CN115854915A - Vehicle-mounted wheel out-of-roundness online dynamic measurement method and device - Google Patents
Vehicle-mounted wheel out-of-roundness online dynamic measurement method and device Download PDFInfo
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- CN115854915A CN115854915A CN202211638646.3A CN202211638646A CN115854915A CN 115854915 A CN115854915 A CN 115854915A CN 202211638646 A CN202211638646 A CN 202211638646A CN 115854915 A CN115854915 A CN 115854915A
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Abstract
The invention discloses a vehicle-mounted on-line dynamic measurement method for out-of-roundness of a wheel, which comprises the following steps: mounting two linear structure light sensors and a point laser range finder on a bogie at the bottom of the vehicle, and calibrating the position relation between the point laser range finder and the linear structure light sensors; respectively measuring the elliptic contour lines of the two laser planes intersected with the axle, calculating to obtain an elliptic center coordinate according to the elliptic contour lines, converting two elliptic coordinate points into a global coordinate system by applying a conversion matrix, and calculating the axle axis through straight lines of the two points; measuring the position of a rolling dot on the wheel tread by the output of a point laser range finder, calculating the coordinate of the rolling dot on the wheel tread under a global coordinate system by the coordinate of a point laser measurement origin under the global coordinate system and a laser linear equation, and calculating the radius of the wheel by the distance from the point to the central line of the axle; and obtaining the out-of-roundness of the wheel through the standard deviation of a plurality of groups of wheel radius measurement values.
Description
Technical Field
The invention relates to a vehicle-mounted on-line dynamic measurement method and device for out-of-roundness of a wheel, and belongs to the technical field of test and measurement.
Background
The out-of-roundness of the wheels is an important index influencing the running state and safety of the train. With the increase of the driving mileage of the train wheels and the influence of the body load, the surface shape of the train wheels can be gradually changed, the out-of-roundness of the wheels is increased, the abrasion of the wheels is aggravated, and adverse states such as vibration, noise and the like are caused.
Currently, methods for measuring wheel out-of-roundness mainly include off-line contact measurement and on-line pressure type indirect measurement. The off-line contact measurement needs to detach the wheel from the bogie, mount the wheel on a special measuring device, rotate the wheel for one circle, measure the tread of the wheel by using a fixed mechanical contact measuring device, and obtain the run-out variable of the tread surface of the wheel when the wheel rotates for one circle, so as to calculate the out-of-roundness of the wheel, and the method has high precision, but low efficiency and needs to detach the bogie; the online pressure type indirect measurement is that a pressure sensor is laid along a steel rail, when a wheel rolls for one circle from the steel rail, the pressure to the steel rail in the advancing process is measured, the out-of-roundness of the wheel is indirectly calculated according to the change condition of the pressure, the method cannot directly obtain the out-of-roundness deformation, or the out-of-roundness deformation is calculated by using an indirect calibration method, the precision is poor, and the small deformation such as polygons and the like is often difficult to detect.
Disclosure of Invention
The invention aims to provide a vehicle-mounted on-line dynamic measurement method and device for the out-of-roundness of a wheel, and the method and device are used for solving the defects that the precision is poor and smaller deformations such as polygons and the like are difficult to detect in the prior art.
A vehicular online dynamic measurement method for out-of-roundness of a wheel comprises the following steps:
installing two linear structure light sensors and a point laser range finder on a bogie at the bottom of the vehicle, and calibrating the position relation between the point laser range finder and the linear structure light sensors;
respectively measuring the elliptic contour lines of the two laser planes intersected with the axle, calculating according to the elliptic contour lines to obtain an elliptic center coordinate, converting two elliptic coordinate points into a global coordinate system by applying a conversion matrix, determining a straight line through the two points, and calculating the axle axis;
measuring the position of a rolling dot on the tread of the wheel by the output of a point laser range finder, determining the coordinate of a point laser measurement origin under a global coordinate system and a laser linear equation, determining a straight line through two points, calculating to obtain the coordinate of the rolling dot on the tread of the wheel under the global coordinate system, and calculating to obtain the radius of the wheel by the distance from the point to the center line of the axle;
and obtaining the out-of-roundness of the wheel through the standard deviation of a plurality of groups of wheel radius measurement values.
Further, the coordinates of the center of the ellipse obtained by calculation are subjected to ellipse fitting algorithm.
Further, the method for converting two elliptic coordinate points to the global coordinate system by applying the conversion matrix comprises the following steps:
the global system calibration of the two line-structured light sensors and the point laser range finder is completed through the mounting device and the sawtooth target, and the conversion matrix from the output coordinates of the two line-structured light sensors and the measurement point coordinates of the point laser range finder to a coordinate system is calculated.
Further, the method for unifying into one coordinate system includes:
installing the target in a position which enables the two linear structured light sensors to respectively project laser surfaces, modulating the laser surfaces by the sawtooth target to form two sawtooth light bars, and positioning a measuring point of the point laser range finder on the edge of a certain tooth;
the laser projected by each line-structured light sensor forms four sections of broken lines on one tooth surface of the sawtooth target, and the folding points are respectively marked as P1, P2 and P3; q1, Q2 and Q3, respectively reading the coordinates of the P1-P3 under one line-structured light sensor, and reading the coordinates of the Q1-Q3 under the other line-structured light sensor;
converting a 3D coordinate system of the line-structured light sensor to P2 according to coordinate values of P1-P3, taking P2 as an original point, P1-P2 as an x axis and P3-P2 as a y axis, taking the z axis as an edge of a sawtooth target, and recording a coordinate system transfer matrix as [ R1, T1]; the coordinate system is established on Q2, and the coordinate system transfer matrix is recorded as [ R2, T2]. Measuring the distance between P2 and Q2, and recording the distance as D, so that the two coordinate systems are unified together through the z-axis difference D;
measuring the distance between a measuring point M and a P2 of the laser range finder and recording as L, wherein the coordinate of the point M under a P2 coordinate system is (0, L), and the reading of the laser range finder at the moment is recorded as K1;
translating the target, keeping the target perpendicular to the laser plane of the linear structured light sensor all the time, so that the measuring point of the laser range finder is located on the edge of a certain tooth again and is marked as M ', at the moment, the point where the laser plane of the linear structured light sensor intersects with the edge of the tooth is marked as P2', the coordinate of P2 'under a P2 coordinate system is R1 · P2' + T1, the distance between the measuring M 'and P2' is L ', and the coordinate of M' under the P2 coordinate system is R1 · P2'+ T1+ [0, L' ] T;
according to the coordinates of M and M' in the P2 coordinate system, a linear equation of the measuring laser line of the laser range finder in the P2 coordinate system can be calculated, and according to the coordinates of the K1 point, the M point and the linear equation, the coordinates of the measuring origin of the laser range finder in the P2 coordinate system can be positioned.
Further, the angle of each tooth of the saw tooth target is 90 °.
Further, the sawtooth target is perpendicular to the laser plane of the structured light sensor.
A vehicle-mounted online dynamic measuring device for out-of-roundness of a wheel comprises a first structured light sensor, a second structured light sensor, a point laser range finder and a sawtooth target;
the structural light sensor I, the structural light sensor II and the point laser range finder are arranged at the bottom of the train, the laser planes of the structural light sensor I and the structural light sensor II are arranged in parallel, and transversal outlines of the two laser planes and an axle are obtained respectively;
the point laser range finder measures the position of a rolling dot on the wheel tread, and the radius is obtained through the distance between the rolling dot and the axle axis;
the sawtooth target is perpendicular to the laser plane of the structured light sensor.
Further, the angle of each tooth of the saw tooth target is 90 °.
Compared with the prior art, the invention has the following beneficial effects: the invention adopts the laser of two line-structured light sensors to project on the axle of the wheel set, two ellipse central points are obtained through ellipse fitting calculation, and the two points form the axle central line; the point laser distance measuring instrument is used for measuring the position of a rolling circle on the tread of the wheel, measuring the rolling circle point, calculating the distance between the rolling circle point and the central line of the axle, and obtaining the out-of-roundness of the wheel after the train wheel runs for one circle, so that the measuring precision is improved, the on-line real-time measurement is realized, the measuring efficiency is improved, and the out-of-roundness fault of the wheel can be found in time.
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FIG. 1 is a schematic view of the structure of the present invention;
fig. 2 is a schematic diagram of an embodiment of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
The invention provides a vehicle-mounted on-line dynamic measurement method for out-of-roundness of a wheel, which comprises the following steps:
(1) The two line-structured light sensors and the point laser range finder are arranged on a bogie at the bottom of the vehicle, so that the two line-structured light sensors can measure the wheel set axle, the laser planes are parallel to each other, and the profiles of the laser planes and the axle section can be measured; and measuring the rolling round points on the wheel tread by using a point laser range finder.
(2) And (3) completing global system calibration of the two linear structured light sensors and the point laser range finder by using the special mounting device and the sawtooth target, and calculating a conversion matrix from output coordinates of the two linear structured light sensors and measurement point coordinates of the point laser range finder to a coordinate system.
(3) During measurement, two linear structured light sensors respectively measure two sections of elliptical contour lines of which the laser planes are intersected with the axle, an ellipse fitting algorithm is used for calculating to obtain an elliptical center coordinate, a conversion matrix is used for converting two elliptical coordinate points into a global coordinate system, and an axle center line coordinate equation is calculated through a straight line passing through the two points; suppose that the two-dimensional coordinates of a point on the elliptical arc line are (x) i ,y i ) If there are n points, the following objective function is optimized by using least square method and fitted to obtain ellipseEquation of a circle, the center point of the ellipse being: ((a + c)/2, (b + d)/2)
(4) During measurement, the coordinates of the rolling round points on the wheel tread in the global coordinate system are calculated through the output of the point laser distance measuring instrument, the coordinates of the point laser measuring origin in the global coordinate system and a laser linear equation. The wheel radius is calculated from the distance from this point to the axle centerline.
And continuously measuring the radius of the wheel along with the forward rolling of the wheel, and calculating the standard deviation of the measured value of the radius of the wheel after a certain distance of driving to obtain the out-of-roundness of the wheel.
The two line-structured light sensors and the point laser range finder form a unified measuring system, the measuring results of the three measuring sensors are unified to a coordinate system by utilizing a special mounting device and a sawtooth target, and the specific calibration method comprises the following steps:
(1) The laser planes of the two linear structure light sensors are installed in parallel, a measuring system consisting of the sawtooth target, the linear structure light sensors and the point laser range finder is fixed by using a special installation device, and the angle of each tooth of the sawtooth target is 90 degrees. When the mounting device is used, the sawtooth target is perpendicular to the laser plane of the structured light sensor, and the target can move up and down in parallel on the special mounting device.
(2) The target is installed at a certain position, so that the two line-structured light sensors respectively project laser surfaces, the laser surfaces are modulated by the sawtooth target to form two sawtooth light bars, and the measuring point of the point laser range finder is positioned on the edge of a certain tooth.
(3) The laser projected by each line-structured light sensor forms four sections of broken lines on the surface of a certain tooth of the sawtooth target, and the broken points are respectively marked as P1, P2 and P3; q1, Q2 and Q3, respectively reading the coordinates of the P1-P3 under the sensor 1; the coordinates of Q1-Q3 under sensor 2 are read.
(4) Taking the linear structured light sensor 1 as an example, according to the coordinate values of P1-P3, the 3D coordinate system of the linear structured light sensor is converted to P2, taking P2 as the origin, P1-P2 as the x-axis, and P3-P2 as the y-axis, then the z-axis is the edge of the sawtooth target, and the coordinate system transfer matrix is denoted as [ R1, T1]. The linear structured light sensor 2 also establishes a coordinate system on Q2, noting that the coordinate system transfer matrix is [ R2, T2]. The distance P2-Q2 is measured and recorded as D. The two coordinate systems are unified together by the z-axis difference D.
(5) And (3) recording the distance between the measuring point M of the measuring laser range finder and the P2 as L, and recording the coordinate of the point M in the coordinate system of the P2 as (0, L), and the reading of the laser range finder at the moment as K1.
(6) Translating the target, keeping the target perpendicular to the laser plane of the linear optical sensor all the time, so that the measuring point of the laser range finder is positioned on the edge of a certain tooth again and is marked as M ', at this time, the point where the laser plane of the linear optical sensor 1 intersects with the edge of the tooth is marked as P2', the coordinate of P2 'in the P2 coordinate system is R1. P2' + T1, the distance between the measuring M 'and the P2' is L ', and the coordinate of M' in the P2 coordinate system is R1. P2'+ T1+ [0, L'] T 。
(7) According to the coordinates of M and M' in the P2 coordinate system, a linear equation of the measuring laser line of the laser range finder in the P2 coordinate system can be calculated, and according to the coordinates of the K1 point, the M point and the linear equation, the coordinates of the measuring origin of the laser range finder in the P2 coordinate system can be positioned. And then each measuring point of the subsequent laser distance measuring instrument can obtain the coordinate value of the measuring point in the P2 coordinate system through the output of the distance measuring instrument and the linear equation of the laser line.
The invention provides a vehicle-mounted online dynamic measuring device for out-of-roundness of a wheel, which comprises a first linear structure light sensor, a second linear structure light sensor, a point laser range finder and a sawtooth target;
the first structured light sensor, the second structured light sensor and the point laser range finder are arranged at the bottom of the train, the laser planes of the first structured light sensor and the second structured light sensor are arranged in parallel, and transversal profiles of the two laser planes and an axle are obtained respectively;
the point laser range finder measures the position of a rolling dot on the wheel tread, and the radius is obtained through the distance between the rolling dot and the axle axis;
the sawtooth target is perpendicular to the laser plane of the structured light sensor, and the angle of each tooth of the sawtooth target is 90 degrees;
the method comprises the steps of forming a measuring system by using a linear structure optical sensor and a point laser range finder, installing the measuring system at the bottom of a train, respectively measuring rolling dots on an axle and a tread of a wheel pair, obtaining the radius of the wheel by calculating the distance from the rolling dots to the axis of the wheel, obtaining radius jump after the wheel rolls for a circle, and calculating out the out-of-roundness of the wheel.
The wheel pair axle is measured by using two linear structured light sensors, the laser planes of the two linear structured light sensors are installed in parallel, the transversal profiles of the two laser planes and the axle are respectively obtained, the ellipse center is obtained by calculating by using an ellipse fitting algorithm, and the axle axis is obtained by calculating by using two ellipse center points. The rolling dot position of the wheel tread is measured by using a point laser distance meter, and the radius can be calculated by the distance between the rolling dot and the axle axis.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A vehicular online dynamic measurement method for out-of-roundness of a wheel is characterized by comprising the following steps:
mounting two linear structure light sensors and a point laser range finder on a bogie at the bottom of the vehicle, and calibrating the position relation between the point laser range finder and the linear structure light sensors;
respectively measuring the elliptic contour lines of the two laser planes intersected with the axle, calculating according to the elliptic contour lines to obtain an elliptic center coordinate, converting two elliptic coordinate points into a global coordinate system by applying a conversion matrix, determining a straight line through the two points, and calculating the axle axis;
measuring the position of a rolling dot on the tread of the wheel by the output of a point laser range finder, determining the coordinate of a point laser measurement origin under a global coordinate system and a laser linear equation, determining a straight line through two points, calculating to obtain the coordinate of the rolling dot on the tread of the wheel under the global coordinate system, and calculating to obtain the radius of the wheel by the distance from the point to the center line of the axle;
and obtaining the out-of-roundness of the wheel through the standard deviation of a plurality of groups of wheel radius measurement values.
2. The on-line dynamic measurement method for the out-of-roundness of the vehicle-mounted wheel according to claim 1, wherein the ellipse center coordinates obtained by calculation are calculated by an ellipse fitting algorithm.
3. The on-line dynamic vehicle-mounted measurement method of the out-of-roundness of the wheel according to claim 1, wherein the method of converting the two elliptical coordinate points to the global coordinate system using the conversion matrix comprises:
the global system calibration of the two linear structure light sensors and the point laser range finder is completed through the mounting device and the sawtooth target, and the output coordinates of the two linear structure light sensors and the measuring point coordinates of the point laser range finder are calculated to be unified into a conversion matrix under a coordinate system.
4. The on-line dynamic vehicle wheel out-of-roundness measurement method according to claim 3, wherein the method of unifying into one coordinate system comprises:
mounting the target on a position which enables the two line-structured light sensors to respectively project laser surfaces, modulating the laser surfaces by the sawtooth target to form two sawtooth light bars, and positioning a measuring point of a point laser range finder on the edge of a certain tooth;
the laser projected by each line-structured light sensor forms four sections of broken lines on one tooth surface of the sawtooth target, and the folding points are respectively marked as P1, P2 and P3; q1, Q2 and Q3, respectively reading the coordinates of the P1-P3 under one line-structured light sensor, and reading the coordinates of the Q1-Q3 under the other line-structured light sensor;
converting a 3D coordinate system of the line-structured light sensor to P2 according to coordinate values of P1-P3, taking P2 as an original point, P1-P2 as an x axis and P3-P2 as a y axis, taking the z axis as an edge of a sawtooth target, and recording a coordinate system transfer matrix as [ R1, T1]; the coordinate system is established on Q2, and the coordinate system transfer matrix is recorded as [ R2, T2]. Measuring the distance between P2 and Q2, and recording the distance as D, so that the two coordinate systems are unified together through the z-axis difference D;
measuring the distance between a measuring point M and a P2 of the laser range finder and recording as L, wherein the coordinate of the point M under a P2 coordinate system is (0, L), and the reading of the laser range finder at the moment is recorded as K1;
translating the target, keeping the target perpendicular to the laser plane of the linear structured light sensor all the time, so that the measuring point of the laser range finder is located on the edge of a certain tooth again and is marked as M ', at the moment, the point where the laser plane of the linear structured light sensor intersects with the edge of the tooth is marked as P2', the coordinate of P2 'under a P2 coordinate system is R1 · P2' + T1, the distance between the measuring M 'and the measuring P2' is L ', and the coordinate of M' under the P2 coordinate system is R1 · P2'+ T1+ [0, L' ] T;
according to the coordinates of M and M' in the P2 coordinate system, a linear equation of the measuring laser line of the laser range finder in the P2 coordinate system can be calculated, and according to the coordinates of the K1 point, the M point and the linear equation, the coordinates of the measuring origin of the laser range finder in the P2 coordinate system can be positioned.
5. The vehicle-mounted online dynamic measurement method of wheel out-of-roundness of a vehicle wheel according to claim 4, wherein the angle of each tooth of the saw tooth target is 90 °.
6. The on-line dynamic vehicle wheel out-of-roundness measurement method according to claim 4, wherein the sawtooth target is perpendicular to a laser plane of the structured light sensor.
7. An apparatus comprising the vehicle-mounted online dynamic measurement method for the out-of-roundness of the wheel according to any one of claims 1 to 6, wherein the apparatus comprises a first structured light sensor, a second structured light sensor, a point laser distance measuring instrument and a sawtooth target;
the first structured light sensor, the second structured light sensor and the point laser range finder are arranged at the bottom of the train, the laser planes of the first structured light sensor and the second structured light sensor are arranged in parallel, and transversal profiles of the two laser planes and an axle are obtained respectively;
the point laser range finder measures the position of a rolling dot on the wheel tread, and the radius is obtained through the distance between the rolling dot and the axle axis;
the sawtooth target is perpendicular to the laser plane of the structured light sensor.
8. The vehicle-mounted online dynamic measurement device of the out-of-roundness of the wheel of the vehicle of claim 7, wherein the angle of each tooth of the saw tooth target is 90 °.
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| CN202211638646.3A CN115854915A (en) | 2022-12-20 | 2022-12-20 | Vehicle-mounted wheel out-of-roundness online dynamic measurement method and device |
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| CN202211638646.3A CN115854915A (en) | 2022-12-20 | 2022-12-20 | Vehicle-mounted wheel out-of-roundness online dynamic measurement method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117804356A (en) * | 2024-03-01 | 2024-04-02 | 广东省特种设备检测研究院顺德检测院 | Automatic pressure vessel inner diameter measurement method and system based on laser ranging |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117804356A (en) * | 2024-03-01 | 2024-04-02 | 广东省特种设备检测研究院顺德检测院 | Automatic pressure vessel inner diameter measurement method and system based on laser ranging |
| CN117804356B (en) * | 2024-03-01 | 2024-05-24 | 广东省特种设备检测研究院顺德检测院 | Automatic pressure vessel inner diameter measurement method and system based on laser ranging |
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