CN114754688B - Dynamic detection method for wheel diameter of high-speed railway train based on laser measurement - Google Patents
Dynamic detection method for wheel diameter of high-speed railway train based on laser measurement Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention discloses a dynamic detection method for the diameter of a wheel of a high-speed railway train based on laser measurement. The method comprises the following steps: determining the mounting positions and angles of two laser sensors for measuring wheel diameters, and calibrating the space positions; the laser sensor irradiates the wheel and collects data, and a valid data frame in the collected data is selected; filtering out data frames with jump in the effective data frames; calculating first-order linear fitting of a coordinate point set according to the filtered data frames, and correcting the data frames with serpentine motion; calculating the lengths of the inner end surfaces of the wheels measured by the two sensors in the serpentine corrected data frame, and taking the average value of the lengths as the effective measurement length of the sensors of the single wheel; and calculating the wheel diameter of the wheel through a wheel diameter calculation formula. The invention has simple measurement principle, strong practicability, simple calibration and high measurement precision, and can realize the on-line dynamic detection of the train wheel parameters through expansion.
Description
Technical Field
The invention belongs to the technical field of traffic safety engineering, and particularly relates to a dynamic detection method for the diameter of a wheel of a high-speed railway train based on laser measurement.
Background
The train wheel pair is used as one of the key running components of the vehicle, the parameters of the train wheel pair directly influence the riding comfort of passengers and the operation safety, and in the running process of the train, the tread and the rim part of the wheel pair are in contact friction with the steel rail, so that the wheel rim of the wheel can be worn, the wheel diameter parameters of the wheel are changed, and the state of the wheel parameters is mastered in order to ensure that the wear degree of the wheel is within a safety range, so that the train wheel pair has important significance.
In the wheel measurement mode of the high-speed rail train, manual measurement is covered by an automatic lathe measurement mode and a high-precision laser measurement mode, and in recent years, a plurality of students study a non-contact wheel set measurement mode, including a single binocular vision measurement mode, portable measurement of a single one-dimensional laser sensor and combined measurement of a plurality of one-dimensional laser sensors and an eddy current sensor. In the practical application process, the one-dimensional laser sensor and the one-dimensional laser sensor detection mode matched with the vortex sensor cannot analyze the snakelike shape of the train wheel pair and the wheel pair eccentric wear, and the visual measurement mode also brings a plurality of problems to the installation work due to the difficulty in calibration.
Disclosure of Invention
The invention aims to provide the dynamic detection method for the diameter of the wheels of the high-speed railway train based on laser measurement, which has the advantages of strong practicability, simple calibration, high measurement precision and simple measurement principle, and can realize the online dynamic detection of the parameters of the wheels of the train through expansion.
The technical solution for realizing the purpose of the invention is as follows: a dynamic detection method for the diameter of a wheel of a high-speed railway train based on laser measurement comprises the following steps:
step 1: determining the mounting positions and angles of two laser sensors for measuring wheel diameters, and calibrating the space positions;
step 2: the laser sensor irradiates the wheel and collects data, and a valid data frame in the collected data is selected;
step 3: filtering out data frames with jump in the effective data frames;
step 4: calculating first-order linear fitting of a coordinate point set according to the filtered data frames, and correcting the data frames with serpentine motion;
step 5: calculating the lengths of the inner end surfaces of the wheels measured by the two sensors in the serpentine corrected data frame, and taking the average value of the lengths as the effective measurement length of the sensors of the single wheel;
step 6: and calculating the wheel diameter of the wheel through a wheel diameter calculation formula.
Further, in step 1, the mounting positions and angles of the two laser sensors for measuring the wheel diameters are determined, and the spatial positions are calibrated, and the specific process is as follows:
two laser sensors for measuring the wheel diameter are arranged on the inner side of a steel rail on one side, and are horizontally separated from the steel rail on the other side by 120cm and 30mm lower than the plane of the steel rail, so that the irradiation planes of the two laser sensors are parallel to the steel rail, the distance between the two laser irradiation planes is 20mm, the two laser irradiation planes are parallel to each other, and the included angle of the laser irradiation planes relative to the plane of the steel rail is 6 degrees;
and standing two standard blocks on the track, wherein the two standard blocks are staggered back and forth and are spaced by a set distance, the measurement coordinates of the two laser sensors are transformed into a coordinate system, and the coordinate calibration result is judged according to the relative positions of the measurement values in the coordinates.
Further, in the step 2, selecting a valid data frame in the acquired data, specifically, the steps are as follows:
(2.1) setting a threshold value, and screening data frames with valid data points larger than the threshold value from all data frames as candidate data frames;
and (2.2) selecting a data frame with the largest effective data point number in the candidate data frames, traversing the candidate data frames one by one based on the data point number M in the data frame, and discarding the data frames with the data point number which is different from M by more than 10 in the candidate data frames, wherein the left data frame is used as an effective measurement data frame.
Further, in step 4, correcting the data frame with serpentine motion, specifically, the steps are as follows:
(4.1) carrying out first-order linear fitting of least square on the coordinate point set of the effective data frame from which the jump frame is filtered out to obtain a fitting straight line, and judging whether a primary term coefficient a is 0 or not;
(4.2) if the first order linear fit line is non-horizontal and the slope is non-0, calculating a correction angle β=arctan (a), and correcting each discrete coordinate point (x, y) according to a coordinate system rotation formula x '=xcos β+ysin β, y' =ycos β -xsin β to obtain corrected coordinates (x ', y').
Further, in step 5, the lengths measured by the two sensors in the serpentine corrected data frame are calculated, and the average value of the lengths is taken as the effective measured length of the sensor of the single wheel, which comprises the following steps:
correcting all data frames of the two laser sensors after filtering jump frames, taking each data frame of the first laser sensor, calculating the length measured by the first laser sensor irradiated on the inner end face of the wheel, and then averaging to obtain the effective length l measured by the first laser sensor irradiated on the inner end face of the wheel 1 The method comprises the steps of carrying out a first treatment on the surface of the Taking the second laser sensorEach data frame, calculating the length measured by the second laser sensor irradiated on the inner end face of the wheel, and then averaging to obtain the effective length l measured by the second laser sensor irradiated on the inner end face of the wheel 2 。
Further, in step 6, the wheel diameter of the wheel is calculated according to a wheel diameter calculation formula, wherein the wheel diameter calculation formula is as follows:
wherein R is r For the radius of the outer circle of the wheel rim, the distance between the two laser sensors irradiating the inner end surface of the plane wheel cutting pair is h, and the effective length measured by the two sensors for measuring the wheel diameter irradiating the inner end surface of the wheel is l 1 And l 2 Let the rim height be F h The wheel diameter D is:
D＝2R r -2F h
compared with the prior art, the invention has the remarkable advantages that: (1) The calibration mode is simple and convenient, the requirement on the installation position is low, the operation is convenient, and the implementation is easy; (2) The measuring principle is simple, the detection precision meets the requirement, and the influence of the wheel serpentine motion on the measuring calculation result is small, so that the automatic correction can be realized.
Drawings
Fig. 1 is a plot of two laser sensor acquisition coordinate points and a first order linear fit thereof in the presence of a serpentine motion.
Fig. 2 is a schematic diagram of the wheel diameter measurement of the present invention.
Detailed Description
The invention discloses a dynamic detection method for the diameter of a wheel of a high-speed railway train based on laser measurement, which comprises the following steps:
step 1: determining the mounting positions and angles of two laser sensors for measuring wheel diameters, and calibrating the space positions;
step 2: the laser sensor irradiates the wheel and collects data, and a valid data frame in the collected data is selected;
step 3: filtering out data frames with jump in the effective data frames;
step 4: calculating first-order linear fitting of a coordinate point set according to the filtered data frames, and correcting the data frames with serpentine motion;
step 5: calculating the lengths of the inner end surfaces of the wheels measured by the two sensors in the serpentine corrected data frame, and taking the average value of the lengths as the effective measurement length of the sensors of the single wheel;
step 6: and calculating the wheel diameter of the wheel through a wheel diameter calculation formula.
Further, in step 1, the mounting positions and angles of the two laser sensors for measuring the wheel diameters are determined, and the spatial positions are calibrated, and the specific process is as follows:
two laser sensors for measuring the wheel diameter are arranged on the inner side of a steel rail on one side, and are horizontally separated from the steel rail on the other side by 120cm and 30mm lower than the plane of the steel rail, so that the irradiation planes of the two laser sensors are parallel to the steel rail, the distance between the two laser irradiation planes is 20mm, the two laser irradiation planes are parallel to each other, and the included angle of the laser irradiation planes relative to the plane of the steel rail is 6 degrees;
and standing two standard blocks on the track, wherein the two standard blocks are staggered back and forth and are spaced by a set distance, the measurement coordinates of the two laser sensors are transformed into a coordinate system, and the coordinate calibration result is judged according to the relative positions of the measurement values in the coordinates.
Further, in the step 2, selecting a valid data frame in the acquired data, specifically, the steps are as follows:
(2.1) setting a threshold value, and screening data frames with valid data points larger than the threshold value from all data frames as candidate data frames;
and (2.2) selecting a data frame with the largest effective data point number in the candidate data frames, traversing the candidate data frames one by one based on the data point number M in the data frame, and discarding the data frames with the data point number which is different from M by more than 10 in the candidate data frames, wherein the left data frame is used as an effective measurement data frame.
Further, in step 4, correcting the data frame with serpentine motion, specifically, the steps are as follows:
(4.1) carrying out first-order linear fitting of least square on the coordinate point set of the effective data frame from which the jump frame is filtered out to obtain a fitting straight line, and judging whether a primary term coefficient a is 0 or not;
(4.2) if the first order linear fit line is non-horizontal and the slope is non-0, calculating a correction angle β=arctan (a), and correcting each discrete coordinate point (x, y) according to a coordinate system rotation formula x '=xcos β+ysin β, y' =ycos β -xsin β to obtain corrected coordinates (x ', y').
Further, in step 5, the lengths measured by the two sensors in the serpentine corrected data frame are calculated, and the average value of the lengths is taken as the effective measured length of the sensor of the single wheel, which comprises the following steps:
correcting all data frames of the two laser sensors after filtering jump frames, taking each data frame of the first laser sensor, calculating the length measured by the first laser sensor irradiated on the inner end face of the wheel, and then averaging to obtain the effective length l measured by the first laser sensor irradiated on the inner end face of the wheel 1 The method comprises the steps of carrying out a first treatment on the surface of the Taking each data frame of the second laser sensor, calculating the length measured by the second laser sensor irradiating the inner end face of the wheel, and then averaging to obtain the effective length l measured by the second laser sensor irradiating the inner end face of the wheel 2 。
Further, in step 6, the wheel diameter of the wheel is calculated according to a wheel diameter calculation formula, wherein the wheel diameter calculation formula is as follows:
wherein R is r For the radius of the outer circle of the wheel rim, the distance between the two laser sensors irradiating the inner end surface of the plane wheel cutting pair is h, and the effective length measured by the two sensors for measuring the wheel diameter irradiating the inner end surface of the wheel is l 1 And l 2 Let the rim height be F h The wheel diameter D is:
D＝2R r -2F h
the invention is described in further detail below with reference to the accompanying drawings and specific examples.
Examples
The embodiment relates to a dynamic detection method for the diameter of a wheel of a high-speed railway train based on laser measurement, which comprises the following steps:
step 1: the installation positions and angles of the two laser sensors for measuring the wheel diameters are determined, and the spatial positions of the two laser sensors are calibrated, and the process is as follows:
two laser sensors for measuring the wheel diameters are arranged at the position, which is closer to the steel rail, on the inner side of the steel rail, and horizontally spaced from the steel rail on the other side by 120cm and 30mm below the plane of the steel rail, so that the irradiation planes of the two laser sensors are parallel to the steel rail, the two laser irradiation planes are vertically staggered by 20mm and are parallel to each other, and the included angle of the laser irradiation planes relative to the plane of the steel rail is 6 degrees.
Two standard blocks are placed on the track in a standing way, and the two standard blocks are staggered front and back, are parallel to each other and are spaced a certain distance. Starting the sensors to perform static acquisition to obtain an acquisition data frame, transforming coordinate axes of the two sensors into the same coordinate system according to relative installation positions, and judging whether the two sensors are positioned at the optimal preset position for measuring and calculating the wheel diameter according to the object block coordinate set acquired by the two sensors in the coordinate system, wherein the three positions have relative relations: only the sensor illumination planes are not parallel; the sensor reference coordinate system is not parallel; the sensor illumination plane is not parallel to the reference coordinate system. And judging which kind of calibration result belongs to, and manually fine-adjusting the position of the sensor to finish calibration.
Step 2: the sensor irradiates the collected data of the wheels, and selects effective data frames in the collected data, and the specific process is as follows:
step (2.1) setting a threshold value, and screening data frames with effective data points larger than the threshold value from all data frames as alternative data frames;
and (2.2) selecting a data frame with the largest effective data point number in the candidate data frames, traversing the candidate data frames one by one based on the data point number M in the data frame, and discarding the data frames with the data point number which is different from M by more than 10 in the candidate data frames, wherein the left data frames are used as effective measurement data frames.
Step 3: filtering out data frames with jump in the effective data frames, acquiring effective measurement data frames from the step 2, accumulating the number of effective measurement data points of each frame, taking an average value A, screening the effective measurement data frames by the average value A, and the principle is that the data frames with 2 or more measurement points deviating from the average value A in the effective measurement data frames are removed, and the rest data frames after jump filtering is finished.
Step 4: calculating first-order linear fitting of a coordinate point set of the data obtained by filtering the data frame, judging whether the train has serpentine motion, and correcting the data, wherein the method comprises the following specific steps of:
and (4.1) carrying out least square first-order linear fitting on the coordinate point set of the effective data frame with the jump frame filtered to obtain a fitting straight line, judging whether the primary term coefficient a of the fitting straight line is 0, and displaying the images of data points acquired by the sensors 1 and 2 in the coordinate axis and the first-order linear fitting straight line of the discrete coordinate points acquired by the sensor 1 when serpentine motion exists in fig. 1.
If the first-order linear fitting straight line is not horizontal and the slope is not 0, the step (4.2) calculates a correction angle beta=arctan (a), and the coordinate system rotation formula x '=xcos beta+ysin beta, y' =ycos beta-xsin beta, and corrects each discrete point.
Step 5: calculating the lengths measured by two sensors in a serpentine corrected data frame, taking the average value of the lengths as the effective measurement length of the sensor of the single wheel, and specifically performing the following steps:
correcting all data frames of the two sensors after filtering jump frames, and then calculating the length l required by calculating wheel diameter parameters in the data frames 1 And l 2 Taking l calculated by each data frame of the sensor 1 1 As the effective measurement length of the calculated wheel diameter of the sensor 1, take l calculated for each data frame of the sensor 2 2 As the effective measured length of the calculated wheel diameter of the sensor 2.
Step 6: the wheel diameter of the wheel is calculated by a wheel diameter calculation formula, and the formula is as follows:
wherein R is r The distance between the two laser sensors irradiating the inner end face of the plane wheel cutting pair is h, which is a constant, and the two sensors measuring the wheel diameter irradiate on the vehicleThe effective length measured by the end face in the wheel is l 1 And l 2 According to the step 5, the rim height is set as F h The wheel diameter D is given by:
D＝2R r -2F h
fig. 2 is a schematic diagram of wheel diameter measurement, from which a wheel diameter calculation formula can be derived based on the geometric relationship in the diagram.
Compared with a visual measurement mode and most laser measurement modes, the invention has simple and convenient calibration mode and low requirement on the installation position; the measuring principle is simple, the detection precision meets the requirement, and the influence of the wheel serpentine motion on the measuring calculation result is small, so that the automatic correction can be realized.
Claims (4)
1. The dynamic detection method for the wheel diameter of the high-speed railway train based on laser measurement is characterized by comprising the following steps of:
step 1: determining the mounting positions and angles of two laser sensors for measuring wheel diameters, and calibrating the space positions;
step 2: the laser sensor irradiates the wheel and collects data, and a valid data frame in the collected data is selected;
step 3: filtering out data frames with jump in the effective data frames;
step 4: calculating first-order linear fitting of a coordinate point set according to the filtered data frames, and correcting the data frames with serpentine motion;
step 5: calculating the lengths of the inner end surfaces of the wheels measured by the two sensors in the serpentine corrected data frame, and taking the average value of the lengths as the effective measurement length of the sensors of the single wheel;
step 6: calculating the wheel diameter of the wheel through a wheel diameter calculation formula;
in the step 1, the installation positions and angles of two laser sensors for measuring wheel diameters are determined, and the space positions are calibrated, wherein the specific process is as follows:
two laser sensors for measuring the wheel diameter are arranged on the inner side of a steel rail on one side, and are horizontally separated from the steel rail on the other side by 120cm and 30mm lower than the plane of the steel rail, so that the irradiation planes of the two laser sensors are parallel to the steel rail, the distance between the two laser irradiation planes is 20mm, the two laser irradiation planes are parallel to each other, and the included angle of the laser irradiation planes relative to the plane of the steel rail is 6 degrees;
standing two standard blocks on a track, wherein the two standard blocks are staggered front and back and are separated by a set distance, measuring coordinates of two laser sensors are transformed into a coordinate system, and a coordinate calibration result is judged according to the relative position of the measured values in the coordinates;
in step 4, correcting the data frame with serpentine motion, which comprises the following specific steps:
(4.1) carrying out first-order linear fitting of least square on the coordinate point set of the effective data frame from which the jump frame is filtered out to obtain a fitting straight line, and judging whether a primary term coefficient a is 0 or not;
(4.2) if the first order linear fit line is non-horizontal and the slope is non-0, calculating a correction angle β=arctan (a), and correcting each discrete coordinate point (x, y) according to a coordinate system rotation formula x '=xcos β+ysin β, y' =ycos β -xsin β to obtain corrected coordinates (x ', y').
2. The dynamic detection method for the wheel diameter of the high-speed railway train based on laser measurement according to claim 1, wherein in the step 2, valid data frames in collected data are selected, and the specific steps are as follows:
(2.1) setting a threshold value, and screening data frames with valid data points larger than the threshold value from all data frames as candidate data frames;
and (2.2) selecting a data frame with the largest effective data point number in the candidate data frames, traversing the candidate data frames one by one based on the data point number M in the data frame, and discarding the data frames with the data point number which is different from M by more than 10 in the candidate data frames, wherein the left data frame is used as an effective measurement data frame.
3. The dynamic detection method for the diameter of the wheels of the high-speed railway train based on laser measurement according to claim 1, wherein in the step 5, the lengths measured by two sensors in a serpentine corrected data frame are calculated, and the average value of the lengths is taken as the effective measurement length of the sensor of the single wheel, and the specific process is as follows:
correcting all data frames of the two laser sensors after filtering jump frames, taking each data frame of the first laser sensor, calculating the length measured by the first laser sensor irradiated on the inner end face of the wheel, and then averaging to obtain the effective length l measured by the first laser sensor irradiated on the inner end face of the wheel 1 The method comprises the steps of carrying out a first treatment on the surface of the Taking each data frame of the second laser sensor, calculating the length measured by the second laser sensor irradiating the inner end face of the wheel, and then averaging to obtain the effective length l measured by the second laser sensor irradiating the inner end face of the wheel 2 。
4. The dynamic detection method for the diameter of the wheel of the high-speed railway train based on laser measurement according to claim 1, wherein in the step 6, the diameter of the wheel is calculated by a wheel diameter calculation formula, and the wheel diameter calculation formula is as follows:
wherein R is r For the radius of the outer circle of the wheel rim, the distance between the two laser sensors irradiating the inner end surface of the plane wheel cutting pair is h, and the effective length measured by the two sensors for measuring the wheel diameter irradiating the inner end surface of the wheel is l 1 And l 2 Let the rim height be F h The wheel diameter D is:
D＝2R r -2F h 。
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