CN100335328C - Method and device for measuring stepped driving wheel pair with structural optical sight sensing - Google Patents
Method and device for measuring stepped driving wheel pair with structural optical sight sensing Download PDFInfo
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- CN100335328C CN100335328C CNB2004100152405A CN200410015240A CN100335328C CN 100335328 C CN100335328 C CN 100335328C CN B2004100152405 A CNB2004100152405 A CN B2004100152405A CN 200410015240 A CN200410015240 A CN 200410015240A CN 100335328 C CN100335328 C CN 100335328C
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Abstract
The present invention discloses a method and a device for measuring stepped driving wheel pairs with structural optical sight sensing. The method uses a stepped driving system for controlling wheel pairs to rotate; structural light and a sight sensing technique are applied to finish the automatic detection of the geometric dimension, the tread scratch and the separation of the wheel pairs of railway vehicles. The device is composed of a base, a gantry frame structure and a vertical arm supporting structure, wherein the gantry frame structure and the vertical arm supporting structure are installed on the base; a driving wheel system of a stepped motor and a wheel inlet and outlet device are installed on the base; a structural optical sight sensor is installed on a gantry frame. The device simultaneously finishes the non-contact full automatic measurement of the wheel pairs on one station, and has the advantages of high measurement accuracy and reliable operation.
Description
Technical field
The present invention relates to right method of measurement of railway vehicle wheel and measurement mechanism; Be specifically related to adopt structured light visual sensing stepper drive type wheel to method of measurement and measurement mechanism.
Background technology
Vehicle wheel is to being interchangeable part important on the railway locomotive, and its state of the art directly has influence on the safe in operation and the speed of vehicle.In the right maintenance process of wheel, it is right that all will pull down a large amount of wheels from locomotive every day, and the wheel that needs to detect is to nearly tens of parameters, as flange thickness, rim width, wheel footpath and tread wear etc., not only require the survey precision height, but also need in time some parameter situations to be diagnosed.These all are the important parameters that directly influences vehicle operating, must be in time, detected exactly and diagnose, and these measurement parameters also are the prerequisites as problems such as research rolling stock dynam, vehicle stability and curve orientations.Wheel track is after wearing and tearing after a while, and each wheel tread feature all can change, and as wheel diameter, flange thickness, wheel rim thickness, shelled tread and scratch etc., and is difficult to find its rule, is the measurement difficult problem that the railway system will solve always.Particularly since brake and wheel to the flat sliding that causes with the factors such as slide relative of rail face when turning with peel off, make the tread tread rolling circle be string and lack shape, give in the vehicle operating and bring extra impact shock, have a strong impact on the safety and the service life of train and orbital facilities, must be pointed out its quantity and exact location during detection.At present, one of major reason that influences the speed-raising of China railways vehicle is exactly that the right detection technique of vehicle wheel falls behind, and inefficiency can't detect wheel quickly and accurately to state.
Current, domestic to the right detection of vehicle wheel and diagnosis basically by manually finishing, the wheel revolutions in the testing process and to take turns reference record also be to finish by craft.Manual measurement is not only loaded down with trivial details, labour intensity big (two people measure one group of wheel to need 20 minutes), and measuring tool falls behind (clamp, ruler etc.).For a long time, a large amount of repeated handwork makes the workman very easily produce fatigue, adds the accuracy of range estimation and the problems such as real-time that human eye is regulated, and makes that the datum error of measuring is bigger, accuracy of detection can not be protected, inefficiency.
In order to adapt to the needs that automotive industry is produced, make vehicle wheel to the parameter detecting automation, people attempt to adopt technology such as sensing technology such as machinery, laser, vision and servocontrol, take turns the research to detection.Wheel is mainly that to the particularity of profile the maximum slope difference between smooth place of tread and the precipitous place can reach degree more than 70, the survey precision at diverse location place requires basic identical, but if with traditional parallel-moving type linear displacement method of measurement, since the gap of angle direction, the general very difficult higher accuracy requirement that guarantees.At present, both at home and abroad the detection of parameter is confined to take turns detection and data handing to appearance profile basically for wheel.As widely used roller creeping-type method of measurement, contact with wheel tread by mechanical rollers, measure the roller intrinsic curve and obtain the tread contour size.But because the problems such as abrasion, measured error and position error of guide wheel make this method still can't satisfy high-precision requirement sometimes.Though domestic also have some to take turns automatic device measuring, but all be contact type measurement or the non-contact measurement that has the complicated machinery kinematic mechanism basically, the subject matter that method of measurement exists is: the measured error of generation is bigger, and reliability and survey precision are still waiting further raising.
Abroad ultrasonic Detection Method, raster pattern linear displacement method or visual sensing method are adopted in right measurement more for wheel, and obtain wheel to appearance curve by the smoothing processing of data.Yet above method at every turn can only the right a certain cross-wise direction size of measuring pulley, can't on a station, finish the automatic detection of all parameters simultaneously, and often be difficult to measure for the wheel tread scratch that has a strong impact on vehicle performance, also can't possess stronger fault diagnosis functions.Therefore, owing to complexity and variation, the flat sliding of parameter and the irregularity peeled off of wheel to structure, add the severity of characterization processes process, the method for inspection of feasible utilization routine is in the information characteristics extraction and analytically still have some defectives.
The huge advance made of China's industry in recent years and the opening in market have brought unprecedented opportunities in the application of the railway system for high-tech.Internationally famous company concentrates one's gaze on this big market of developing of China to sight one after another, as the Japan, France, Germany and the U.S. that have a high speed train all set up administrative body in China, comprises that with the product of promoting them wheel is to detecting device.But import equipment not only costs an arm and a leg, and the function that adopts traditional vision, displacement measurement or laser scanning and ranging method, most equipment not to have the scratch of diagnosis wheel tread and peel off more, is confined to take turns the measurement to oad.In addition, there are difference in the external railway system and China railways system, and wheel is also different to oad to material therefor, standard and wheel, therefore utilize import equipment to detect the railway vehicle wheel of China to also prematurity on opportunity at present.But the progress at full speed of advanced foreign technology has proposed higher more exacting requirements to the development of China's national industry.
The present invention is directed to the active demand of railway interests, effectively utilize advanced structured light visual sensing technology, and fusion stepper motor actuation techniques, take the lead in proposing structured light visual sensing stepper drive type wheel at home and abroad to mensuration and successfully develop based on the railway truck of structured light visual sensing stepper drive wheel technology and take turns to measurement mechanism, this device can be finished the noncontact all automatic measurement of wheel to all geometric parameters simultaneously on a station, survey precision height not only, and reliable.
Summary of the invention
The present invention is directed to the existing technical matters of existing method of measurement, provide a kind of wheel based on structured light visual sensing stepper drive technology to method of measurement, the structured light that adopts laser to launch scans the measuring position wheel as secondary light source, photoelectric characteristic and spectral response characteristic according to ccd video camera, and make full use of the beam intensity of structured light, with ccd video camera as vision sensor, wheel is become at the picture position of CCD electric signal the profile characteristic signal, handle through image processing again, be converted to and take turns the voltage output signal relevant resemblance.This signal is converted to wheel to the profile characteristic signal through numerical analysis in computing machine.What the structured light visual sensing system was obtained contains much information, and the precision height can obtain wheel to accurate appearance information, and method of measurement has intelligent characteristics, can finish wheel the noncontact of all geometric parameters is detected automatically, detects that real-time performance is good, precision is high.In the right process of measuring pulley, adopt stepper motor by precision mechanical transmission device drive wheel to rotation.Stepping motor is by Industrial Computer Control, thus but right rotative speed and the rotation amount of accuracy control wheel.In rotary course, structured light visual sensing system and stepping motor coordinate synchronization are worked, thereby finish the shooting of continuous multiple frames image in taking turns rotary course, measure the resemblance data of wheel to each point on the circumference dynamic real-time, have improved efficiency of measurement.
The present invention also aims to provide the wheel of structured light visual sensing stepper drive type method use to measurement mechanism.
Structured light visual sensing stepper drive type wheel provided by the invention may further comprise the steps method of measurement: (1) first examination criteria wheel is right, uses the turnover wheel apparatus will take turns steadily sending into detecting device then; (2) adopt stepper motor drive wheel system drive wheel to rotation; (3) in rotary course, the shooting of continuous multiple frames image in taking turns rotary course is finished in structured light vision sensor and the work of step motor drive wheel system coordinate synchronization, measures the resemblance data of wheel to each point on the circumference dynamic real-time; (4) with contactless vision sensor ccd video camera as vision sensor, wheel is become at the picture position of CCD electric signal the profile characteristic signal, through image processing, be converted to and take turns the voltage output signal relevant to resemblance, this signal is converted to wheel to the profile characteristic signal through numerical analysis in computing machine; (5) output result of a measurement; (6) use the turnover wheel apparatus will take turns to steadily sending detecting device.
Laser in the said structure light vision sensor produces structured light and as the right secondary light source of measuring pulley, workpiece is scanned.
Contactless vision sensor ccd video camera in the said structure light vision sensor detects carrying out stereovision from different orientation to wheel, to taking turns right physical dimension, flat sliding and peeling off and carry out the noncontact self-measuring.
Above-mentioned step motor drive wheel system is by Industrial Computer Control, and by the secondary drive wheel of precision mechanical transmission to smooth rotation, right rotative speed and the rotation amount of control wheel accurately.
Above-mentioned structured light vision sensor is made up of laser and contactless vision sensor ccd video camera, combine with the step motor drive wheel system, under the situation of accuracy control wheel to velocity of rotation and amount of spin, the integrated structure light vision sensor is to taking turns realizing on-line measurement.
Structured light visual sensing stepper drive type wheel provided by the invention is made up of pedestal and the portal frame structure that is mounted thereon, upright arm support structure measurement mechanism, and step motor drive wheel system and turnover wheel apparatus are installed on the above-mentioned pedestal; Structured light vision sensor is installed on the portal frame.
The said structure light vision sensor is equipped with laser and contactless vision sensor ccd video camera.
In the above-mentioned contactless vision sensor ccd video camera filter system identical with the structured light wavelength is installed.
Above-mentioned step motor drive wheel system drives drive wheel by stepper motor by coupler, pipe link, reductor, and drive wheel is as the right benchmark of measuring pulley.
Above-mentioned turnover wheel apparatus comprises jacking block and hydraulic actuating cylinder, and wherein jacking block is installed in hydraulic actuating cylinder top.
The wheel that the present invention can finish measurement is as shown in the table to parameter and the technical index (comprising revolver and right wheel) that reaches.
| Sequence number | Measurement parameter | Measurement range/mm | Survey precision/mm |
| 1 | Wheel tread abrasion (T1-27) | -3～9 | ±0.2 |
| 2 | Axletree mid-diameter d | 170～175 | ±0.2 |
| 3 | Wheel seat diameter d 1 | 190～195 | ±0.2 |
| 4 | The wheel | 12～35 | ±0.2 |
| 5 | Wheel diameter D | 725～855 | ±0.2 |
| 6 | Rim for automobile wheel width H | 127～145 | ±0.2 |
| 7 | The inboard inside diameter D 1 of wheel rim | ±0.2 | |
| 8 | Same take turns bull wheel footpath poor | ≤2 | |
| 9 | Distance between backs of wheel flanges is from L | 1345～1365 | ±0.2 |
| 10 | Distance between backs of wheel flanges is maximum poor from three places | ≤2 | |
| 11 | The wheel tread scratch is peeled off | -3～9 | ±0.2 |
| 12 | Rim for automobile wheel thickness (D-D1)/2 | 20～75 | ±0.2 |
| 13 | Detection speed | 1 right/1 of wheel minute half | |
| 14 | Wheel is to identification | Utilize pick up camera can discern wheel to and detect the wheel tread state | |
Method therefor of the present invention is fusion structure light, visual sensing and stepper drive technology, realizes the three-dimensional measurement of wheel to geometric parameter.The application that combines of structured light-visual sensing technology and 3D vision Image Information Processing technology has realized the noncontact measurement of wheel to all geometric parameters, has reduced the signal in the measurement process and has disturbed, and has improved survey precision and system reliability.Employing is by the stepper motor drive wheel technology of Industrial Computer Control, and to rotation, measuring pulley has realized simultaneously that to the parameter information of circumferencial direction wheel is to the accurate location in mechanism by the accurate transmission mechanism driven wheel.A station finish wheel to circumference on the measurement of all parameters, improved work real-time and work efficiency.
Comprehensive light, mechanical, electrical integrated technique is applied to structured light visual sensing and the technological synthesis of stepper drive wheel in the right detection of railway vehicle wheel.The driving wheel of structured light visual sensing by Industrial Computer Control of developing according to inventive method to measurement mechanism, the wheel that structured light vision sensor is measured is externally drawn a bow to the full the visual information of feature by control algorithms such as Image Information Processing and application model identification and location compensation technique, calculates status informations such as wheel tread scratch.Guarantee check implement single-piece accuracy of detection and speed, realized dynamic on-line automatic measurement on the circumference of wheel to multi-parameter.
Develop turnover wheel apparatus, solved advancing wheel, go out a series of corresponding problems such as wheel, safe operation in the practical operation, improved measuring reliability based on hydraulic control technology.
Action principle of the present invention is: adopt the structured light scan wheel right, the wheel that is formed by structured light by the ccd video camera collection is to the profile characteristic information, these information form optical imagery on the photosurface of CCD, the CCD device converts the optical information on the photosurface to the ratiometric quantity of electric charge.Clock pulse with certain frequency drives CCD, obtains the right vision signal of measured wheel at the CCD mouth.In the vision signal size of each discrete voltage signal corresponding the light intensity power that this photosensitive unit received, the signal output sequence then correspondence the order of the photosensitive first position of CCD.Adopt the frame storage mode to realize the high speed acquisition of CCD vision signal.Collect analog image after CCD utilizes the pixel of its spatial destribution and self-scanning function to finish sampling and pattern to gather the quantification of circuit, send into the Computerized image processing system analyzing and processing and obtain taking turns the size status information.Many structured light, ccd video camera and image processing system are worked simultaneously, image pick-up card adopts the multichannel input form, thereby obtains about wheel all the oad information on a circumferencial direction.Stepper motor drives wheel holding mechanism and continues rotation, driven wheel is to continual and steady rotation, structured light, ccd video camera and image processing system continuous gauging wheel input to the processing of computing machine inner analysis to circumferential appearance information and after changing, thereby finish the online detection of wheel to a plurality of parameters in real time.Result can be through telltale output or printout.
The present invention has the fundamental difference point with existing wheel to measurement technique, and mainly show: (1) light source adopts the high-strength structure light that is produced by laser, rather than natural daylight or light, thereby has stronger anti-veiling glare interference performance; (2) adopt pedestal and portal frame through type structure, and dispose many to structured light visual sensing system, image card disposal system, Industrial Computer Control system, wheel to automatic leading-in device, wheel to automatic take up gear, stepping motor by a whole set of automatic measurement systems such as precision optical machinery device droving systems, rather than by the manual measurement method of special instrument; (3) adopting the structured light visual sensing technology, is a kind of non-contact measurement mode, rather than the direct contact wheel measures the surface, so the reliability height of system.(4) take off data shows that through control computer output or printout also can be kept in the computer data, by setting up wheel data bank is improved the level of management of wheel to quality.(5) adopt of the measurement of automatic control device on-line continuous detection wheel to a plurality of parameters, rather than intermittently measuring pulley on the periphery certain a bit, or some parameters.(6) by Industrial Computer Control stepper motor and precision drive pair thereof, thereby velocity of rotation and amount of spin that the accuracy control wheel is right, can accurately realize taking turns location, obtain the geometric parameter of wheel, accurately measure size and position that flat sliding is peeled off different parts on a circumference.(7) integrated application structured light visual sensing technology, computer-controlled method for automatic measurement and device, it is little to produce error, the survey precision height.
Beneficial effect of the present invention: (1) passes through the secondary drive wheel of precision drive to rotation by stepping motor, wheel to the corner, the rotating speed that rotate, turning to etc. can both be precisely controlled, there is accurate corresponding relation with outer shape and the measuring point that it is right that CCD takes in wheel, is convenient to realize taking turns online detection each parameter that makes progress in week; (2) adopt the structured light visual sensing system, the information acquisition amount is big, the survey precision height; (3) requirement big at taking turns, that shape is multiple, measurement parameter is many to oad, the application of comprehensive multiple advanced test technology, information is comprehensive, and the accuracy height has been realized the automation of wheel to measuring; (4) adopt industrial control computer system, make each subsystem co-ordination, the degree of automation height, measuring speed is fast.Adopt image processing techniques to carry out error auto compensatng, the survey precision height can reach ± 0.2mm; (5) set up wheel to slip condition database system, realized taking turns right automatic management; (6) measured wheel is to the provide foundation of parameters for the research of dynam, vehicle stability and the curve orientation scheduling theory aspect of rolling stock motion.
Description of drawings
Fig. 1 is that wheel is to profile and measurement parameter scheme drawing;
Fig. 2 is apparatus of the present invention structural representations;
Fig. 3 is a structured light vision sensor structural representation of the present invention;
Fig. 4 is a stepper motor driving mechanism structure scheme drawing of the present invention;
Fig. 5 is a hydraulic-driven post rod mechanism scheme drawing of the present invention;
Fig. 6 is that structured light visual sensing stepper drive type wheel of the present invention is to measuring system work scheme drawing.
Respectively number implication among the figure: the 1-structured light vision sensor, 2-founds arm support structure, the 3-pedestal, the 4-drive wheel, the 5-wheel is right, the 6-stepper motor, the 7-pipe link, 8-portal frame structure, 9-passes in and out wheel apparatus, the 10-laser, 11-structured light, 12-CCD, the 13-coupler, the 14-reductor, 15-jacking block, 16-hydraulic actuating cylinder.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is done further specific description, but embodiments of the present invention are not limited thereto.
The parameter scheme drawing of Fig. 1 for taking turns profile and needing to measure, the wheel that the present invention can measure comprises geometric parameter: wheel tread abrasion (T1-27), axletree mid-diameter d, wheel seat diameter d 1, the wheel rim thickness T, wheel diameter D, rim for automobile wheel width H, the inboard inside diameter D 1 of wheel rim, samely take turns bull wheel footpath poorly, distance between backs of wheel flanges is from L, and distance between backs of wheel flanges is maximum poor from three places, rim for automobile wheel thickness (D-D1)/2 is peeled off in the wheel tread scratch.Except axletree mid-diameter d, same take turns, distance between backs of wheel flanges poor to bull wheel footpath from L and distance between backs of wheel flanges from three places these parameters of maximum difference, other parameter includes the observed reading of revolver and right wheel.The measurement range of each measurement parameter and survey precision are seen shown in the 4th page and the 5th page of tabulation.
Fig. 2 is the structure drawing of device that the present invention uses, main portion comprise structured light vision sensor 1, upright arm support structure 2, pedestal 3, drive wheel 4, wheel to 5, stepper motor 6, pipe link 7, portal frame structure 8 and turnover wheel apparatus 9.Wheel is to after being admitted to the measurement station along track by turnover wheel apparatus 9, and Industrial Computer Control is installed on stepper motor and the transmission device on the pedestal, makes wheel to rotating by certain speed.Seven structured light vision sensors 1 that are installed on the portal frame structure 8 are gathered wheel to parameter information, and a structured light vision sensor is used for measuring pulley to axle mid-diameter d; Two measurements of finishing left and right wheel diameter D and wheel rim inside diameter D1 respectively, and the measurement of finishing left and right wheel tread strip length, wheel tread scratch and local depth of recess; Also have two measurements of finishing left and right wheel seat diameter d 1 respectively.To information, process Computer signal analysis and image processing obtain all and take turns the geometric parameter measurement value with seven structured light vision sensor collection wheels, and these observed readings can be handled through data bank, and can be by chopping machine according to taking turns the card format printout.
The wheel that the present invention uses is to measurement mechanism, and the portal frame mechanism on its top is equipped with structured light vision sensor.Structured light vision sensor is made up of the laser and the CCD vision sensor that produce structured light, and its structure as shown in Figure 3.Structured light as the right secondary light source of measuring pulley have that monochromaticity is good, the coherence is good, beam collimation and precision advantages of higher, the structured light scan wheel to the time, can collect wheel to the profile characteristic parameter by CCD.According to the CCD photoelectric characteristic, output signal voltage and incident light illumination are linear, tool highly sensitive, spectral response is wide, dynamic range is big, low cost and other advantages, be beneficial to collect in real time, take turns the profile dimension information really.Because the light selectivity of ccd video camera, and by narrow-band-filter, then the structured light scan wheel that produces of laser to the time, can improve CCD work signal to noise ratio, remove noise and parasitic light, authenticity is good, it is stable to make the image low layer handle, simple, real-time is good.What the structured light visual sensing system was obtained contains much information, and the precision height can obtain wheel to accurate appearance information.
The CCD vision sensor does not contact with workpiece as contactless camera head, belongs to non-contact measurement, good reliability, survey precision height.The CCD vision sensor is a kind of photoelectric detector, with the form storage and the transmission information of charge packet.It integrates picture pick-up device, component driving circuit, image processing circuit, power circuit, directly exports full video signal.The ccd image measuring system that the present invention adopts is made up of imageing sensor, shooting controller, three formants of pixel detector.The optical imagery device is the collecting part of optical imagery, it with measured wheel on the photosurface that is imaged on the CCD device, the time-based unit of shooting controller produces multiple time sequential pulse by crystal oscillator by frequency dividing circuit, provide the circuit working condition through actuator for the CCD device, control the transmission rate of view data simultaneously and adjust the exposure time., and calculated all through image processing techniques and take turns by setting up two dimension, the 3-D view that forms the outer shape feature that is scanned part after the digital processings such as character matrix, digital filter, N Reference Alignment, two-dimensional interpolation and rim detection by altimetric image measured parameter value.
By the right rotation of accuracy control wheel, and control CCD continuous multiple frames is taken, can obtain taking turns a series of tread profile traces by structured light vision sensor on the circumference, by use principle of triangulation and as calculated machine ccd image information is handled, can detect the right three-dimensional information of wheel.By this method, can realize wheel tread scratch and the accurate detection of peeling off, be stepped on and abrade and local depth of recess, the isoparametric observed reading of wheel tread strip length its survey precision height, can reach ± 0.2mm, and can show two dimension, the 3-D view of tread testing result.
Structured light visual sensing stepper drive type wheel used in the present invention adopts pedestal and portal frame through type structure to measurement mechanism.Its characteristics are that the drive wheel on the described pedestal is driven by the precision mechanical transmission device by stepper motor.Stepper motor is the power element that the electric impulse signal that industrial computer sends is converted to the mechanical angle displacement, and when electric pulse of industrial computer input, stepping motor rotor just turns over a corresponding step pitch.The corner of stepping motor rotor, rotating speed, turn to electric pulse number and frequency decision thereof by industrial control computer output, and synchronous with input pulse in time.With when step electric machine operating characteristic relevant be the driving power of stepping motor, impulse singla that driving power sends computing machine and direction distribution system on request automatically circulate and supply with each phase winding of motor, with the forward and reverse rotation of drive motor rotor.The corner of stepping motor, rotating speed and turn to and accurately to control by the energising phase sequence of quantity, frequency and the machine winding of the electric pulse of computing machine output.The stepper motor mode of operation is not subject to the influence of various disturbing factors (as the variation of fluctuation, size of current and the waveform of power line voltage, temperature etc.).When the step size of stepping motor had error, rotor turned over and accumulated error can occur after certain step number, but rotor turn over one change after, its accumulated error is " zero ", thereby can long-term accumulation.Thereby can obtain higher survey precision.Drive wheel rotation evenly, can driven wheel to Rotating with Uniform, motion stabilization makes structured light vision sensor obtain taking turns all profile geological informations to a week.Driver of step motor as shown in Figure 4, stepper motor comes controlling and driving wheel by coupler, pipe link and precision speed reduction device, and drive wheel is used to control wheel on it to rotating.Drive wheel obtains wheel to information as the right benchmark of measuring pulley by the structured light visual sensing system, according to the variation of surveying between the right graphicinformation of right graphicinformation of wheel and standard wheels, obtains the actual measurement wheel to parameter value by control algorithm.
In order will to take turns sending into the measurement station accurately, reposefully, the present invention adopted wheel to automatic leading-in device and wheel to automatic take up gear, promptly pass in and out wheel apparatus, as shown in Figure 5.The motion of this device is by HYDRAULIC CONTROL SYSTEM.Wheel is to before entering the measurement station, industrial control computer sends control signal, and wheel rises hydraulic actuating cylinder 16 to automatic import system, and it is right that jacking block 15 is held the wheel of coming in along track, computer controlled hydraulic actuating cylinder 16 slowly descends then, will treat that measuring wheel is to steadily delivering on the drive wheel; After wheel was finished detection, wheel rose hydraulic actuating cylinder 16 to automatic take up gear, jacking block 15 measuring wheel to sending the measurement station.Wheel to the action of automatic leading-in device and automatic take up gear by computer controlled.
The work of whole measuring system is controlled by industrial computer system, and Fig. 6 is used in the present invention the wheel the measuring system fundamental diagram.SV01-SV07 is seven structured light vision sensors.Computer controlled ratch is to automatic leading-in device and automatic take up gear, the driving of stepper motor and the unlatching of structured light.To image pick-up card, image pick-up card adopts the multichannel input form to the wheel that vision sensor is gathered to information conveyance, and the image that collects directly is sent to host memory handles, and can store multiple image continuously.Computing machine is the graphicinformation of control step electrical motor and CCD input well, makes the every two field picture that photographs to the position on the circumference very accurate one-to-one relationship be arranged with wheel.Computing machine also has self check and self diagnostic capability and good user interface, the real-time of remarkable enhanced system, and the degree of automation of raising observation and control technology is carried out operation, measurement, the complete follow procedure of analysis automatically.The system that is adopted can revise measured error automatically, utilizes error correction model, reduces error, thereby improves survey precision.
Be illustrated below in conjunction with Fig. 2,3,4,5,6.Industrial control computer sends information, wheel produces action to automatic leading-in device, measuring wheel to be checked is delivered on the drive wheel 4 automatic leading-in device by wheel 5, send signal in place by sensing device to computing machine, after receiving information, promptly sends computing machine control information, 4 rotations of control step motor-driven wheel, and driven wheel is to 5 rotations.Simultaneously, laser in the control structure light vision system 1 is opened, it is right that laser produces the structured light scan wheel, each ccd video camera work will be taken turns all parameter acquisitions on the circumference and be input in the computing machine, computer data processing system carries out data analysis, draw each parameter value, realize the contactless self-measuring of wheel whole geometric parameters.
Claims (9)
1. a structured light visual sensing stepper drive type wheel is characterized in that may further comprise the steps to method of measurement: (1) first examination criteria wheel is right, uses the turnover wheel apparatus will take turns steadily sending into detecting device then; (2) adopt stepper motor drive wheel system drive wheel to rotation; (3) in rotary course, the shooting of continuous multiple frames image in taking turns rotary course is finished in structured light vision sensor and the work of step motor drive wheel system coordinate synchronization, measures the resemblance data of wheel to each point on the circumference dynamic real-time; (4) laser in the structured light vision sensor produces structured light and as the right secondary light source of measuring pulley, workpiece is scanned; (5) with contactless vision sensor ccd video camera as vision sensor, wheel is become at the picture position of CCD electric signal the profile characteristic signal, through image processing, be converted to and take turns the voltage output signal relevant to resemblance, this signal is converted to wheel to the profile characteristic signal through numerical analysis in computing machine; (6) output result of a measurement; (7) use the turnover wheel apparatus will take turns to steadily sending detecting device.
2. take turns method of measurement according to claim 1 is described, it is characterized in that the contactless vision sensor ccd video camera in the said structure light vision sensor, detect carrying out stereovision from different orientation to wheel, to taking turns right physical dimension, flat sliding and peeling off and carry out the noncontact self-measuring.
3. according to claim 1 the wheel method of measurement is characterized in that above-mentioned step motor drive wheel system by Industrial Computer Control, and passes through the secondary drive wheel of precision mechanical transmission to smooth rotation, accurately right rotative speed and the rotation amount of control wheel.
4. according to claim 1 the wheel to method of measurement, it is characterized in that above-mentioned structured light vision sensor is made up of laser and contactless vision sensor ccd video camera, combine with the step motor drive wheel system, under the situation of accuracy control wheel to velocity of rotation and amount of spin, the integrated structure light vision sensor is to taking turns realizing on-line measurement.
5. the described structured light visual sensing stepper drive of claim 1 a type wheel is to measurement mechanism, form by pedestal and the portal frame structure that is mounted thereon, upright arm support structure, it is characterized in that being equipped with on the above-mentioned pedestal step motor drive wheel system and turnover wheel apparatus; Structured light vision sensor is installed on the portal frame.
6. according to claim 5 the wheel measurement mechanism is characterized in that the said structure light vision sensor is equipped with laser and contactless vision sensor ccd video camera.
7. according to claim 5 or 6 described wheels, it is characterized in that in the above-mentioned contactless vision sensor ccd video camera filter system identical with the structured light wavelength being installed to measurement mechanism.
8. according to claim 5 the wheel measurement mechanism is characterized in that above-mentioned step motor drive wheel system drives drive wheel by stepper motor by coupler, pipe link, reductor, and drive wheel is as the right benchmark of measuring pulley.
9. according to claim 5 the wheel measurement mechanism is characterized in that above-mentioned turnover wheel apparatus comprises jacking block and hydraulic actuating cylinder, and wherein jacking block is installed in hydraulic actuating cylinder top.
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| CNB2004100152405A CN100335328C (en) | 2004-01-19 | 2004-01-19 | Method and device for measuring stepped driving wheel pair with structural optical sight sensing |
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| CNB2004100152405A CN100335328C (en) | 2004-01-19 | 2004-01-19 | Method and device for measuring stepped driving wheel pair with structural optical sight sensing |
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| CN110509950A (en) * | 2019-09-29 | 2019-11-29 | 湖北国铁智能科技有限公司 | A kind of top wheel drive unit |
| CN112706797A (en) * | 2020-12-23 | 2021-04-27 | 神华铁路装备有限责任公司 | Railway freight car wheel set deruster, wheel set positioning driving device and control method |
| CN114136273B (en) * | 2021-11-30 | 2023-09-22 | 吉林大学 | Comprehensive measurement system for wheel rotation angle |
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| CN1644439A (en) | 2005-07-27 |
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