CN105835902B - A kind of detection method of the wheel diameter based on laser displacement sensor - Google Patents
A kind of detection method of the wheel diameter based on laser displacement sensor Download PDFInfo
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Abstract
The invention discloses a kind of detection method of wheel diameter based on laser displacement sensor, sensing point coordinate is transformed into the plane parallel with wheel end face by coordinate transform by two groups of laser displacement sensors while detecting wheel tyre tread number of contours strong point first；Secondly, the operation such as the data progress noise spot after converting to coordinate filters out, data screening, smoothing processing；Then, it extracts away from the tyre tread data point at wheel inner face 70mm, in conjunction with sensor cloth setting parameter, one group of wheel diameter is obtained by geometrical relationship；Wheel is calculated by the multiple groups diameter value in measurement range, using its mean value as final wheel diameter finally, repeating the above steps.The present invention has many advantages, such as that measurement accuracy is high, calculating speed is fast.
Description
Technical field
The invention belongs to traffic safety field of engineering technology, especially a kind of wheel diameter based on laser displacement sensor
Detection method.
Background technique
With the fast development of city rail traffic, each big city is to alleviate traffic pressure to open a plurality of route, train fortune in succession
It is capable that security issues become increasingly urgent.The quality of whole load of train wheel vehicle, wheel condition transports the safety of train
It seeks closely related.Wherein, wheel diameter is as one important parameter of wheel condition, when coaxial wheel wheel footpath differs larger, to column
The operation of vehicle brings security risk.Meanwhile with the growth of runing time, wheel is constantly worn away, when wheel footpath be less than limit value, need horse
Otherwise upper replacement will affect the safe operation of train.So being very necessary to the detection of train wheel diameter.
The detection of wheel diameter is an important indicator of municipal rail train vehicle routine testing, currently, China's wheel diameter
Detection still rely on artificial detection technology, wheel diameter is measured using dedicated measuring tool, but this method detect
Precision is larger by artificial affecting, and detection time is long.The laser wheel of OPTIMESS company of Switzerland research to dynamic on-line detecting system,
Using the diameter of multiple point type laser sensors measurement wheel pair, system cost is high.The wheel that patent CN201410787786.6 is introduced
Wheel diameter is calculated using image method to dynamic detection system, relative to laser method, the measuring precision, stability and anti-interference
Ability is all in disadvantage.
Summary of the invention
The purpose of the present invention is to provide a kind of structures simply, the accurate reliably wheel based on laser displacement sensor is straight
The detection method of diameter.
The technical solution for realizing the aim of the invention is as follows: a kind of detection of the wheel diameter based on laser displacement sensor
Method is based on two groups of laser displacement sensors, two groups of laser displacement sensors while detecting wheel number of contours strong point, first will be defeated
Point is coordinately transformed out；Secondly, the behaviour such as the data progress noise spot after converting to coordinate filters out, data screening, smoothing processing
Make；Then, it extracts and is obtained in conjunction with sensor cloth setting parameter by geometrical relationship away from the tyre tread data point at wheel inner face 70mm
One group of wheel diameter；Finally, repeating the above steps calculates wheel by the multiple groups diameter value in measurement range, using its mean value as
Final wheel diameter.
Compared with prior art, the present invention its remarkable advantage: (1) method simple practical, it is only necessary to two groups of laser displacement sensings
The detection to wheel diameter can be realized in device combination respective algorithms；(2) the multiple groups tyre tread data for acquiring measured zone carry out wheel
Diameter calculation reduces error, improves computational accuracy；(3) have many advantages, such as that calculating speed is fast, measurement accuracy is high, be that wheel is straight
The detection of diameter provides a kind of effective solution scheme.
Present invention is further described in detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the flow chart of wheel diameter detection method in the present invention.
Fig. 2 is the artwork of wheel diameter detection method in the present invention.
Fig. 3 is the sensor installation side view that wheel diameter detects in the present invention.
Fig. 4 is the sensor installation front view that wheel diameter detects in the present invention.
Fig. 5 is in the present invention after data smoothing processing, and key point extracts schematic diagram.
Specific embodiment
In conjunction with Fig. 1, the present invention is based on the detection methods of the wheel diameter of laser displacement sensor, and steps are as follows:
Step 1, sensor is laid: in conjunction with Fig. 2, Fig. 3, two groups of laser displacement sensors are arranged in side in orbit, be denoted as L1,
The laser source point of L2, L1 and L2 are on same straight line and are parallel to track extending direction, and horizontal distance between the two is L,
The angle of laser displacement sensor L1, L2 and rail plumb line is β, is α with the vertical equity wire clamp angle along rail, with steel
The distance that is horizontally mounted of rail is l.
Step 2, coordinate transform: laser displacement sensor L1, L2 detect same wheel simultaneously and obtain the coordinate of sensing point, will
Sensing point coordinate is by sensor local Coordinate SystemIt is transformed into coordinate systemIn, wherein sensor local Coordinate SystemUsing laser source point as coordinate origin o, the center line in Laser emission direction isAxis, perpendicular to Laser emission direction
Center line isAxis, by coordinate systemCoordinate system is obtained by center rotation β angle of origin oK=1,2, point
It Biao Shi not laser displacement sensor L1, L2.
Above-mentioned coordinate transformation process is as follows:
For the coordinate value of laser displacement sensor L1 outputIt is rotated and is sat according to formula (1) progress coordinate
Mark
For the coordinate value of laser displacement sensor L2 outputIt is rotated and is sat according to formula (2) progress coordinate
Mark
Step 3, data noise spot filters out: the data obtained according to step 2 extract wheel inner face abscissa value U(k), and
Filter window is established with this, filters out data noise spot.
Wherein it is as follows to filter out process for data noise spot:
The first step obtains wheel inner faceAxial coordinate value: according to the data point after coordinate transform, extraction meets formula
(3) point
In formulaFor data point after transformationAxial coordinate, ξ are that laser displacement sensor existsIn axis direction
Resolution ratio；
To meeting conditionThe coordinate value of axis direction makees average value processing, obtains wheel right sideAxial coordinate U(k)；
Second step, according to coordinate U(k)Establish (U(k)-a,U(k)+ b) filter window, filter outAxial coordinate value is not in the range
Point, to obtain effective data point, and then obtain wheel rim profile line, wherein a ∈ (135,140), b ∈ (0,5).
Step 4, data screening: the data obtained according to step 3 adopt laser displacement sensor according to the rule of M >=100
The data of collection are screened, wherein M is the data amount check that laser displacement sensor acquires every time.
Step 5, data smoothing is handled: the data obtained according to step 4 are smoothed data point, reduce noise
Interference.Data smoothing treatment process is as follows:
The data obtained according to step 4, it is assumed that the data point after data screening is { z1,z2,…,zm, { z1,z2,…,zm}
Horizontal axis coordinate be respectively { u1,u2,…,um, ordinate of orthogonal axes is respectively { v1,v2,…,vm, using moving average method to screening
Data point afterwards carries out data smoothing processing, and the basic calculating formula of moving average method is as follows:
Wherein, vi-nFor sampled data, v 'iFor the data after smoothing processing, m is data points, and 2N is the number of sliding average
Strong point number, n=0,12,3 .., N, hnTo be weighted and averaged the factor (filtering factor), it is necessary to meet
Step 6, key point obtains: the wheel inner face abscissa value U obtained according to step 3(k), extract (U(k)-80,U(k)- 60) data point in range carries out curve fitting and (carries out 4 rank multinomial curve matching of least square), obtains curve matching
Equation determines laser displacement sensor L1, L2 laser point in the plane parallel with wheel inner face according to Fitting curve equation
The distance value d of tyre tread point at away from wheel medial surface 70mm(1)、d(2)。
Step 7, wheel diameter obtains: the two groups of laser displacement sensors obtained according to step 6 are flat with wheel inner face
The distance value d of laser point tyre tread point at away from wheel medial surface 70mm in capable plane(1)With d(2), in conjunction with laser displacement sensor
Parameter alpha, β, l are laid, wheel diameter is obtained, repeats the above steps and calculates the multiple groups diameter value that wheel passes through in measurement range, it will
Its mean value is as final wheel diameter D.The wheel diameter acquisition process is as follows:
The first step, in conjunction with Fig. 4, the two sensors obtained according to step 6 swash in the plane parallel with wheel inner face
Distance d of the luminous point to wheel tread(1)With d(2), in conjunction with sensor installation parameter, if d(1)≤d(2), wheel is acquired according to formula (5)
Radius R, if d(1)≥d(2), radius of wheel R is acquired according to formula (6), then wheel diameter D=2R:
Wherein, L is the horizontal distance between laser displacement sensor L1, L2, and α is the vertical of laser displacement sensor and rail
To horizontal line angle；Enabling laser displacement sensor L1, L2 detect the point away from wheel medial surface 70mm tyre tread is respectively p, q, mistake
Straight line and line pq core wheel w vertical with line pq's meets at c point, meets at e with the straight line parallel with rail vertical equity line for crossing p point
Point, l1For the length of line wc, l2For the length of line pq, l3For line ce, l4For the vertical range of p point to rail, γ be line pq with
Angle between rail vertical equity line；
Second step, choose wheel after testing region multiple groups tyre tread Data duplication carry out wheel diameter calculating, according to
1.5 times of standard deviation criterion remove the biggish calculated value of error, then do mean value computation and obtain final wheel diameter.
Invention is further described in detail combined with specific embodiments below.
Embodiment
In conjunction with Fig. 2,3, two groups of laser displacement sensors are successively installed in side in orbit, are denoted as L1, L2, the laser of L1 and L2
Horizontal distance of the source point on same straight line and with rail top face in same level, between two groups of laser displacement sensors
For L=980, the angle of laser displacement sensor L1, L2 and rail plumb line is β=45 °, the vertical equity wire clamp with rail
Angle is α=45 °, and the distance that is horizontally mounted with track is l=280, selects the standard wheels that diameter is 840mm to trying
It tests.
For the coordinate value of laser displacement sensor L1 outputIt is rotated and is sat according to formula (1) progress coordinate
Mark
For the coordinate value of laser displacement sensor L2 outputIt is rotated and is sat according to formula (2) progress coordinate
Mark
According to the data point after coordinate transform, the point for meeting formula (3) is extracted；
In formulaFor data point after transformationAxial coordinate, here according to selected laser displacement sensor parameter,
ξ=0.2；
To meeting conditionThe coordinate value of axis direction makees average value processing, obtains wheel right sideAxial coordinate U(k),
According to coordinate U(k)Establish (U(k)-a,U(k)+ b) a filter window, filter outThe point of axial coordinate value not in the range, thus
To effective data point, and then obtain wheel rim profile line, wherein a ∈ (135,140), b ∈ (0,5).
According to the data after noise spot are filtered out, the extraction of data screening, smoothing processing, tyre tread key point, Fig. 5 are carried out to it
It is that key point extracts schematic diagram after data smoothing is handled, two groups of laser displacement sensors are in the plane parallel with wheel inner face
The distance value d of laser point tyre tread point at away from wheel medial surface 70mm(1)、d(2), in conjunction with laser displacement sensor cloth setting parameter, root
Radius of wheel R is acquired according to formula (5), (6), then wheel diameter D=2R.
The biggish calculated values of error are removed according to 1.5 times of standard deviation criterion, then does mean value computation to obtain final wheel straight
The wheel footpath of diameter D=840.16mm, standard wheel are 840mm, and error 0.16mm meets site examining and repairing requirement.
Claims (4)
1. a kind of detection method of the wheel diameter based on laser displacement sensor, it is characterised in that steps are as follows:
Step 1, sensor is laid: two groups of laser displacement sensors are arranged in end face in orbit, are denoted as L1, L2, and L1 and L2's swashs
Light source point is on same straight line and is parallel to track extending direction, and horizontal distance between the two is L, laser displacement sensor
The angle of L1, L2 and rail plumb line is β, is α with the vertical equity wire clamp angle along rail, with rail be horizontally mounted away from
From being l；
Step 2, coordinate transform: detecting same wheel obtains the coordinate of sensing point simultaneously by laser displacement sensor L1, L2, will detect
Point coordinate is by sensor local Coordinate SystemIt is transformed into coordinate systemIn, wherein sensor local Coordinate SystemUsing laser source point as coordinate origin o, the center line in Laser emission direction isAxis, perpendicular to Laser emission direction
Center line isAxis, by coordinate systemCoordinate system is obtained by center rotation β angle of origin oK=1,2, point
It Biao Shi not laser displacement sensor L1, L2；
Step 3, data noise spot filters out: the data obtained according to step 2 extract wheel inner face abscissa value U(k), and with this
Filter window is established, data noise spot is filtered out；
Step 4, data screening: the data obtained according to step 3, according to the rule of M >=100 to laser displacement sensor acquisition
Data are screened, wherein M is the data amount check that laser displacement sensor acquires every time；
Step 5, data smoothing is handled: the data obtained according to step 4 are smoothed data point, reduce the dry of noise
It disturbs；
Step 6, key point obtains: the wheel inner face abscissa value U obtained according to step 3(k), extract (U(k)-80,U(k)-60)
Data point in range carries out curve fitting, according to Fitting curve equation determine laser displacement sensor L1, L2 with wheel in
The distance value d of laser point tyre tread point at away from wheel inner face 70mm in the parallel plane in end face(1)、d(2)；
Step 7, wheel diameter obtains: the two groups of laser displacement sensors obtained according to step 6 are parallel with wheel inner face
The distance value d of laser point tyre tread point at away from wheel inner face 70mm in plane(1)With d(2), laid in conjunction with laser displacement sensor
Parameter alpha, β, l obtain wheel diameter, repeat the above steps and calculate wheel by the multiple groups diameter value in measurement range, by it
Value is used as final wheel diameter D；
Coordinate transformation process in the step 2 is as follows: for the coordinate value of laser displacement sensor L1 outputRoot
Coordinate is carried out according to formula (1) to rotate to obtain coordinate
For the coordinate value of laser displacement sensor L2 outputCoordinate is carried out according to formula (2) to rotate to obtain coordinate
2. according to the method described in claim 1, it is characterized in that the data noise spot in step 3 to filter out process as follows:
The first step obtains wheel inner faceAxial coordinate value: according to the data point after coordinate transform, extraction meets formula (3)
Point
In formulaFor data point after transformationAxial coordinate, ξ are that laser displacement sensor existsPoint in axis direction
Resolution；
To meeting conditionThe coordinate value of axis direction makees average value processing, obtains wheel right sideAxial coordinate U(k)；
Second step, according to coordinate U(k)Establish (U(k)-a,U(k)+ b) filter window, filter outThe point of axial coordinate value not in the range,
To obtain effective data point, and then obtain wheel rim profile line, wherein a ∈ (135,140), b ∈ (0,5).
3. according to the method described in claim 1, it is characterized in that the data smoothing treatment process in step 5 is as follows:
The data obtained according to step 4, it is assumed that the data point after data screening is { z1,z2, … ,zm, { z1,z2, … ,
zmHorizontal axis coordinate be respectively { u1,u2, … ,umOrdinate of orthogonal axes respectively { v1,v2, … ,vmUse sliding average
Method carries out data smoothing processing to the data point after screening, and the basic calculating formula of moving average method is as follows:
Wherein, vi-nFor sampled data, v 'iFor the data after smoothing processing, m is data points, and 2N is the data point of sliding average
Number, n=0,12,3 .., N, hnTo be weighted and averaged the factor, it is necessary to meet
4. according to the method described in claim 1, it is characterized in that the wheel diameter acquisition process in step 7 is as follows:
The first step, the two sensors obtained according to step 6 in the plane parallel with wheel inner face laser point to wheel pedal
The distance d in face(1)With d(2), in conjunction with sensor installation parameter, if d(1)≤d(2), radius of wheel R is acquired according to formula (5), if d(1)≥
d(2), radius of wheel R is acquired according to formula (6), then wheel diameter D=2R:
Wherein, L is the horizontal distance between laser displacement sensor L1, L2, and α is longitudinal water of laser displacement sensor and rail
Horizontal line angle；Enabling laser displacement sensor L1, L2 detect the point away from wheel inner face 70mm tyre tread is respectively p, q, crosses core wheel w
The straight line and line pq vertical with line pq's meets at c point, meets at e point, l with the straight line parallel with rail vertical equity line for crossing p point1
For the length of line wc, l2For the length of line pq, l3For line ce, l4For the vertical range of p point to rail, γ is line pq and rail
Angle between vertical equity line；
Second step, choose wheel after testing region multiple groups tyre tread Data duplication carry out wheel diameter calculating, according to 1.5 times
Standard deviation criterion removes the biggish calculated value of error, then does mean value computation and obtain final wheel diameter.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107097808A (en) * | 2017-04-21 | 2017-08-29 | 南京理工大学 | A kind of wheelset profile online test method based on laser displacement sensor |
| CN107139967A (en) * | 2017-04-21 | 2017-09-08 | 南京理工大学 | Contactless wheelset profile online test method based on laser displacement sensor |
| CN107328375A (en) * | 2017-07-11 | 2017-11-07 | 北京锦鸿希电信息技术股份有限公司 | Wheel diameters detecting system and method |
| CN109341544A (en) * | 2018-11-15 | 2019-02-15 | 上海航天精密机械研究所 | A kind of laser displacement sensor ranging numerical optimization |
| CN117260379B (en) * | 2023-11-21 | 2024-02-23 | 靖江市恒友汽车部件制造有限公司 | On-line control method for machining diameter of automobile part |
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| CN101219672A (en) * | 2008-01-16 | 2008-07-16 | 北京交通大学 | Non-contact type dynamic measuring device and method for wheel diameter based on laser and method thereof |
| KR100866613B1 (en) * | 2007-09-12 | 2008-11-03 | 주식회사 포스콘 | Apparatus and method of setting up wheel diameter |
| CN103322936A (en) * | 2013-06-24 | 2013-09-25 | 南京理工大学 | Wheel set size on-line monitoring method |
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| US4866642A (en) * | 1986-07-29 | 1989-09-12 | Wilhelm Hegenscheidt Gesellschaft Gmbh | Method and apparatus for determining the diameter of rail vehicle wheels |
| US6768551B2 (en) * | 2001-10-17 | 2004-07-27 | International Electronic Machines Corp. | Contactless wheel measurement system and method |
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| CN101219672A (en) * | 2008-01-16 | 2008-07-16 | 北京交通大学 | Non-contact type dynamic measuring device and method for wheel diameter based on laser and method thereof |
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