结构光三维测量技术在列车走行部异物检测的应用研究  

Application of 3D Structured Light Measurement in Foreign Substance Detection on Running Gear

作　　者：孙艳涛 杨唐文[1] 秦勇[2] SUN Yantao;YANG Tangwen;QIN Yong(Institute of Information Science,Beijing Jiaotong University,Beijing 100044,China;State Key Lab of Rail Traffic Control & Safety,Beijing Jiaotong University,Beijing 100044,China)

机构地区：[1]北京交通大学信息科学研究所,北京100044 [2]北京交通大学轨道交通控制与安全国家重点实验室,北京100044

出　　处：《中国铁路》2019年第1期122-126,共5页China Railway

基　　金：国家重点研发计划项目(2016YFB1200100);国家自然科学基金资助项目(61375109)

摘　　要：将基于三维重建技术的非接触体积测量方法应用到列车走行部三维异物检测中,由线激光器和相机组成的线结构系统对列车走行部三维重建,并能够精确测量走行部上非规则粘附物的体积。图像处理技术和基于正态分布的拟合算法提取线结构光光条图像的中心坐标;利用结构光标定技术和激光三角测距原理,将光条中心坐标转换到真实坐标系下,重建列车走行部的三维模型;利用迭代最近点(Iterative Closest Points,ICP)算法将重建的模型与基准模型配准,将配准的模型做差并按照深度信息积分,测量不规则粘附物的体积误差为4.14%。试验结果表明,在实验室模拟条件下,结构光系统能准确还原列车走行部三维模型,并能对列车走行部非规则粘附物进行精确测量,实现列车走行部三维异物检测。The non-contact volume measurement based on 3 D reconstruction technology is used for 3 D foreign substance detection on train running gear.The linear structured system composed of linear laser and camera makes 3 D reconstruction for train running gear and measures accurately the volume of irregular adhesion on the running gear.The process of the test is as follows:use image processing technology and normal distributionbased fitting algorithm to extract the central coordinates of linear structured light strip image,use structured light calibration technology and laser triangle ranging principle to convert the central coordinates of structured light strip to the real coordinate system so as to rebuild a 3 D model of train running gear,use iterative closest point algorithm to match the rebuilt model with the reference model and calculate the difference,and make integration according to depth information.In the end,the volume of irregular adhesion is measured to be an error of 4.14%.The result shows in lab simulation,the structured light system can restore the 3 D model of train running gear and make accurate measurement of the irregular adhesion on the running gear.

关 键 词：异物检测 三维测量 线结构光 点云处理 

分 类 号：U298[交通运输工程—交通运输规划与管理]