CAJ | 학술논문

地铁限界是保证地铁车辆安全运行的重要数据,目前使用较多的接触式地铁限界检测存在效率低、无法准确获知超限尺寸的缺点,本文基于激光扫描测距原理开发了一种断面检测密度高、误差小的非接触式地铁限界检测系统。针对非接触式检测系统标定困难影响测量精度的问题,提出了应用机器视觉领域的点集配准迭代最近点(Iterative Closest Point)算法进行系统标定,将2个180°二维激光扫描传感器采集到的数据点拼接成一个完整的基于轨道基准坐标系的测量断面。北京地铁8号线、15号线的现场实验证明,经过该方法标定的限界检测系统可准确获知超限位置和超限尺寸,推行速度为6 km/h 时采样断面间距密度为0.02 m,多次反复测量时系统精度可达±4 mm。
지철한계시보증지철차량안전운행적중요수거,목전사용교다적접촉식지철한계검측존재효솔저、무법준학획지초한척촌적결점,본문기우격광소묘측거원리개발료일충단면검측밀도고、오차소적비접촉식지철한계검측계통。침대비접촉식검측계통표정곤난영향측량정도적문제,제출료응용궤기시각영역적점집배준질대최근점(Iterative Closest Point)산법진행계통표정,장2개180°이유격광소묘전감기채집도적수거점병접성일개완정적기우궤도기준좌표계적측량단면。북경지철8호선、15호선적현장실험증명,경과해방법표정적한계검측계통가준학획지초한위치화초한척촌,추행속도위6 km/h 시채양단면간거밀도위0.02 m,다차반복측량시계통정도가체±4 mm。
Restricted Metro gauges are important data to ensure Metro train operation safety.The current con-tact Metro gauge measuring method used in most cases have the shortcomings of low efficiency and no access to exact intruding-gauge data.In this paper,a non-contact measuring device of Metro gauges was developed on the basis of the theory of laser scanning ranging,which had high cross-section detection density and small er-rors.Being a difficult issue in the non-contact detection process,system calibration influenced system accura-cy.So,the iterative closest point algorithm usually used in the computer vision field for point sets registration was applied in non-contact calibration by constructing a complete cross-section profile under the track coordi-nate system with the data collected by two 180-degree two-dimensional laser scanning sensors.The field tests on Beijing Subway Line 8 and Line 15 have proved that the device using the calibration method proposed in this paper can detect the exact location and dimensions of the intruding-gauge section.When the trolley with the gauge measurement device is running at a speed of 6 km/h and the interval of scanned cross-section profiles is 0.02 m,the system precision can reach ± 4 mm in repeated measurements.