CN110631506A - Multi-order out-of-roundness measurement system for wheel set without falling - Google Patents
Multi-order out-of-roundness measurement system for wheel set without falling Download PDFInfo
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- CN110631506A CN110631506A CN201911084683.2A CN201911084683A CN110631506A CN 110631506 A CN110631506 A CN 110631506A CN 201911084683 A CN201911084683 A CN 201911084683A CN 110631506 A CN110631506 A CN 110631506A
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- wheel
- image acquisition
- measurement system
- roundness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2408—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring roundness
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a multi-stage out-of-roundness measuring system for an anti-wheel-falling wheel set, which comprises an image acquisition device, a top rotating wheel mechanism and a moving platform, wherein the image acquisition device is used for acquiring a wheel tread profile curve; the image acquisition device comprises a camera and a line light source; the top rotating wheel mechanism comprises a swing arm for jacking wheels and a rotating wheel for driving the wheels to rotate; the mobile platform comprises a vehicle body, wherein traveling wheels are arranged below the vehicle body, and a controller is arranged in the vehicle body; the device also comprises a processing computer which is used for analyzing the image collected by the image collecting device and outputting the out-of-roundness calculation result. The out-of-roundness of the wheel set is measured on line, so that heavy work of disassembling the wheel set is avoided; the miniaturized design can freely go in and out to overhaul the trench. A set of system of the movable measuring mechanism can cover all wheel pairs of a parking lot.
Description
Technical Field
The invention relates to a system for measuring out-of-roundness of a train wheel pair, in particular to a system for measuring out-of-roundness of a train wheel pair in a non-falling wheel manner.
Background
After a train runs for a period of time, the tread of the wheel can generate uneven abrasion, and when the abrasion reaches a certain value, the out-of-roundness of the wheel can cause additional vibration, impact and noise to the vehicle, influence the stability of the vehicle and threaten the running safety of the train. The wheel out-of-roundness is therefore periodically detected.
The detection method of the out-of-roundness of the train wheel mainly comprises static detection and dynamic detection. According to the detection principle, the current main dynamic detection methods can be divided into: "vibration acceleration monitoring method", "contact measurement method", "displacement measurement method", and "image detection method".
The image detection method is based on the structured light principle, the tread of the train wheel is irradiated by a line light source, the image of the light transversal is collected by a camera, and the collected image is processed to obtain the appearance of the train wheel. And according to the physical information of the light transversal at different positions, the parameters of the out-of-roundness of the tread can be calculated.
However, the existing non-circularity detection system based on the image detection method is generally fixedly installed below the rail, and the non-circularity can not be quantitatively measured. Only qualitatively judging whether the wheel out-of-round phenomenon exists. The online measurement method is influenced by the attitude of a train passing by, and high-precision measurement is difficult to achieve.
Disclosure of Invention
In view of this, the invention provides a multi-stage out-of-roundness measurement system for wheel pairs without wheel dropping, which can realize out-of-roundness measurement of wheel pairs without wheel dropping by using an image detection-based method. The whole set of equipment is movable, and comprehensive, high-precision and quantitative detection is carried out on the train wheel pairs which are kept standing.
In order to solve the technical problems, the technical scheme of the invention is as follows: a multi-step out-of-roundness measuring system for wheel sets without wheel falling comprises an image acquisition device, a top rotating wheel mechanism, a bearing and transferring image acquisition device and a top rotating wheel mechanism, wherein the image acquisition device is used for acquiring a wheel tread profile curve;
the image acquisition device comprises a camera and a line light source;
the top rotating wheel mechanism comprises a swing arm for jacking wheels and a rotating wheel for driving the wheels to rotate;
the mobile platform comprises a vehicle body for bearing the image acquisition device and the top rotating wheel mechanism, and traveling wheels are arranged below the vehicle body;
the processing computer is used for analyzing the image acquired by the image acquisition device and outputting a non-roundness calculation result; the lifting device arranged between the moving platform and the top rotating wheel mechanism is arranged on the mechanical arm which is arranged on the lifting device and used for driving the image acquisition device to move; .
The principle of the invention lies in that a moving platform bearing and transferring system is utilized, and a jacking wheel mechanism in the system jacks up and rotates wheels, so that an image acquisition device can completely acquire the image of the whole wheel tread. And analyzing the image by a processing computer to calculate out the out-of-roundness of the wheel. In addition, the position of the image acquisition device can be conveniently adjusted by the mechanical arm, and the wheel tread image contour curve can be accurately acquired.
As an improvement, the lifting device comprises a vertically arranged lead screw, and a sliding block in threaded fit with the lead screw is arranged on the lead screw; the sliding block penetrates through the guide post; the top rotating wheel mechanism is fixed on the guide post. The position of the top rotating wheel mechanism in the vertical direction is changed through the lifting device, so that the device is suitable for depths of different trenches.
As an improvement, the top rotating wheel mechanism comprises a base, and a left top rotating device and a right top rotating device are arranged on the base; each group of jacking and rotating devices comprises two horizontal rotating shafts which are arranged in front and at the back; the front swing arm and the rear swing arm are respectively sleeved on the front rotating shaft and the rear rotating shaft and can rotate around the rotating shafts; the upper end of the swing arm is provided with a rotating wheel; the swing arm is driven to rotate by the driving device. Thereby the position that can make the runner behind two swing arm relative rotation certain angles of drive arrangement drives rises wheel jack-up, and the runner passes through motor drive in addition and rotates, utilizes frictional force between its and the wheel to drive the wheel rotation to accomplish the image acquisition of the whole tread profile curve of wheel. The left and right jacking and rotating devices correspond to two wheels on the wheel pair, and simultaneously jack the two wheels away from the track and drive the wheels to rotate.
Preferably, the driving device is an oil cylinder, and two ends of the oil cylinder are respectively connected with the lower ends of the two swing arms. The telescopic cylinder can drive the lower ends of the swing arms to be close to or separate from each other, so that the upper ends of the swing arms are driven to be separated and combined, the actions of the two swing arms are consistent, the heights of the two rotating wheels are consistent, and the inclination is avoided.
As an improvement, the central axis of the lens of the camera forms an included angle of 10-30 degrees with light emitted by the linear light source, the light source is in a vertical emission posture, and the camera is in an oblique shooting posture.
As an improvement, the device also comprises a lifting platform arranged at the end of the trench; the lifting platform comprises an upright post and a platform body capable of lifting along the upright post, and the platform body is driven by a motor. The device is used for transferring the mobile platform and equipment on the mobile platform between the ground and the trench, and further realizing shuttling between different trenches.
As an improvement, the mobile platform is an automatic guided vehicle; the automatic guide transport vehicle comprises a mechanical system, a power system and a control system; the mechanical system comprises a vehicle body, a travelling wheel, a steering device and a braking device; the power system comprises a motor and a battery pack; the control system comprises a driving control device, a steering control device and a braking control device.
Preferably, the mobile platform employs SLAM positioning navigation. SLAM (simultaneous localization and mapping), immediate localization and mapping. The method includes the steps that a mobile platform is placed at an unknown position in an unknown environment, the mobile platform draws a map of the environment while moving, and meanwhile the position of the mobile platform in the map is located by measuring the distance between the mobile platform and a related marker in the map. The method can realize navigation according to the virtual path or stop of the virtual positioning mark under the condition of no external guide line or positioning mark.
As an improvement, the processing computer is arranged on a mobile platform and is provided with a wireless transmission system. The processing computer is used for controlling the action of the whole system, processing and analyzing the image collected by the image collecting device, and is also used as a communication device for receiving external commands. And receiving an external instruction through a wireless transmission system, and executing an instruction set built in a processing computer to finish the measurement work.
The invention has the advantages that:
1. when the system detects out-of-roundness, wheel dropping is not needed, and the system can quantify the order of the detected out-of-roundness;
2. the system covers the full wheel diameter range of 700-900 mm;
3. the mobile measurement can cover all wheel sets of the whole train, even all trains in the whole parking lot; the train does not need to be started, and the detection is carried out when the train is in a standing state;
4. only 1 set of system is needed to be configured in the whole parking lot, so that the investment and the management cost are low;
5. the miniaturized design does not occupy the trench space during non-working period, and does not influence normal manual operation.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic view of a lift wheel of the top rotating wheel mechanism of the present invention
Fig. 3 is a flow chart of the present invention.
The labels in the figure are: the system comprises a moving platform 1, an image acquisition device 2, a top rotating wheel mechanism 3, a processing computer 4, a mechanical arm 5, wheels 6, a lifting device 7, a camera 21, a linear light source 22, a rotating wheel 31, a swing arm 32, an oil cylinder 33, a rotating shaft 34 and a base 35.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the present invention will be further described in detail with reference to the following embodiments.
As shown in fig. 1-2, the present invention comprises an image acquisition device 2 for acquiring a wheel tread profile curve, a top rotating wheel mechanism 3 for lifting a wheel 6 and driving the wheel 6 to rotate, and a moving platform 1 for carrying and transferring the image acquisition device 2 and the top rotating wheel mechanism 3;
the image acquisition device 2 comprises a camera 21 and a line light source 22;
the top rotating wheel mechanism 3 comprises a swing arm 32 for jacking the wheel 6 and a rotating wheel 31 for driving the wheel 6 to rotate;
the mobile platform 1 comprises a vehicle body for bearing the image acquisition device and the top rotating wheel mechanism, and traveling wheels are arranged below the vehicle body;
and the processing computer 4 is used for analyzing the image acquired by the image acquisition device 2 and outputting the out-of-roundness calculation result.
The mobile platform 1 adopts a wheel type automatic guide transport vehicle, and the automatic guide transport vehicle comprises a mechanical system, a power system and a control system; the mechanical system comprises a vehicle body, wheels, a steering device and a braking device; the power system comprises a motor and a battery pack; the control system comprises a driving control device, a steering control device and a braking control device. In this embodiment, SLAM positioning navigation is adopted. Because the automated guided transporting vehicle is prior art, no longer repeated in this application. It is contemplated that the mobile platform 1 of the present application is not limited to an automated guided vehicle, as long as a vehicle having transport capabilities and capable of automatic addressing is capable of functioning as a mobile platform. The mobile platform 1 is only a means for carrying other equipment as long as the image acquisition device and the top-rotating wheel mechanism can be transported to and moved in the trench.
The image acquisition device 2 comprises a camera 21 and a line light source 22, wherein the main axis of the lens of the camera 21 forms an included angle of 10-30 degrees with the light emitted by the line light source 22, the light source is in a vertical emission posture, and the camera is in an oblique shooting posture. The light source adopts line type structure light with the wavelength of 650nm, and a narrow band filter with the wavelength of 650 +/-10 nm is arranged in front of a camera lens so as to be suitable for image skills to completely capture a contour curve projected on the wheel tread and avoid the interference of external environment light to the maximum extent. The image acquisition device 2 irradiates the tread of the train wheel 6 by a line light source based on a light-shot image acquisition principle, acquires a picture containing a contour curve projected onto the tread of the train wheel by a light-shot line by using the camera 21, and processes the acquired picture to obtain the appearance of the train wheel 6. By rotating the wheel 6, the collection of the profile curves of the whole wheel 6 in the circumferential direction is realized, the physical information of all the profile curves in the circumferential direction is sorted, and the out-of-roundness value of the wheel is calculated. In this embodiment, the number of tread profile curves is adjusted and obtained by adjusting the rotation speed of the wheel and the sampling frequency of the image acquisition device. In this embodiment, the number of tread profile curves is not less than 72, or one profile curve is collected every 5 °. The image acquisition steps are as follows:
1. and jacking the wheel by using a jacking and rotating wheel mechanism.
2. And projecting a line light source, and collecting a light transversal picture containing the tread contour curve.
3. And rotating the wheel and collecting the light section line pictures at different positions of the wheel.
In order to adjust the position of the image acquisition device 2 conveniently, the device further comprises a mechanical arm 5 which is arranged on the lifting device and used for driving the image acquisition device 2 to move. In the embodiment, a multi-degree-of-freedom mechanical arm 5, such as an ABB 6-degree-of-freedom mechanical arm, is adopted, and the image acquisition device 2 can be sent to a position 300-400 mm away from a wheel pair tread.
The processing computer 4 is an embedded industrial personal computer and is preferably arranged on the mobile platform 1. The processing computer 4 is used for analyzing the image and outputting the out-of-roundness result, and the specific calculation process is as follows.
1. Calibrating a camera, detecting an angular point, and calculating the corresponding relation between a pixel point and a physical point;
2. calibrating a laser plane, and solving a laser plane equation:
Ax+By+Cz+D＝0；
3. calculating calibration parameters according to the corresponding relation between the pixel points and the physical points and a laser plane equation;
4. extracting a central pixel point of the light transversal line;
5. according to the pixel coordinates and the calibration parameters, solving the physical coordinates of the light sectional line;
6. calculating the physical coordinates of all light transversal lines on the circumference of the wheel;
7. and solving out-of-roundness of the wheel according to the physical information of all the curves.
In addition, the processing computer also controls all actions of the whole system, such as a mobile platform, a mechanical arm, an image acquisition device and the like. A wireless transmission system is integrated on the processing computer, and wireless communication can be realized through WIFI (wireless fidelity) for receiving commands. The processing computer stores instruction sets, and can perform a series of control actions according to remote commands to complete detection.
The jacking and rotating wheel mechanism 3 comprises a base 35, and a left jacking and rotating device and a right jacking and rotating device are arranged on the base 35 and correspond to two wheels of the same axle. Each group of top rotating wheel devices comprises two horizontal rotating shafts 34 which are arranged in the front and the back; the device also comprises a front swing arm and a rear swing arm 32, wherein the front swing arm and the rear swing arm 32 are respectively sleeved on the front rotating shaft 34 and the rear rotating shaft 34 and can rotate around the rotating shafts 34; the upper end of the swing arm 32 is provided with a rotating wheel 31; a driving device for driving the swing arm 32 to rotate is also included. The driving device is an oil cylinder 33, and two ends of the oil cylinder 33 are respectively connected with the lower ends of the two swing arms 32. In order to drive the rotation of the wheel 31, it is foreseen to further comprise a servomotor driving the wheel 31. The surface of the wheel 31 should be rough enough to generate enough friction to drive the wheel 6 to rotate. Of course, the swing arm 32 can also be driven in other manners, as long as the swing arm 32 can rotate by a certain angle to enable the rotating wheel 31 to rise by 5-10 mm, and the wheel 6 is ejected from the track.
And a lifting device 7 is arranged between the mobile platform 1 and the top rotating wheel mechanism 3 and used for lifting the top rotating wheel mechanism 3 to a proper height. In this embodiment, the lifting device 7 includes a vertically arranged lead screw, and a slider in threaded fit with the lead screw is arranged on the lead screw. The sliding block is arranged on the guide post in a penetrating mode. The lead screw is driven by the stepping motor to rotate, so that the slide block is driven to lift. The top rotating wheel mechanism is fixed on the sliding block, thereby realizing the lifting.
The lifting platform comprises an upright post and a platform body capable of lifting along the upright post, and the platform body is driven by a motor. The lifting platform is arranged at the end of the trench. Because a certain fall is formed between the trench and the ground, the mobile platform selected in the application is a wheel type automatic guide transport vehicle, and therefore the mobile platform needs to be transported between the trench and the ground.
As shown in the figure, the working flow of the invention is as follows:
1. when the system is stored, the whole system is in a standby state and simultaneously charges the system. The mobile platform is therefore equipped with rechargeable batteries.
2. An instruction is accepted. The mobile platform is provided with a wireless communication system and can receive remote instructions.
3. And driving into the trench by lifting the platform. The platform body is located ground and waits, and after moving platform drove into the platform body, the platform body dropped to the trench bottom.
4. The mobile platform drives to the lower part of the axle and positions the axle.
5. And (5) parking.
6. The lifting device sends the rotating wheel to the lower part of the wheel. The oil cylinder contracts to drive the swing arm to lift the rotating wheel, so that the wheels are lifted away from the track.
7. The mechanical arm conveys the image acquisition device to a designated position.
8. The camera and the line light source are turned on.
9. The motor drives the rotating wheel to rotate, so that the wheel is driven to rotate.
10. The wheel stops after more than one revolution, preferably after significantly more than one revolution.
11. And transmitting the image acquired by the camera to a processing computer in both wired and wireless transmission modes.
12. The camera and the line light source are turned off.
13. And retracting the mechanical arm.
14. The oil cylinder extends out, the rotating wheel descends, and the wheels are placed on the track.
15. The lifting device descends, and the top rotating wheel mechanism returns.
16. And moving the moving platform to the next shaft until the whole vehicle is detected.
17. And returning to the ground by lifting the platform.
18. And continuing standby charging or carrying out next detection.
The above is only a preferred embodiment of the present invention, and it should be noted that the above preferred embodiment should not be considered as limiting the present invention, and the protection scope of the present invention should be subject to the scope defined by the claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and these modifications and adaptations should be considered within the scope of the invention.
Claims (10)
1. The utility model provides a multistage out-of-roundness measurement system of wheel pair does not fall which characterized in that: the device comprises an image acquisition device for acquiring a wheel tread contour curve, a top rotating wheel mechanism for lifting wheels and driving the wheels to rotate, and a moving platform for bearing and transferring the image acquisition device and the top rotating wheel mechanism;
the image acquisition device comprises a camera and a line light source;
the top rotating wheel mechanism comprises a swing arm for jacking wheels and a rotating wheel for driving the wheels to rotate;
the mobile platform comprises a vehicle body, and traveling wheels are arranged below the vehicle body.
2. The multi-step out-of-roundness measurement system for wheel sets without wheel drop according to claim 1, wherein: the lifting device is arranged between the moving platform and the top rotating wheel mechanism; the lifting device comprises a vertically arranged lead screw, and a sliding block in threaded fit with the lead screw is arranged on the lead screw; the sliding block penetrates through the guide post; the top rotating wheel mechanism is fixed on the guide post.
3. The multi-step out-of-roundness measurement system for wheel sets without wheel drop according to claim 1, wherein: the top rotating wheel mechanism comprises a base, and a left group of top rotating devices and a right group of top rotating devices are arranged on the base; each group of jacking and rotating devices comprises two horizontal rotating shafts which are arranged in front and at the back; the front swing arm and the rear swing arm are respectively sleeved on the front rotating shaft and the rear rotating shaft and can rotate around the rotating shafts; the upper end of the swing arm is provided with a rotating wheel; the swing arm is driven to rotate by the driving device.
4. The multi-step out-of-roundness measurement system for wheel sets without wheel drop as claimed in claim 3, wherein: the driving device is an oil cylinder, and two ends of the oil cylinder are respectively connected with the lower ends of the two swing arms.
5. The multi-step out-of-roundness measurement system for wheel sets without wheel drop according to claim 1, wherein: the central axis of the lens of the camera forms an included angle of 10-30 degrees with the light emitted by the line light source.
6. The multi-step out-of-roundness measurement system for wheel sets without wheel drop according to claim 1, wherein: the lifting platform is arranged at the end of the trench; the lifting platform comprises an upright post and a platform body capable of lifting along the upright post, and the platform body is driven by a motor.
7. The multi-step out-of-roundness measurement system for wheel sets without wheel drop according to claim 1, wherein: the mobile platform is an automatic guide transport vehicle; the automatic guide transport vehicle comprises a mechanical system, a power system and a control system; the mechanical system comprises a vehicle body, a travelling wheel, a steering device and a braking device; the power system comprises a motor and a battery pack; the control system comprises a driving control device, a steering control device and a braking control device.
8. The multi-step out-of-roundness measurement system for wheel sets without wheel drop according to claim 7, wherein: and the mobile platform adopts SLAM positioning and navigation.
9. The multi-step out-of-roundness measurement system for wheel sets without wheel drop according to claim 1, wherein: the processing computer is used for analyzing the image acquired by the image acquisition device and outputting a non-roundness calculation result; the processing computer is arranged on the mobile platform and is provided with a wireless transmission system.
10. The multi-step out-of-roundness measurement system for wheel sets without wheel drop according to claim 1, wherein: the device also comprises a mechanical arm which is arranged on the lifting device and used for driving the image acquisition device to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911084683.2A CN110631506A (en) | 2019-11-07 | 2019-11-07 | Multi-order out-of-roundness measurement system for wheel set without falling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911084683.2A CN110631506A (en) | 2019-11-07 | 2019-11-07 | Multi-order out-of-roundness measurement system for wheel set without falling |
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| CN110631506A true CN110631506A (en) | 2019-12-31 |
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| CN201911084683.2A Pending CN110631506A (en) | 2019-11-07 | 2019-11-07 | Multi-order out-of-roundness measurement system for wheel set without falling |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112781524A (en) * | 2021-01-25 | 2021-05-11 | 成都铁安科技有限责任公司 | Falling wheel type wheel detection system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112781524A (en) * | 2021-01-25 | 2021-05-11 | 成都铁安科技有限责任公司 | Falling wheel type wheel detection system |
| CN112781524B (en) * | 2021-01-25 | 2023-03-24 | 成都铁安科技有限责任公司 | Falling wheel type wheel detection system |
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Effective date of registration: 20200806 Address after: Building 5, No.389, Wenjia Road, Qingyang District, Chengdu, Sichuan 610073 Applicant after: Chengdu Shengkai Technology Co., Ltd Address before: 6 Donghai Road, Qingyang Park, Jiaolong industrial port, Chengdu, Sichuan 610000 Applicant before: CHENGDU TIEAN SCIENCE & TECHNOLOGY Co.,Ltd. |
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Application publication date: 20191231 |