinate frame; F. Estimating the transformation from the vision sensor coordinate frame to the global coordinate frame through the three dimensional coordinates of the three or more non-collinear feature points obtained at step E, then transforming the three dimensional data of the measured area to the global coordinate frame; and G. Repeating step C, D, E, F, then completing three dimensional data registration for all measured areas. The present disclosure improves three dimensional data registration precision and efficiency.

摘要翻译： 本公开涉及一种用于基于双面目标的流动式视觉测量的三维数据登记方法。 所公开的方法的实施例包括A.设置可以观察整个测量对象的两个数码相机; B.校准固有参数和两个数码相机坐标系之间的变换; C.一个双面目标放置在测量对象的测量区域附近，两个数字照相机和视觉传感器拍摄双面目标的至少三个非共线特征点的图像。 D.去除目标，使用视觉传感器测量测量面积; E.分别计算全局坐标系和视觉传感器坐标系中特征点的三维坐标; F.通过在步骤E获得的三个或多个非共线特征点的三维坐标来估计从视觉传感器坐标系到全局坐标系的变换，然后将测量区域的三维数据变换为全局坐标 帧; 和G.重复步骤C，D，E，F，然后完成所有测量区域的三维数据登记。 本公开改进了三维数据配准精度和效率。