CN112432610A - Train clearance detection device and detection method - Google Patents

Abstract

Translated fromChinese

本发明提供了一种列车限界检测装置，包括龙门架、测距仪、相机支架、激光相机；龙门架安装在地基上；龙门架包括两个立柱和连接两个立柱的横梁；测距仪安装在立柱上，用于监控列车车身的位置；横梁上、立柱上以及地沟内设置有多个相机支架，地沟内的相机支架通过连接杆与龙门架连接；每个相机支架上均安装有激光相机。本发明还提供了一种列车限界检测方法，包括相机群组标定、校验检测系统、建立坐标系、采集数据、轮廓矫正、实时监测等步骤。本发明采用轮廓拼接技术，通过传感器级联的方式，把所有的轮廓点拼接成一个完整的车身截面轮廓，准确的还原车体的真实尺寸情况，通过相机群组的标定实现线激光局部检测到整体检测，极大提高了检测精度。

The invention provides a train limit detection device, comprising a gantry frame, a range finder, a camera bracket and a laser camera; the gantry frame is installed on the foundation; the gantry frame includes two uprights and a beam connecting the two uprights; the rangefinder is installed On the column, it is used to monitor the position of the train body; a plurality of camera brackets are arranged on the beam, the column and in the trench, and the camera bracket in the trench is connected to the gantry frame through a connecting rod; a laser camera is installed on each camera bracket . The invention also provides a train limit detection method, which includes the steps of camera group calibration, calibration of the detection system, establishment of a coordinate system, data collection, contour correction, real-time monitoring and the like. The present invention adopts the contour splicing technology, splices all the contour points into a complete vehicle body cross-sectional contour by cascading sensors, accurately restores the real size of the vehicle body, and realizes the local detection of the line laser through the calibration of the camera group. The overall detection greatly improves the detection accuracy.

Description

Train clearance detection device and detection method

Technical Field

The invention relates to the technical field of train vehicle precision measurement, in particular to a train clearance detection device and a train clearance detection method.

Background

Train clearance means that the contour dimension line is not allowed to be exceeded when the train approaches a building or any equipment in order to ensure the normal operation of the train and safety factors, as specified by the ministry of railways. Any part of the train must not exceed the dimensions specified by the train vehicle limits in any case. The method for detecting the train vehicle limit is mainly obtained by obtaining the vehicle external contour (envelope curve), one section contour perpendicular to the track center line at a certain moment in the running process of the train vehicle is the maximum contour of the section of the vehicle, and the maximum contour superposed by all the section contours in the running process of the vehicle is the limit of the vehicle.

The traditional train body space size detection uses various tools such as detection tools, detection templates, measuring tapes, plug gauges and the like. The detected data also has the following problems: the influence of human factors is large, the tool precision is not high, the measured data are inconsistent, the measuring labor intensity is large, and the measurement is not repeatable; when a worker reads the measurement data, the worker is influenced by experience and environment, and the measurement result is easy to be unbalanced in acquisition; and when the traditional measuring method is used for measuring the whole vehicle or a local vehicle body, an accurate error value cannot be obtained, and the measuring time is long once, so that the measuring efficiency is low. Therefore, the non-contact laser limit development is needed, and the requirements of automatic, non-contact and non-damage measurement under the high-capacity condition of an enterprise are met.

In summary, there is a need for a train clearance detection device and a detection method to solve the problems in the prior art.

Disclosure of Invention

The invention aims to provide a train clearance detection device and a train clearance detection method, which are used for improving the detection efficiency, improving the detection precision, improving the equipment detection compatibility and providing three-dimensional data for a technical department for optimization design.

In order to achieve the aim, the invention provides a train limit detection device, which comprises a portal frame, a range finder, a camera bracket and a laser camera; the portal frame is arranged on the foundation; the portal frame comprises two upright posts and a beam for connecting the two upright posts; the distance measuring instrument is arranged on the upright column and used for monitoring the position of the train body; a plurality of camera brackets are arranged on the beam, the upright post and the trench, and the camera brackets in the trench are connected with the portal frame through connecting rods; each camera bracket is provided with a laser camera; the light plane that laser camera sent throws on the automobile body of train, realizes 360 seamless limits of clearance detection to train automobile body, vehicle bottom.

Furthermore, a lifting beam and a motor for driving the lifting beam to move are installed on the portal frame, and two ends of the lifting beam are respectively connected with the two stand columns in a sliding manner so as to adapt to train clearance detection of different train types

Furthermore, a guide rail is installed on the foundation, a sliding block is installed at the bottom of the portal frame, and a groove matched with the guide rail is formed in the sliding block.

Furthermore, a rack is installed on the foundation and arranged in parallel with the guide rail, a gear and a motor for driving the gear to rotate are installed at the bottom of the portal frame, the gear is meshed with the rack, and the portal frame is pushed to move on the guide rail through rotation of the gear.

Furthermore, a light shielding plate is arranged on the outer side of the beam to reduce interference of external light on image acquisition of the laser camera.

The invention also provides a train clearance detection method, which adopts the detection device and comprises the following steps:

the method comprises the following steps: installing a portal frame, a camera support and various auxiliary parts, installing a 3D laser camera on a movable camera support, finely adjusting the installation position of each camera to enable a laser line to be continuously and excessively projected on a vehicle body, setting parameters of the cameras, calibrating a camera group by adopting a customized standard calibration component, and synchronizing the acquisition values of all the cameras to the same coordinate system;

step two: the precision of the detection device is verified by adopting a standard check block, the check block is placed under the visual field of a camera, the camera collects data of the check block, each parameter value of the check block is calculated and compared with a standard value, and the system can be put into use only when the error is within an allowable range;

step three: placing the standard vehicle body outline template in a camera view range, centering a vehicle body template support with a train track, scanning the standard vehicle body outline template by a camera to obtain collected data of the vehicle body outline template, and establishing a system coordinate system according to the template data;

step four: the system automatically adjusts the height of a lifting beam of the portal frame according to the type of the train;

step five: the system monitors the train body distance in real time through a distance meter and uploads the data to a detection software system in the process of advancing the gantry on the guide rail, when a train body enters the camera view below the gantry, a camera group is triggered to shoot and acquire train body outline data, and the acquired data are uploaded to the detection software system; splicing all the contour points into a complete vehicle body section contour by adopting a contour splicing technology in a sensor cascade mode;

step six: correcting and storing the acquired vehicle body contour in real time by adopting the affine transformation principle;

step seven: and (4) carrying out limit detection on the vehicle body contour acquired in real time and the standard vehicle body contour of the vehicle type, storing detection result data, and repeating the steps from five to seven until the detection of the whole train compartment is finished.

Step eight: and fusing the acquired 3D data of the section outline of the vehicle body and the acquired data of the range finder according to the results of the third step to the seventh step to obtain the 3D point cloud data of the whole vehicle and generate a corresponding 3D model of the vehicle body, displaying the data in a software system, and manually measuring the data on the model by using a measuring tool.

Step nine: and generating and storing a finished automobile detection result, outputting a detection result report, and printing.

Further, the establishing of the system coordinate system in the third step specifically includes: and (3) obtaining an XZ axis from the collected template data in a fitting calculation mode by adopting a right-hand coordinate system, taking the end surface of the bottom of the template as the positive X direction of the coordinate system, the direction of the center line of the template as the positive Z direction, and the advancing direction of the train as the negative Y direction, and obtaining the direction of the Y axis by taking the intersection point of the XZ axis as the origin of the coordinate system and calculating through ZX cross multiplication.

Further, the limit detection in the seventh step is specifically: firstly, carrying out limit detection on a single acquisition contour section to detect whether the vehicle bottom has overrun; and smoothing and correcting the collected contour, comparing the smoothed contour with an imported standard limit size diagram, calculating whether the top is overrun or not, and calculating whether the two sides of the vehicle body are overrun or not.

The technical scheme of the invention has the following beneficial effects:

(1) in the invention, all cameras are arranged at the designed position of a portal frame, a standard car body outline template is arranged at a designated position, laser lines of all cameras can be projected on the standard car body outline template, the light is ensured to be uniform, the intensity of the laser light is adjusted to be suitable for the black and white colors of two typical standard car body outline templates, a camera installation adjusting mechanism is finely adjusted, so that the connection between the laser lines is continuous and parallel, an outline splicing technology is adopted, all the contour points are spliced into a complete vehicle body section contour in a sensor cascade mode, the real section size condition of the vehicle body is accurately restored, the 3D laser camera local detection overall detection is realized through the calibration of the camera group, instead of independently detecting the position of the vehicle body by a single sensor, the 3D contour splicing technology is adopted, and the detection precision is greatly improved.

(2) In the invention, a vehicle body contour is collected by 14 cameras, about 18000 data points exist, if the contour is collected once at an interval of 3mm, about 8333 contours are collected for a 25m long vehicle body, and 8000 pieces of contour point cloud data are spliced into a whole vehicle model by adopting a contour splicing technology in combination with vehicle body position data and a time frame collected by a range finder, so that the actual 3D model of the vehicle body generated by image collection can be visually checked.

(3) According to the invention, laser cameras are arranged on the beam of the portal frame, on the upright post and in the trench, and a light plane emitted by the laser cameras is projected on the train body, so that 360-degree seamless limit detection of the train body and train bottom is realized.

(4) According to the invention, the lifting beam and the motor for driving the lifting beam to move are installed on the portal frame, two ends of the lifting beam are respectively connected with the two upright posts in a sliding manner, and the lifting beam can slide up and down along the upright posts so as to adjust the height of the portal frame, and can be suitable for train clearance detection of different vehicle types.

(5) In the invention, the gear and rack transmission is adopted to drive the portal frame to move, the transmission is stable, and the motion precision is high. And the double-row guide rail is adopted for guiding, so that the stability is good.

(6) In the invention, the outer side of the beam is provided with the light screen to reduce the interference of external light on the image acquisition of the laser camera and improve the detection precision.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic diagram of a train clearance detecting device;

FIG. 2 is a schematic view of a rack and pinion mounting arrangement;

FIG. 3 is a perspective view of a train clearance detecting apparatus;

FIG. 4 is a standard body contour template;

FIG. 5 is an auto-limit detection flow diagram;

the system comprises alifting beam 1, alifting beam 2, aportal frame 3, arange finder 4, amotor 5, acamera support 6, alaser camera 7, alight plane 8, atrain 9, afoundation 10, atrench 11, aguide rail 12, ashading plate 13, arack 14 and a servo motor.

Detailed Description

Embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways, which are defined and covered by the claims.

Example 1:

referring to fig. 1 to 4, a train clearance detection device comprises aportal frame 2, arange finder 3, acamera bracket 5 and alaser camera 6; theportal frame 2 is arranged on thefoundation 9; theportal frame 2 comprises two upright posts and a beam for connecting the two upright posts; thedistance measuring instrument 3 is arranged on the upright column and used for monitoring the position of thetrain body 8; a plurality ofcamera brackets 5 are arranged on the beam, the upright post and thetrench 10, and thecamera brackets 5 in thetrench 10 are connected with theportal frame 2 through connecting rods; eachcamera bracket 5 is provided with alaser camera 6; thelight plane 7 emitted by thelaser camera 6 is projected on the train body of thetrain 8, and 360-degree seamless limit detection of the train body and train bottom of thetrain 8 is realized. The present embodiment comprises 143D laser cameras 6 forming a ring in space, of which 3 are located in thetrench 10.

Thegantry 2 is provided with alifting beam 1 and amotor 4 for driving thelifting beam 1 to move, and two ends of thelifting beam 1 are respectively connected with the two upright posts in a sliding manner so as to adapt to the detection of the limits of 8 trains of different types.

Theguide rail 11 is installed on thefoundation 9, the sliding block is installed at the bottom of theportal frame 2, and the sliding block is provided with a groove matched with theguide rail 11. This embodiment employs double rows of guide rails.

Arack 13 is arranged on thefoundation 9, therack 13 is arranged in parallel with the guide rail, a gear (not shown) and aservo motor 14 for driving the gear to rotate are arranged at the bottom of theportal frame 2, the gear is meshed with therack 13, and theportal frame 2 is pushed to move on the guide rail through the rotation of the gear.

The outer side of the beam is provided with alight shielding plate 12 to reduce the interference of external light to the image acquisition of thelaser camera 6.

When the boundary detection equipment is started, the input signal in the detection system needs to be effectively fed back, and the following conditions are detected and fed back according to the principle and the characteristics of the measurement equipment, so that the measurement error caused by equipment failure is avoided.

1) Whether the 3D laser camera function is normal is detected, camera laser line intensity and uniformity are detected, whether shielding exists in the visual field is detected, it is guaranteed that laser projection line laser is normal, and data collected by the 3D laser camera are normal.

2) Whether the data collected by the camera set is normal is detected, the camera is controlled to shoot the standard precision calibration module, dimension measurement is carried out, and the dimension measurement is compared with the standard module, so that whether the data collected by the camera set is normal is verified.

3) And (3) detecting the position of the gantry, after the system is automatically checked, checking the position of the gantry lifting beam before the detection is started, confirming whether the position is matched with the current vehicle type, and preventing the conditions such as collision caused by the position error of the gantry and the like.

4) The laser distance sensor detects whether the position of the distance measuring instrument is normal or not, and the situation that no distance measuring data is in collision is avoided, and the laser distance sensor is parallel to the vehicle body. The data stability of the distance measuring sensor is detected, the equipment is guaranteed to be aligned to the reflector, the reflector is installed at the tail of the vehicle body, the intensity and uniformity of bright spots projected by the laser emission light source are detected, and whether reflected light data can be normally received or not is detected.

The detection equipment is deployed inside the assembly plant, the detection environment is an open space, and severe environment influence needs to be overcome in the detection and calculation process, so that the system needs to measure and feed back the following interference factors:

1) weather and other external factors including cloudy and nighttime detection;

2) measuring errors are generated by vibration;

3) measurement omission is caused by vehicle body defects;

4) deformation due to vehicle loading;

5) suspension system effects;

6) vehicle manufacturing tolerances;

the above interference factors may cause errors in the detection process of the vehicle body, and the detection environment of the above type and not limited to the above type needs to be recorded and experimentally analyzed through system measurement so as to perform data analysis and limit calculation.

The detection method adopting the train clearance detection device comprises the following steps (as shown in figure 5):

the method comprises the following steps: the method comprises the steps of installing a portal frame, a camera support and various auxiliary parts, installing a 3D laser camera on a movable camera support, finely adjusting the installation position of each camera, enabling a laser line to be continuously and excessively projected on a vehicle body, setting parameters of the cameras, calibrating a camera group by adopting a customized standard calibration component, and synchronizing the acquisition values of all the cameras to the same coordinate system.

Step two: the precision of the detection device is verified by adopting a standard check block, the check block is placed under the visual field of a camera, the camera collects data of the check block, each parameter value of the check block is calculated and compared with a standard value, and the system can be put into use when the error is within an allowable range.

Step three: and placing the standard vehicle body outline template in the field of view of the camera, centering the vehicle body template support with the train track, scanning the standard vehicle body outline template by the camera to obtain the acquired data of the vehicle body outline template, and establishing a system coordinate system according to the template data.

The establishment of the system coordinate system specifically comprises the following steps: and (3) obtaining an XZ axis from the collected template data in a fitting calculation mode by adopting a right-hand coordinate system, taking the end surface of the bottom of the template as the positive X direction of the coordinate system, the direction of the center line of the template as the positive Z direction, and the advancing direction of the train as the negative Y direction, and obtaining the direction of the Y axis by taking the intersection point of the XZ axis as the origin of the coordinate system and calculating through ZX cross multiplication.

Step four: the system automatically adjusts the height of the lifting beam of the portal frame according to the type of the train.

Step five: the system monitors the train body distance in real time through a distance meter and uploads the data to a detection software system in the process of advancing the gantry on the guide rail, when a train body enters the camera view below the gantry, a camera group is triggered to shoot and acquire train body outline data, and the acquired data are uploaded to the detection software system; and (3) splicing all the contour points into a complete vehicle body section contour by adopting a contour splicing technology and a sensor cascading mode.

Step six: and correcting and storing the collected vehicle body contour in real time by adopting the affine transformation principle.

Step seven: and (4) carrying out limit detection on the vehicle body contour acquired in real time and the standard vehicle body contour of the vehicle type, storing detection result data, and repeating the steps from five to seven until the detection of the whole train compartment is finished.

The limit detection specifically comprises the following steps: firstly, carrying out limit detection on a single acquisition contour section to detect whether the vehicle bottom has overrun; and smoothing and correcting the collected contour, comparing the smoothed contour with an imported standard limit size diagram, calculating whether the top is overrun or not, and calculating whether the two sides of the vehicle body are overrun or not.

Step eight: and fusing the acquired 3D data of the section outline of the vehicle body and the acquired data of the range finder according to the results of the third step to the seventh step to obtain the 3D point cloud data of the whole vehicle and generate a corresponding 3D model of the vehicle body, displaying the data in a software system, and manually measuring the data on the model by using a measuring tool.

Step nine: and generating and storing a finished automobile detection result, outputting a detection result report, and printing.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

Translated fromChinese

1.一种列车限界检测装置，其特征在于，包括龙门架、测距仪、相机支架、激光相机；龙门架安装在地基上；龙门架包括两个立柱和连接两个立柱的横梁；测距仪安装在立柱上，用于监控列车车身的位置；横梁上、立柱上以及地沟内设置有多个相机支架，地沟内的相机支架通过连接杆与龙门架连接；每个相机支架上均安装有激光相机；激光相机发出的光平面投射在列车的车身上，实现对列车车身、车底的360度无缝隙限界检测。1. A train limit detection device is characterized in that, comprising a gantry, a range finder, a camera support, a laser camera; the gantry is installed on the foundation; the gantry comprises two uprights and a beam connecting the two uprights; ranging The instrument is installed on the column to monitor the position of the train body; a plurality of camera brackets are arranged on the beam, column and in the trench, and the camera bracket in the trench is connected to the gantry through a connecting rod; each camera bracket is installed with a Laser camera: The light plane emitted by the laser camera is projected on the body of the train to realize 360-degree seamless boundary detection of the body and bottom of the train.2.根据权利要求1所述的一种列车限界检测装置，其特征在于，龙门架上安装有升降横梁以及驱动升降横梁运动的电机，升降横梁两端分别与两个立柱滑动连接。2 . The train limit detection device according to claim 1 , wherein a lift beam and a motor for driving the lift beam are installed on the gantry, and the two ends of the lift beam are respectively slidably connected to two uprights. 3 .3.根据权利要求2所述的一种列车限界检测装置，其特征在于，地基上安装有导轨，龙门架底部安装有滑块，滑块上有与导轨相匹配的凹槽。3 . The train limit detection device according to claim 2 , wherein a guide rail is installed on the foundation, a slider is installed at the bottom of the gantry, and the slider has a groove matching the guide rail. 4 .4.根据权利要求3所述的一种列车限界检测装置，其特征在于，地基上安装有齿条，齿条与导轨平行设置，龙门架底部安装有齿轮以及驱动齿轮转动的电机，齿轮与齿条啮合，通过齿轮转动，推动龙门架在导轨上移动。4. A train limit detection device according to claim 3, characterized in that a rack is installed on the foundation, the rack and the guide rail are arranged in parallel, a gear and a motor for driving the rotation of the gear are installed at the bottom of the gantry, and the gear and the gear are arranged in parallel with the guide rail. The strips mesh and rotate through the gears, pushing the gantry to move on the guide rails.5.根据权利要求4所述的一种列车限界检测装置，其特征在于，横梁外侧设有遮光板，以减少外部光线对激光相机图像采集的干扰。5 . The train limit detection device according to claim 4 , wherein a shading plate is provided on the outer side of the beam to reduce the interference of external light on the image acquisition of the laser camera. 6 .6.一种列车限界检测方法，采用了如权利要求1～5任意一项所述的检测装置，其特征在于，包括以下步骤：6. A train limit detection method, using the detection device according to any one of claims 1 to 5, characterized in that it comprises the following steps:步骤一：龙门架和相机支架及各种辅件安装好，将3D激光相机安装在活动相机支架上，微调每个相机的安装位置，使激光线连续过度地投射在车身上，设置相机的参数，采用定制的标准标定组件对相机群组进行标定，将所有相机的采集值同步到同一坐标系下；Step 1: Install the gantry frame, camera bracket and various accessories, install the 3D laser camera on the movable camera bracket, fine-tune the installation position of each camera, make the laser line continuously and excessively project on the body, and set the parameters of the camera , using a customized standard calibration component to calibrate the camera group, and synchronize the acquisition values of all cameras to the same coordinate system;步骤二：采用标准的校验块对检测装置的精度进行验证，将校验块放在相机视野下，相机采集校验块数据，并计算校验块的各个参数值，并与标准值进行比较，当误差在允许范围之内时才能将系统投入使用；Step 2: Use a standard check block to verify the accuracy of the detection device, place the check block under the camera's field of view, and the camera collects the check block data, calculates various parameter values of the check block, and compares them with the standard values , the system can only be put into use when the error is within the allowable range;步骤三：将标准车身轮廓模板放在相机视野范围内，并将车身模板支架与列车轨道进行对中，相机扫描标准车身轮廓模板，得到标准车身轮廓模板的采集数据，根据模板数据建立系统坐标系；Step 3: Put the standard body contour template in the camera's field of view, and align the body template bracket with the train track. The camera scans the standard body contour template to obtain the collection data of the standard body contour template, and establishes a system coordinate system according to the template data. ;步骤四：系统根据列车车型自动调整龙门架上升降横梁高度；Step 4: The system automatically adjusts the height of the lifting beam on the gantry according to the train model;步骤五：龙门架在导轨上行进过程中系统通过测距仪实时监测车体距离并上传数据给检测软件系统，当列车车身进入龙门架下方相机视野内时，触发相机群组拍照采集车身轮廓数据，并将采集数据上传给检测软件系统；采用轮廓拼接技术，通过传感器级联的方式，把所有的轮廓点拼接成一个完整的车身截面轮廓；Step 5: When the gantry travels on the guide rail, the system monitors the distance of the car body in real time through the range finder and uploads the data to the detection software system. When the train body enters the field of view of the camera below the gantry, the camera group is triggered to take pictures to collect the body contour data. , and upload the collected data to the detection software system; adopt contour splicing technology, and splicing all contour points into a complete body cross-sectional contour by means of sensor cascade;步骤六：采用仿射变换的原理对采集车身轮廓进行实时校正并保存；Step 6: Use the principle of affine transformation to correct and save the collected body contour in real time;步骤七：将实时采集的车身轮廓与该车型的标准车身轮廓进行限界检测，并保存检测结果数据，重复步骤五～七直到整节列车车厢检测完成。Step 7: Perform boundary detection between the body contour collected in real time and the standard body contour of the vehicle, and save the detection result data, and repeat steps 5 to 7 until the detection of the entire train is completed.7.根据权利要求6所述的一种列车限界检测方法，其特征在于，步骤三中建立系统坐标系具体是：采用右手坐标系，以模板底部端面为坐标系X正方向，模板中心线方向为Z正方向，列车行进方向为Y负方向，从采集模板数据中通过拟合计算的方式得到XZ轴，并以XZ轴的交点为坐标系原点，通过ZX叉乘计算得到Y轴方向。7. a kind of train limit detection method according to claim 6, is characterized in that, establishing system coordinate system in step 3 is specifically: adopt right-hand coordinate system, take the bottom end face of template as coordinate system X positive direction, template centerline direction It is the positive Z direction, the train travel direction is the negative Y direction, the XZ axis is obtained from the collected template data by fitting and calculation, and the intersection of the XZ axis is used as the origin of the coordinate system, and the Y axis direction is obtained by ZX cross-multiplication calculation.8.根据权利要求7所述的一种列车限界检测方法，其特征在于，所述步骤七中限界检测具体是：先针对单个采集轮廓截面进行限界检测，检测车底是否存在超限；将采集的轮廓进行平滑处理与矫正，与导入的标准限界尺寸图进行对比，计算顶部是否超限，同时计算车身两侧是否超限。8. A kind of train limit detection method according to claim 7, it is characterized in that, in described step 7, limit detection is specifically: first carry out limit detection for a single collection profile section, and detect whether there is over-limit at the bottom of the vehicle; The contour of the vehicle is smoothed and corrected, and it is compared with the imported standard limit size map to calculate whether the top exceeds the limit, and at the same time calculate whether the two sides of the body exceed the limit.9.根据权利要求8所述的一种列车限界检测方法，其特征在于，还包括步骤八：根据步骤三～步骤七的结果对采集到的车身截面轮廓3D数据和测距仪采集到的数据进行融合，得到整车3D点云数据并生成相应的车身3D模型，在软件系统中进行显示，使用测量工具在模型上进行手动测量。9 . The method for detecting a train limit according to claim 8 , further comprising step 8: according to the results of steps 3 to 7, the collected 3D data of the body cross-section profile and the data collected by the range finder are collected. 10 . Fusion is performed to obtain 3D point cloud data of the entire vehicle and generate the corresponding 3D model of the vehicle body, which is displayed in the software system, and manual measurement is performed on the model using measurement tools.10.根据权利要求9所述的一种列车限界检测方法，其特征在于，还包括步骤九：生成和保存整车检测结果，输出检测结果报告，并进行打印。10 . The method for detecting the limit of a train according to claim 9 , further comprising step 9: generating and saving the whole vehicle detection result, outputting a detection result report, and printing. 11 .

Images