CN117213393B - A non-contact wheel out-of-roundness measuring device and method - Google Patents
A non-contact wheel out-of-roundness measuring device and method Download PDFInfo
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- CN117213393B CN117213393B CN202311162280.1A CN202311162280A CN117213393B CN 117213393 B CN117213393 B CN 117213393B CN 202311162280 A CN202311162280 A CN 202311162280A CN 117213393 B CN117213393 B CN 117213393B
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Abstract
本发明公开了一种非接触式的车轮不圆度测量装置及方法，其装置包括汇总模块和间隔分布于车轮行驶轨道上的多个测量模块；每个所述测量模块均包括：触发点，设置于所述车轮行驶轨道上表面；线激光器，用于在所述车轮到达所述触发点正上方时，将激光投射至所述车轮的踏面处形成激光光条；相机，用于获取所述激光光条的图像；处理器，用于对所述图像进行处理得到所述车轮在所述激光光条处的不圆度；所述汇总模块，用于汇总每个所述测量模块获取的所述车轮在所述激光光条处的不圆度，并生成所述车轮的不圆度；多个所述测量模块对应的激光光条组合后至少覆盖所述车轮的踏面一周；本发明能够高效准确的对列车的车轮进行不圆度测量。
The present invention discloses a non-contact wheel out-of-roundness measuring device and method, wherein the device comprises a summarizing module and a plurality of measuring modules spaced apart and distributed on a wheel running track; each of the measuring modules comprises: a trigger point arranged on the upper surface of the wheel running track; a line laser, used for projecting laser onto the tread of the wheel to form a laser light strip when the wheel reaches directly above the trigger point; a camera, used for acquiring an image of the laser light strip; a processor, used for processing the image to obtain the out-of-roundness of the wheel at the laser light strip; the summarizing module is used for summarizing the out-of-roundness of the wheel at the laser light strip acquired by each of the measuring modules and generating the out-of-roundness of the wheel; the laser light strips corresponding to the plurality of measuring modules are combined to cover at least one circle of the tread of the wheel; the present invention can efficiently and accurately measure the out-of-roundness of the wheels of a train.
Description
Technical Field
The invention relates to a non-contact type wheel out-of-roundness measuring device and method, and belongs to the technical field of rail transit.
Background
The wheel-rail relationship is an important factor influencing the running state of the train, along with the continuous increase of the driving mileage of the wheel set of the train and the influence of vibration of the train, the wheel set tread and the rail head of the rail are continuously rubbed, the wheel can be out of round on site, the increase of the degree of out-of-roundness of the wheel can further aggravate the abrasion of the wheel, and the phenomena of noise, vibration and the like are easily caused to influence the running state and riding comfort of the train.
Wheel out-of-roundness is an important indicator for characterizing the running state of a train, and continuous measurement and tracking are required. Currently, the main measures of wheel out-of-roundness are mechanical contact measurement based on angular encoders and on-line pressure measurement. The method is characterized in that a plurality of mechanical displacement devices are paved along a steel rail, the wheel rim is contacted with the mechanical displacement devices in running, a contact plane is caused to downwards generate vertical displacement, the change of the displacement quantity is measured to reflect the wheel out-of-roundness, the surface of the steel rail is strictly parallel to the contact plane, meanwhile, a plurality of pressure sensors are paved along the steel rail in the on-line pressure type measurement, when the wheel pair rolls on the steel rail, the degree of the wheel out-of-roundness is represented by measuring the pressure change of the wheel pair, the method belongs to indirect measurement, the actual physical dimension value of the out-of-roundness cannot be directly obtained, the wheel out-of-roundness is required to be qualitatively obtained in a calibration mode, and the accuracy is not high.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a non-contact type device and a non-roundness measuring method for a wheel, which solve the technical problems of complicated operation, high operation difficulty and low accuracy in the existing measuring mode.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the invention provides a non-contact wheel out-of-roundness measuring device, which comprises a summarizing module and a plurality of measuring modules which are distributed on a wheel running track at intervals;
each of the measurement modules includes:
the trigger point is arranged on the upper surface of the wheel running track;
the line laser is used for projecting laser to the tread of the wheel to form a laser light bar when the wheel reaches the position right above the trigger point;
A camera for acquiring an image of the laser light bar;
The processor is used for processing the image to obtain out-of-roundness of the wheel at the laser light bar;
The collecting module is used for collecting the out-of-roundness of the wheels at the laser light bars, which are acquired by each measuring module, and generating the out-of-roundness of the wheels, and the laser light bars corresponding to the measuring modules are combined to at least cover the tread of the wheels for one circle.
Preferably, the upper surface of the wheel running track is provided with a groove, and the line laser is arranged in the groove.
Preferably, the line laser satisfies:
When the wheel reaches the position right above the trigger point, the projection position of the line laser is the position of the tread round point of the wheel, and the laser plane projected by the line laser is parallel to the rolling round surface of the wheel.
Preferably, the number of cameras is 2, namely a first camera and a second camera, wherein the first camera and the second camera are symmetrically arranged by taking a preset first plane as a center, and the first plane is a plane perpendicular to the running direction of the wheels and passing through the trigger point.
Preferably, the first camera and the second camera satisfy:
when the wheel reaches the position right above the trigger point, the optical axis directions of the first camera and the second camera are right opposite to the circle center of the rolling circle surface of the wheel.
In a second aspect, the present invention provides a non-contact wheel out-of-roundness measuring method, based on the measuring apparatus as described above, the measuring method comprising:
selecting one measuring module to obtain the image of the corresponding laser light bar;
acquiring three-dimensional coordinates of the laser light bar under a camera coordinate system from the image by adopting a structured light vision measurement principle;
converting the three-dimensional coordinate of the laser light bar under a camera coordinate system into a two-dimensional coordinate under a rolling circle surface coordinate system of the wheel;
fitting the two-dimensional coordinates of the wheel under a rolling circle surface coordinate system by using a circle fitting algorithm to generate circle center coordinates and a radius;
calculating out-of-roundness of the wheel at the laser light bar according to the circle center coordinates and the radius;
repeating the steps until the out-of-roundness of the wheel corresponding to each measuring module at the laser light bar is obtained, and generating the out-of-roundness of the wheel.
Preferably, the three-dimensional coordinates of the laser light bar under the camera coordinate system are:
Wherein, (u, v), (x, y, z) are respectively two-dimensional coordinates of characteristic points on a laser light bar on an image and three-dimensional coordinates under a camera coordinate system, u 0、v0、fx、fy is an internal camera reference, (u 0,v0) is a two-dimensional coordinate of a camera optical axis center on the image, f x、fy is a normalized focal length on an x-axis and a y-axis, and a, b and c are constant coefficients.
Preferably, the circle fitting algorithm is adopted to fit the two-dimensional coordinates under the rolling circle surface coordinate system of the wheel to generate circle center coordinates and radius, and the circle center coordinates and the radius are as follows:
wherein, (x 0,y0) is the center coordinates, r is the radius, and s, C, D, E, G, H is the intermediate parameter:
C=n∑xi 2-∑xi∑xi
D=n∑xiyi-∑xi∑yi
E＝n∑xi 3+n∑xiyi 2-∑(xi 2+yi 2)∑xi
G=n∑xi 2-∑xi∑xi
H＝n∑xi 2yi+n∑yi 3-∑(xi 2+yi 2)∑yi
Where i=1, 2, n, (x i,yi) is the two-dimensional coordinates of the i-th feature point on the laser beam in the rolling circle coordinate system of the wheel, and n is the total number of feature points on the laser beam.
Preferably, the calculating the out-of-roundness of the wheel at the laser light bar according to the center coordinates and the radius is as follows:
Ei＝Li-r
Where i=1, 2, n, (x i,yi) is the two-dimensional coordinates of the i-th feature point on the laser beam in the rolling circle coordinate system of the wheel, n is the total number of feature points on the laser beam, (x 0,y0) is the center coordinates, r is the radius, L i is the intermediate parameter, and E i is the out-of-roundness of the wheel at the ith feature point on the laser beam.
Preferably, the acquiring the three-dimensional coordinates of the laser light bar in the camera coordinate system from the image by using the structured light vision measurement principle further includes:
If the camera of the measuring module is not unique, the three-dimensional coordinates of the laser light bar under the camera coordinate system are obtained and then converted into the three-dimensional coordinates under the same camera coordinate system.
Compared with the prior art, the invention has the beneficial effects that:
The non-contact type wheel out-of-roundness measuring device and method provided by the invention can be used for measuring the out-of-roundness of the wheel when the wheel passes through the measuring module in the running process of a train, the parking and complex operation are not needed, the measurement is efficient, the line laser is utilized to emit line laser to directly irradiate the tread of the wheel set, the laser surface is parallel to the rolling circle of the wheel, a laser image is acquired outside a track by utilizing a camera, and the data of the tread circle is obtained by utilizing the structured light vision measuring principle, so that the out-of-roundness of the wheel is measured, and the measurement precision can be ensured.
Drawings
FIG. 1 is a block diagram of a non-contact wheel out-of-roundness measuring apparatus according to an embodiment of the present invention;
fig. 2 is an installation structure diagram of a line laser provided in an embodiment of the present invention;
FIG. 3 is an installation structure diagram of a measurement module provided by an embodiment of the present invention;
FIG. 4 is a block diagram of an installation of a multi-measurement module provided by an embodiment of the present invention;
FIG. 5 is a flow chart of a non-contact wheel out-of-roundness measurement method provided by an embodiment of the present invention;
marked in the figure as:
1-wheel running track, 11-groove, 12-trigger point;
A 2-line laser;
3-first camera, 31-second camera;
4-wheels and 41-laser light bars.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Embodiment one:
The embodiment of the invention provides a non-contact type wheel out-of-roundness measuring device, which comprises a summarizing module and a plurality of measuring modules which are distributed on a wheel running track at intervals, wherein each measuring module comprises a trigger point, a line laser, a camera and a processor, the trigger point is arranged on the upper surface of the wheel running track, the line laser is used for projecting laser to a tread of a wheel to form a laser light bar when the wheel reaches right above the trigger point, the camera is used for acquiring an image of the laser light bar, the processor is used for processing the image to obtain the out-of-roundness of the wheel at the laser light bar, the summarizing module is used for summarizing the out-of-roundness of the wheel acquired by each measuring module at the laser light bar and generating the out-of-roundness of-wheel, and the laser light bars corresponding to the measuring modules are combined and at least cover the tread of the wheel for one circle.
In an alternative implementation manner, the summarizing module may be an upper computer, and the summarizing module and the plurality of measuring modules perform data interaction in a wired or wireless manner.
As shown in fig. 2-4, in this embodiment, a groove 11 is formed on the upper surface of the wheel track 1, and the line laser 2 is disposed in the groove 11. The wheel running rail 1, namely the steel rail, can be a specially-made wheel running rail 1 with a groove 11, and can also be used for modifying the existing wheel running rail 1 and forming the groove 11. The line laser 2 is calibrated to achieve that when the wheel 4 reaches the position right above the trigger point 12, the projection position of the line laser 2 is the position of a tread dot of the wheel 4, the tread is the outer surface of the wheel 4, the laser plane projected by the line laser 2 is parallel to a rolling round surface of the wheel 4, the rolling round surface is a center round surface of the wheel 4, and the tread of the wheel 4 forms a rolling round surface part profile curve of a laser light bar 41.
In this embodiment, 2 cameras are provided, which are respectively denoted as a first camera 3 and a second camera 31, and the first camera 3 and the second camera 31 are symmetrically arranged with a preset first plane as a center, where the first plane is a plane perpendicular to the running direction of the wheel 4 and passing through the trigger point 12. For example, the first camera 3 and the second camera 31 are respectively disposed at a distance of 400mm from the outer side 200-400 of the rail on the front and rear sides of the wheel driving direction with the trigger point 12 as the center. The first camera 3 and the second camera 31 are calibrated so that when the wheel 4 reaches the position right above the trigger point 12, the optical axis directions of the first camera 3 and the second camera 31 are right opposite to the circle center of the rolling circle surface of the wheel 4.
In this embodiment, the number of the measuring modules is 4, which are respectively denoted as measuring module 1, measuring module 2, measuring module 3 and measuring module 4, and the installation intervals of the measuring modules 1-4 can be adjusted according to the different sizes of the wheels 4, so that the corresponding laser light bars 41 are combined to cover at least one circle of the tread of the wheels 4, thereby realizing the measurement of the out-of-roundness of the whole wheels 4. The specific setting method is that assuming that the arc of the laser light bar 41 measured by the kth=1, 2,3,4 measuring modules is S k, the arc length is C k, the arc center point is O k, the position of the arc of the laser light bar 41 measured by the kth measuring module on the wheel 4 can be represented by the arc center point O k. Assuming that O 0 is the lowest point of the wheel 4, then the radian angles of O k and O 0 R is the radius of the wheel, W is the distance between the trigger points 12, so as to obtain the position of O k relative to the lowest point of the wheel 4, and the position of the arc S k on the wheel can be obtained according to O k、Ck, and the out-of-roundness of the whole wheel 4 can be obtained by adding all the arcs to cover the whole wheel 4.
Embodiment two:
As shown in fig. 5, an embodiment of the present invention provides a non-contact wheel out-of-roundness measuring method, based on the measuring device described above, comprising the steps of:
S1, selecting one measuring module and acquiring an image of the corresponding laser light bar.
S2, acquiring three-dimensional coordinates of the laser light bar under a camera coordinate system from the image by adopting a structured light vision measurement principle;
In step S1, the acquired image of the laser light bar is the same image acquired by the same camera, and the three-dimensional coordinates of the laser light bar under the camera coordinate system are:
Wherein, (u, v), (x, y, z) are respectively two-dimensional coordinates of characteristic points on a laser light bar on an image and three-dimensional coordinates under a camera coordinate system, u 0、v0、fx、fy is an internal camera reference, (u 0,v0) is a two-dimensional coordinate of a camera optical axis center on the image, f x、fy is a normalized focal length on an x-axis and a y-axis, and a, b and c are constant coefficients.
In step S1, the images of the laser light bar acquired are two images acquired by two cameras (e.g., the first camera 3 and the second camera 31 in fig. 3), both the two images include a part of the laser light bar, at this time, three-dimensional coordinates of the laser light bar acquired by the two images under a camera coordinate system need to be unified under the first camera 3 or the second camera 31 coordinate system, and coordinate system conversion may be performed by using a universal visual calibration method such as dual-target calibration, measurement mechanical arm, three-dimensional target, etc. to obtain a rotation matrix and a translation matrix, and performing coordinate system conversion by using the rotation matrix and the translation matrix.
And S3, converting the three-dimensional coordinates of the laser light bar under a camera coordinate system into two-dimensional coordinates under a rolling circle surface coordinate system of the wheel.
S4, fitting a two-dimensional coordinate under a rolling circle surface coordinate system of the wheel by using a circle fitting algorithm to generate a circle center coordinate and a radius;
in this embodiment, the circle fitting algorithm is used to fit the two-dimensional coordinates of the wheel under the rolling circle surface coordinate system to generate the circle center coordinate and the radius as follows:
wherein, (x 0,y0) is the center coordinates, r is the radius, and s, C, D, E, G, H is the intermediate parameter:
C=n∑xi 2-∑xi∑xi
D=n∑xiyi-∑xi∑yi
E＝n∑xi 3+n∑xiyi 2-∑(xi 2+yi 2)∑xi
G=n∑xi 2-∑xi∑xi
H＝n∑xi 2yi+n∑yi 3-∑(xi 2+yi 2)∑yi
Where i=1, 2, n, (x i,yi) is the two-dimensional coordinates of the i-th feature point on the laser beam in the rolling circle coordinate system of the wheel, and n is the total number of feature points on the laser beam.
S5, calculating out-of-roundness of the wheel at the laser light bar according to the circle center coordinates and the radius;
in this embodiment, the calculating the out-of-roundness of the wheel at the laser light bar according to the center coordinates and the radius is:
Ei＝Li-r
Where i=1, 2, n, (x i,yi) is the two-dimensional coordinates of the i-th feature point on the laser beam in the rolling circle coordinate system of the wheel, n is the total number of feature points on the laser beam, (x 0,y0) is the center coordinates, r is the radius, L i is the intermediate parameter, and E i is the out-of-roundness of the wheel at the ith feature point on the laser beam.
And S6, repeating the steps (S1-S5) until the out-of-roundness of the wheel corresponding to each measuring module at the laser light bar is obtained, and generating the out-of-roundness of the wheel.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (9)
1. The non-contact wheel out-of-roundness measuring device is characterized by comprising a summarizing module and a plurality of measuring modules which are distributed on a wheel running track at intervals;
each of the measurement modules includes:
the trigger point is arranged on the upper surface of the wheel running track;
the line laser is used for projecting laser to the tread of the wheel to form a laser light bar when the wheel reaches the position right above the trigger point;
A camera for acquiring an image of the laser light bar;
the processor is used for processing the image to obtain out-of-roundness of the wheel at the laser light bar; the method comprises the steps of acquiring three-dimensional coordinates of a laser light bar under a camera coordinate system from an image by adopting a structured light vision measurement principle, converting the three-dimensional coordinates of the laser light bar under the camera coordinate system into two-dimensional coordinates of the laser light bar under a rolling circle surface coordinate system of the wheel, fitting the two-dimensional coordinates of the laser light bar under the rolling circle surface coordinate system of the wheel by adopting a circle fitting algorithm to generate circle center coordinates and radius, and calculating out-of-roundness of the wheel at the laser light bar according to the circle center coordinates and the radius;
The collecting module is used for collecting the out-of-roundness of the wheels at the laser light bars, which are acquired by each measuring module, and generating the out-of-roundness of the wheels, and the laser light bars corresponding to the measuring modules are combined to at least cover the tread of the wheels for one circle.
2. The non-contact wheel out-of-roundness measuring apparatus of claim 1, wherein the wheel running rail upper surface is grooved, and the line laser is disposed in the groove.
3. The non-contact wheel out-of-roundness measuring apparatus of claim 1, wherein the line laser satisfies:
When the wheel reaches the position right above the trigger point, the projection position of the line laser is the position of the tread round point of the wheel, and the laser plane projected by the line laser is parallel to the rolling round surface of the wheel.
4. The non-contact wheel out-of-roundness measuring apparatus of claim 1, wherein the number of cameras is 2, respectively denoted as a first camera and a second camera, the first camera and the second camera are symmetrically arranged with a preset first plane as a center, and the first plane is a plane perpendicular to the running direction of the wheel and passing through the trigger point.
5. The non-contact wheel out-of-roundness measuring apparatus of claim 4, wherein the first camera and the second camera satisfy:
when the wheel reaches the position right above the trigger point, the optical axis directions of the first camera and the second camera are right opposite to the circle center of the rolling circle surface of the wheel.
6. The non-contact wheel out-of-roundness measuring apparatus of claim 1, wherein the three-dimensional coordinates of the laser light bar in the camera coordinate system are:
Wherein, (u, v), (x, y, z) are respectively two-dimensional coordinates of characteristic points on a laser light bar on an image and three-dimensional coordinates under a camera coordinate system, u 0、v0、fx、fy is an internal camera reference, (u 0,v0) is a two-dimensional coordinate of a camera optical axis center on the image, f x、fy is a normalized focal length on an x-axis and a y-axis, and a, b and c are constant coefficients.
7. The non-contact wheel out-of-roundness measuring apparatus of claim 1, wherein the two-dimensional coordinates in the rolling circle coordinate system of the wheel fitted by the circle fitting algorithm generate a center coordinate and a radius as follows:
wherein, (x 0,y0) is the center coordinates, r is the radius, and s, C, D, E, G, H is the intermediate parameter:
C=n∑xi 2-∑xi∑xi
D=n∑xiyi-∑xi∑yi
E＝n∑xi 3+n∑xiyi 2-∑(xi 2+yi 2)∑xi
G=n∑xi 2-∑xi∑xi
H＝n∑xi 2yi+n∑yi 3-∑(xi 2+yi 2)∑yi
Where i=1, 2, n, (x i,yi) is the two-dimensional coordinates of the i-th feature point on the laser beam in the rolling circle coordinate system of the wheel, and n is the total number of feature points on the laser beam.
8. The non-contact wheel out-of-roundness measuring apparatus of claim 1, wherein the calculating the out-of-roundness of the wheel at the laser beam according to the center coordinates and the radius is:
Ei＝Li-r
Where i=1, 2, n, (x i,yi) is the two-dimensional coordinates of the i-th feature point on the laser beam in the rolling circle coordinate system of the wheel, n is the total number of feature points on the laser beam, (x 0,y0) is the center coordinates, r is the radius, L i is the intermediate parameter, and E i is the out-of-roundness of the wheel at the ith feature point on the laser beam.
9. The non-contact wheel out-of-roundness measuring apparatus of claim 1, wherein the acquiring three-dimensional coordinates of the laser light bar in a camera coordinate system from the image using structured light vision measurement principle further comprises:
If the camera of the measuring module is not unique, the three-dimensional coordinates of the laser light bar under the camera coordinate system are obtained and then converted into the three-dimensional coordinates under the same camera coordinate system.
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| CN107128330A (en) * | 2017-04-21 | 2017-09-05 | 南京理工大学 | The vertically arranged tramcar wheel footpath on-line measuring device of sensor circular arc and method |
| DE102019111606A1 (en) * | 2019-05-06 | 2020-11-12 | Nowa3K Gmbh | Method and device for testing a running surface of a wheel of a rail vehicle |
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| US6909514B2 (en) * | 2002-11-18 | 2005-06-21 | Beena Vision Systems, Inc. | Wheel profile inspection apparatus and method |
| CN104501719A (en) * | 2014-12-18 | 2015-04-08 | 北京康拓红外技术股份有限公司 | Method for determining axial line of train wheel set |
| CN104764416B (en) * | 2015-03-06 | 2018-04-10 | 南京宇行软件有限公司 | A kind of method for measuring dynamic rotation body ovality |
| WO2019055795A1 (en) * | 2017-09-15 | 2019-03-21 | International Electronic Machines Corp. | Optical wheel evaluation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107128330A (en) * | 2017-04-21 | 2017-09-05 | 南京理工大学 | The vertically arranged tramcar wheel footpath on-line measuring device of sensor circular arc and method |
| DE102019111606A1 (en) * | 2019-05-06 | 2020-11-12 | Nowa3K Gmbh | Method and device for testing a running surface of a wheel of a rail vehicle |
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