尖轨复杂型面激光测量与三维重构方法研究  

Research on Laser Measurement and Three-dimensional Reconstruction Methods for Complex Profiles of Switch Rail

作　　者：樊文刚[1,2] 吴昌昕 吴志伟 李江 FAN Wengang;WU Changxin;WU Zhiwei;LI Jiang(School of Mechanical and Electronic Control Engineering,Beijing Jiaotong University,Beijing 100044;Key Laboratory of Vehicle Advanced Manufacturing,Measuring and Control Technology,Ministry of Education,Beijing Jiaotong University,Beijing 100044)

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044 [2]北京交通大学载运工具先进制造与测控技术教育部重点实验室,北京100044

出　　处：《机械工程学报》2024年第23期329-340,共12页Journal of Mechanical Engineering

基　　金：中央高校基本科研业务费专项资金重点(2023JBZY020);北京交通大学科技成果转化培育(M21ZZ200010)资助项目。

摘　　要：尖轨是道岔转辙器的关键基础部件,关乎着列车运行平稳性和安全性,其型面测量与重构是实现高效高质自动化加工的根本前提。针对线激光传感器测量所得海量点云数据处理速度慢和配准重构精度低的问题,提出一种尖轨复杂型面的激光测量与三维重构方法。首先,采用组合滤波法去除点云离群噪点,弥补了单一算法去噪能力不足的缺陷,结合直观对比结果和量化评估标准选择双边滤波进行平滑处理,提出基于提取尖轨轮廓的体素网格法完成精简。然后,根据尖轨端面几何特征提出一种尖轨点云三维型面粗配准方法,并对精配准算法改进,实现点云配准,精配准后左右侧点云的均方根误差值分别为0.065 mm和0.067 mm。最后,采用改进的贪婪投影法对配准后的点云进行三维重构,并对比重构数据与实测数据,轨高的平均偏差为0.16 mm,轨底宽的平均偏差为0.17 mm,验证了尖轨复杂型面激光测量与三维重构方法的有效性。Switch rail is the crucial basic part of turnout rutters,which is related to the smoothness and safety of train operation,and the accuracy of its profile measurement and reconstruction is the fundamental prerequisite for the realisation of efficient and high-quality automated machining.Aiming at the problems of slow processing speed and low accuracy of registration reconstruction of massive point cloud data obtained from line laser sensor measurements,it is proposed that a laser measurement and three-dimensional reconstruction method for complex surface of pointed rail.Firstly,the combined filtering method is used to remove the point cloud outlier noise,which makes up for the deficiency of the single algorithm's denoising ability,combining the intuitive comparison results and quantitative evaluation criteria to select bilateral filtering for smoothing,and proposed the voxel mesh method based on the extraction of the switch rail profile to complete streamlining.Then,according to the geometrical characteristics of the switch rail,a switch rail point cloud coarse registration algorithm is proposed,and the iterative closest point fine registration algorithm is improved to achieve registration,and the RMSE values of the left and right side of the point cloud after fine registration are 0.065 mm and 0.067 mm,respectively.Finally,the improved greedy projection method is used to reconstruct the registration point cloud in three dimensions,and comparing the reconstructed data with the measured data,the average deviation of the rail height is 0.16 mm,and the average deviation of the rail bottom width is 0.17 mm,which verifies the validity of the laser measurement and three-dimensional reconstruction method of the complex profile of the switch rail.

关 键 词：激光测量 三维重构 配准 尖轨 点云 

分 类 号：TG156[金属学及工艺—热处理]