CN100999220A - On-line detection method and device for vehicle wheel set diameter - Google Patents
On-line detection method and device for vehicle wheel set diameter Download PDFInfo
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Abstract
The present invention relates to a method for on-line detecting railway car wheel set diameter and its detection equipment. It is characterized by that it utilizes the projection information of light source of structure light on the wheel set tread and base point information detected by displacement sensor to detect wheel average diameter parameter and left-right wheels wheel-diameter difference parameter. Said method includes the following steps: speed detection, starting light source, starting inside surface detection and image collection, image treatment, fitting rolling circle and diameter parameter calculation.
Description
Technical field
The present invention relates to a kind of method of inspection and detecting device, the particularly online test method of railway car wheel set diameter and detecting device, be specifically related to the vehicle wheel tread in the structured light light source irradiation low cruise, obtain view data, thereby and the real-time analysis view data obtain method of inspection and the detecting device of vehicle wheel to diameter parameters.
Background technology
Vehicle wheel is to as important running part, and wear phenomenon is very common in the process of moving, therefore, in time grasps the wear condition of wheel, and is significant for the safety of support vehicles operation.The right wear coefficient of vehicle wheel comprises geometric parameter and surface deficiency parameter, and wherein taking turns diameter parameters is a important parameter in the geometric parameter.At present wheel mainly contains dynamic online detection under the running state, online detection under the shed repair state and manual detection three classes under the shed repair state to the method for inspection of diameter parameters and technology.
Online detection under the running state is meant the detection of carrying out when rolling stock travels along the railway track, measure the degree of automation height, do not take the rolling stock turn round time and be convenient to store characteristics such as wheel information material owing to have, be subjected to the attention of countries in the world day by day, can be divided into car and measure form and ground survey form.With car measurement type is exactly that the measuring system of wheel to parameter is installed on rolling stock, and the ground survey type is exactly in the fixed position of track circuit the measurement mechanism of wheel to parameter to be installed.Succeeded in developing wheel to the parameter automatization detecting device as Railway Bureau of the Russian Federation in the mid-90, adopted the non-contact measurement method of ultrasonic remote measurement, can obtain wheel parameters such as diameters.
Online detection under the shed repair state is meant the detection of carrying out in the shed repair workshop, and wheel is separated from vehicle needs.Online test method and technology under the at present existing multiple this state.
Manual detection under the shed repair state is meant in the shed repair workshop detection of carrying out as wheel footpath chi, the 4th kind of survey meter etc. by the special measurement utensil by manually, and wheel is separated from vehicle also needing.
At present, the China railways vehicle wheel also rests on manual detection stage under the shed repair state to the detection great majority of parameter, and workman's labor condition is poor, labour intensity is big, efficiency is low, is difficult to avoid measurer's human element, has influenced precision and reliability.Online test method and technology under a small amount of maintenance department employing shed repair state are also arranged, overcome the shortcoming of manual detection to a certain extent, but wheel can detect to separating just from vehicle.Along with the increase of continuous speed-raising of China railways and heavy haul train, take turns right wearing and tearing and also constantly accelerate, have higher requirement to taking turns right detection and maintenance.Therefore develop wheel under the running state to diameter parameters online test method and device, become a difficult problem that presses for solution in China's track traffic development.Online detection is a developing direction of China's digitalisation railway to wheel under the running state to diameter.For car inspection and maintenance department, digitized realization has positive meaning to the transition that state is repaiied from present preventive maintenance to future.Owing to lack more accurate, quick and economic wheel to the automatic detection means of diameter at present, so be difficult to accomplish that long-term tracing record Train Wheel is to diameter parameters.If each inspection can both obtain take off data, then, just can easily predict carrying out the diameter worn-down, thereby carry out preventive maintenance targetedly every wheel according to the accumulation and the trend analysis of data, significantly reduce maintenance cost.
Summary of the invention
Purpose of the present invention is exactly at the deficiencies in the prior art, provides a kind of vehicle wheel to the diameter on-line detection method and the relevant detection device is provided.
Method of inspection of the present invention is to utilize projection information and the information of displacement pickup detected basic point position of structured light light source on wheel tread to detect the poor parameter of wheel mean diameter parameter and left and right wheels wheel footpath, and this method may further comprise the steps: speed detects, starts light source, starts medial surface detection and image acquisition, collects treatment of picture, match tread rolling circle, diameter parameters calculate.Particular content is:
(1) speed detects.When vehicle operating is between detection zone, detect running velocity, when speed V start detection unit when setting range (0＜V＜10 kms/hour).
(2) start light source.As speed V during at setting range, start light source, the structured light of being made up of two light that are parallel to plane, tread rolling circle place shines on the right tread of vehicle wheel, forms projected image on tread.
(3) starting medial surface detects and image acquisition.When vehicle operating when the desired location, the trigger position sensor produces energizing signal, detects this energizing signal in real time, and control is positioned at the position of the displacement sensor wheel of track inboard to medial surface, obtains the actual distance H between basic point and the displacement pickup.Energizing signal simultaneously the control chart image-position sensor gather in real time wheel tread projected image f (x, y).
(4) collect treatment of picture.To the projected image f that collects (x, y) carry out the processing of following steps successively: 1. youngster what proofread and correct.Adopt perspective projection system of axes OXYZ, known projection image f (x, y), under the situation of focal distance f, according to fluoroscopy images space coordinate conversion relation, derive some P (x, y on the object plane among the system of axes OXYZ, z) spatial coordinates, computing is converted into the image f after the correction by gray-level interpolation
1(x, y); 2. neighbour average filtering.To image f
1(x, y) in each pixel coordinate (x y), gets its neighborhood D, and (x, the gray value of y) locating obtain image f after the processing as handling the back pixel with the average of neighborhood territory pixel
2(x, y); 3. threshold value is cut apart.To image f
2((x, y), (x y) is divided into tread background and projection ray's two parts for boundary with image, obtains image f with T to choose suitable gray threshold T for x, zones of different y)
3(x, y); 4. image thinning.To image f
3(x y) adopts thinning algorithm to obtain 1 projection ray that pixel is wide, and the result is image f
4(x, y); 5. the edge is followed the tracks of.To image f
4(x, y) each pixel of middle projection ray is carried out the neighborhood analysis, according to predetermined criteria similar breaking-down point is coupled together, and obtains image f
5(x, y); 6. curve fitting.Ask image f with method of least square
5(x, the y) polynomial fitting of the projection ray in obtain the image f of level and smooth continuous curve
6(x, y).
(5) match tread rolling circle.According to image f
6(x y) obtains distance H between two projection rays and the medial surface displacement pickup
l, H
r, in conjunction with the distance H between tread rolling circle and the medial surface displacement pickup, proportionally relation is determined the position of each basic point in image, carries out process of fitting treatment and obtains image f
7(x, y).
(6) diameter parameters is calculated.Utilize image f
7(x y), calculates the diameter R of a series of positions on the tread rolling circle camber line
1, R
2, R
3... R
n, p maximum value and q minimal value (p=n * m%, q=n * m%, 10＜m＜30) in n the diameters are rejected in 10＜n＜500, and residue (n-p-q) individual diameter is averaged promptly obtains wheel mean diameter parameter
。Calculate left and right wheels mean diameter parameters R
LAnd R
R, then the poor parameter in left and right wheels wheel footpath is D=|P
L-R
R|.
This is taken turns the employed detecting device of diameter parameters method of inspection is with finishing wheel the device that the left and right wheels diameter detects to be fixedly mounted on the track both sides respectively, and symmetry is installed.
This detecting device is that the position near track is arranged in order two speed measuring position sensors along the outside of one section straight track, is used to detect the right speed of vehicle wheel, and spacing between the two is less than the girth of a wheel.The output of two speed measuring position sensors is connected in the signal processor unit, and signal of sensor is transformed into the digital signal that computing machine can be discerned.Matching with orbital position in speed measuring position sensor the place ahead is provided with two cover unit detecting devices, and is symmetrical arranged two cover unit detecting devices along two tracks.Every cover unit detecting device comprises trigger position sensor, area array camera, structured light light source and displacement pickup.The trigger position sensor is used to trigger the measurement of startup medial surface and the collection of image near the track setting.Structured light light source and parallel track setting, the laser beam of generation shine on the right tread of the wheel that passes through from detecting device.Displacement pickup is installed in the position near the track inboard, wheel to by the time trigger and start, finish the detection of wheel medial surface.The pick up camera respective carter is obliquely installed, wheel to by the time trigger to start, finish the collection of wheel tread image.The image of every pick up camera output is input in digital signal processor (DSP) and the computing machine by image collecting device and carries out analyzing and processing, the medial surface location information that displacement pickup obtains also is input in the computing machine by data acquisition unit, and computing machine is through handling every diameter parameters information that wheel is right being passed through successively.
The present invention is by the structured light light source online real time collecting and handle the tread image that structural light stripes is arranged, obtain wheel to the diameter variation situation, use laser displacement sensor to detect medial surface simultaneously to determine the tread rolling circle particular location, adopt multiple digital image processing techniques that the image that collects is carried out analyzing and processing, finally calculate wheel diameter parameters.In whole testing process detecting device with the wheel to not contacting, detecting device can not produce wear phenomenon, detecting device be easy to the maintenance; Detecting device can the real-time online collection, Treatment Analysis.
Description of drawings
Fig. 1: detecting device totally constitutes scheme drawing;
Fig. 2: speed detects principle schematic;
Fig. 3: the position view of light source, CCD and displacement pickup;
Fig. 4: structured light light source irradiation tread scheme drawing.
The specific embodiment
Railway vehicle wheel is to by two identical wheels and the integral body that axletree is formed.Wherein the contact portion of vehicle wheel rolling presses on rail is called tread, the wheel tread inboard has a flange along circumferential projection to be called wheel rim, point on the tread of wheel rim medial surface 70mm distance is called basic point, the circle that tread rolling circle is made up of basic point on the tread, wheel mean diameter parameter is the mean diameter of tread rolling circle, and the poor parameter in left and right wheels wheel footpath is mean diameter parameter poor of wheel centering left and right wheels.
Fig. 1 totally constitutes scheme drawing for detecting device, is that example describes with the first cover unit detecting device 6 of left side in scheming.Be arranged in order two speed measuring position sensors 1 and 2 along a side of track near the position of track.Trigger position sensor 10, structured light light source 11, area array camera 13 and displacement pickup 12 are formed a cover unit detecting device, are distributed in the position near straight track 4.Unit detecting device 8 is distributed in the position near straight track 5. Unit detecting device 6 and 8 and 7 and 9 is symmetrical expression to be arranged in the track both sides, and the diameter that is respectively applied for the left and right wheel of wheel centering detects.Structured light light source 11 produces laser beam and shines on the right tread of wheel.Displacement pickup 12 at wheel to through out-of-date detection medial surface particular location.Area array camera 13 at wheel to through out-of-date images acquired.The collection sequential of the measurement of medial surface and image is according to the train speed of front end speed measuring position sensor 1 and 2 monitoring, by the energizing signal control survey of trigger position sensor 10 and the zero hour of collection.The collection of image and processing are finished in real time by computer controlled DSP, every thread defect information that wheel is right finally being passed through successively.
Concrete method of inspection:
1, speed detects
Among Fig. 1, wheel to 3 with less than 10 kms/hour speed through between detection zone, be one section straight rectilinear orbit between detection zone.Wheel is to passing through speed measuring position sensor 1 and 2 at first successively, and the speed measuring position sensor can send energizing signal when taking turns the arrival correspondence position, and postpone is connected to computing machine to energizing signal through signal processing device.As shown in Figure 2, utilize same the wheel, obtain train process speed measuring position sensor 2 velocity amplitude constantly the time difference Δ t of process speed measuring position sensor 1 and 2 and the fixed range S between speed measuring position sensor 1 and 2:
Can obtain n the velocity amplitude that wheel is right of process successively thus, form a velocity amplitude sequence v
1, v
2, v
3... v
nBy the velocity amplitude sequence, can calculate t
xThe speed of train constantly, and then obtain the position X of its working direction.The speed that only detects just starts the subsequent detection unit when setting range (0＜v＜10 kms/hour), otherwise vehicle is only by between detection zone and do not detect.The existing multiple proven technique that tests the speed that vehicle wheel is right can realize.
2, start light source
When speed during at setting range light source start.After light source started, the structured light of being made up of the light of a series of regular arrangements shone on the right tread of vehicle wheel, and the projection of structured light on tread forms the projected image of tread by the area array camera imaging.As shown in Figure 3, structured light light source 11 is made of two line laser bundle 18 arrangement in parallels, and parallel beam is radiated on the wheel tread 17 in the tread rolling circle plane, the coverage of the regional correspondence image sensor of light source irradiation.The installation site of light source make tread rolling circle 14 always at two line laser bundles of structured light light source between two projection rays 15 on the tread and 16.
3, starting medial surface detects and image acquisition
As shown in Figure 3, when taking turns the arrival assigned address, laser displacement sensor 12 is measured the wheel medial surface based on principle of triangulation, obtains the actual distance H between medial surface and the laser displacement sensor 12
1Then the actual distance H between basic point and the laser displacement sensor is:
H＝H
1+70mm (2)
One segment limit of the regional corresponding light source irradiation of image acquisition, the image that collects be the projected image f of tread projection ray 15 and 16 on image sensor plane (x, y).By installing the narrowband optical filter additional before the camera lens of ccd image sensor, and the centre wavelength of filter is identical with the centre wavelength of structured light light source, reduces the influence of bias light to images acquired.
4, collect treatment of picture
To the image f that collects (x, y) carry out the processing of following steps successively:
1. geometric correction
Because the optical axis and the tread rolling circle plane out of plumb of imageing sensor, (x y) produces what distortion of youngster to the projected image f that collects, and (x y) proofreaies and correct so that subsequent treatment to fault image f.(x y), the image that collects can be reduced by the perspective projection transformation relation under the situation of focal distance f, is converted to the image f perpendicular to the tread rolling circle Plane Angle at known projection image f
1(x, y).That is:
(x is y) with image f to have set up image f by perspective projection
1(x, transformation relation y), but because image f
1(x, y) coordinate (x ', y ') be mapped to image f (x, coordinate y) (x, y), and (x, y) integer not necessarily.Use the gray-level interpolation algorithm, try to achieve (x ', y ') at image f (x, coordinate y) (x, y) gray value of middle corresponding point.
2. neighbour average filtering
Image f after the geometric correction
1(x, y), (m n), gets its neighborhood D for wherein each pixel.If D contains M pixel, get its aviation value as handling back gained image f
2(x, pixel y) (m, the gray value of n) locating.Shape and the size of neighborhood D are chosen according to actual needs.If D is the 3*3 neighborhood, point (m n) is positioned at the center of D, then has:
Handle through neighbour average filtering, reduced picture noise, obtain image f
2(x, y).
3. threshold value is cut apart
For distinguishing wheel tread background and projection ray, be to the image f behind the mean filter
2(x y) carries out threshold value and cuts apart, and the tread background is separated with projection ray.Adopt the adaptive threshold method, according to the pixel grey scale distribution function of tread background and projection ray, (x y) is cut apart, and with the image separated into two parts, guarantees that the possibility of misclassification is minimum to utilize mathematical statistics method to choose different gray threshold T to zones of different.Image after cutting apart is:
4. image thinning
Image f after over-segmentation
3(x, y) middle projection ray may surpass the width of a pixel, therefore will carry out image thinning, and eliminating does not influence connective contour pixel on the curve, to the lines extraction skeleton of width in the image greater than a pixel, be refined into the width of a pixel.Use thinning algorithm that qualified pixel is removed, obtain the image f of the wide projection ray of pixel at last
4(x, y).
5. the edge is followed the tracks of
Through the image f after the thinning processing
4(y) may there be phenomenon of rupture in x, need carry out the edge and connect, and fills fracture location.Adopt the threshold value tracing to image f
4(x, y) each pixel of the projection ray in is carried out the neighborhood analysis, chooses that the breaking-down point of feature similarity is connected in the adjoint point, obtains image f
5(x, y).
6. curve fitting
Through the image f after the edge connection processing
5(x, y) not being is smooth curve, to f
5(x, y) processing that carries out curve fitting.
Ask given image f with method of least square
5(x, polynomial fitting y).At plane picture f
5(x, in coordinate y), establish position relation function between variable x and the y can be expressed as polynomial f (x, A), A=a wherein
0, a
1..., a
nBe some undetermined parameters, use method of least square to ask parameter A to make model of fit and actual observed value in the variance and the minimum of each point, the substitution polynomial f (x, A) in, can obtain matched curve f
6(x, y).
Use above six step image processing methods, (x y) handles, and finally obtains smooth curve image f to the image f that collects
6(x y), is convenient to further handle.
(5) match tread rolling circle
As shown in Figure 4, according to image f
6(x, y), the function of establishing two projection rays 15 and 16 is respectively f
r(x) and f
l(x), the actual distance with displacement pickup is respectively H
l, H
rThe proportional relation of distance of basic point function f (x) and both sides projection ray, establishing proportionate relationship is α, according to the distance H between detected tread rolling circle of step (3) and the medial surface displacement pickup, then f (x) can be expressed as:
f(x)＝f
r(x)+α[f
l(x)-f
r(x)] (6)
By formula (6) fitted figure as f
6(x y), obtains image f
7(x, y).Dotted line 14 is the tread rolling circle that match obtains among Fig. 4.
(6) diameter parameters is calculated
1. obtain image f in match
7(x, y) after, carry out wheel mean diameter CALCULATION OF PARAMETERS.Utilize the amplification rate of any three point coordinate combining images on the tread rolling circle can be in the hope of the diameter R of a series of diverse locations
1, R
2, R
3... R
n, reject p (n * 20%) individual maximum value and the individual minimal value of q (n * 20%) in n the diameters, residue (n-p-q) individual diameter is averaged, obtain wheel mean diameter parameter:
2. take turns forming by two wheels, therefore can be in the hope of two diameter R
LAnd R
R, the poor parameter in corresponding left and right wheels wheel footpath is:
D＝|P
L-R
R| (8)
Claims (2)
1, vehicle wheel is to the diameter online test method, it is characterized in that this method of inspection is to utilize projection information and the information of displacement pickup detected basic point position of structured light light source on wheel tread to detect the poor parameter of wheel mean diameter parameter and left and right wheels wheel footpath, this method may further comprise the steps:
(1) when vehicle operating is between detection zone, detect running velocity, when speed V 0～10 km/hour the time start detection unit;
(2) when speed V 0～10 km/hour the time start light source, the structured light of being made up of two light that are parallel to plane, tread rolling circle place shines on the right tread of vehicle wheel, forms projected image on tread;
(3) when desired location is arrived in vehicle operating, the trigger position sensor produces energizing signal, detect this energizing signal in real time, and control is positioned at the position of the displacement sensor wheel of track inboard to medial surface, obtain the actual distance H between basic point and the displacement pickup, energizing signal simultaneously the control chart image-position sensor gather in real time wheel tread projected image f (x, y);
(4) to the projected image f that collects (x, y) carry out the processing of following steps successively:
1. geometric correction, adopt perspective projection system of axes OXYZ, at known projection image f (x, y), under the situation of focal distance f, according to fluoroscopy images space coordinate conversion relation, derive some P (x, y on the object plane among the system of axes OXYZ, z) spatial coordinates, computing is converted into the image f after the correction by gray-level interpolation
1(x, y);
2. neighbour average filtering is to image f
1(x, y) in each pixel coordinate (x y), gets its neighborhood D, and (x, the gray value of y) locating obtain image f after the processing as handling the back pixel with the average of neighborhood territory pixel
2(x, y);
3. threshold value is cut apart, to image f
2((x, y), (x y) is divided into tread background and projection ray's two parts for boundary with image, obtains image f with T to choose gray threshold T for x, zones of different y)
3(x, y);
4. image thinning is to image f
3(x y) adopts thinning algorithm to obtain 1 projection ray that pixel is wide, and the result is image f
4(x, y);
5. the edge is followed the tracks of, to image f
4(x, y) each pixel of middle projection ray is carried out the neighborhood analysis, according to predetermined criteria similar breaking-down point is coupled together, and obtains image f
5(x, y);
6. curve fitting is asked image f with method of least square
5(x, the y) polynomial fitting of the projection ray in obtain the image f of level and smooth continuous curve
6(x, y);
(5) according to image f
6(x y) obtains distance H between two projection rays and the medial surface displacement pickup
l, H
r, in conjunction with the distance H between tread rolling circle and the medial surface displacement pickup, proportionally relation is determined the position of each basic point in image, carries out process of fitting treatment and obtains image f
7(x, y);
(6) utilize image f
7(x y), calculates the diameter R of a series of positions on the tread rolling circle camber line
1, R
2, R
3... R
n, p maximum value and q minimal value in n the diameters are rejected in 10＜n＜500, p=n * m%, and q=n * m%, average and promptly obtain wheel mean diameter parameters R n-p-q diameter of residue in 10＜m＜30, calculating left and right wheels mean diameter parameters R
LAnd R
R, then the poor parameter in left and right wheels wheel footpath is D=|R
L-R
R|.
2, adopt the detecting device of method of inspection use according to claim 1, it is characterized in that this detecting device is to be arranged in order two along the outside of one section straight track near the position of track to be used to detect the speed measuring position sensor of vehicle wheel to speed, spacing between the two is less than the girth of a wheel, and the output of two speed measuring position sensors is connected in the signal processor unit; Matching with orbital position in speed measuring position sensor the place ahead is provided with two cover unit detecting devices, and is symmetrical arranged two cover unit detecting devices along two tracks; Every cover unit detecting device comprises trigger position sensor, area array camera, structured light light source and displacement pickup; The close track setting of trigger position sensor, structured light light source and parallel track setting, displacement pickup is installed in the position near the track inboard, and the pick up camera respective carter is obliquely installed.
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| DE102011089464A1 (en) * | 2011-12-21 | 2013-06-27 | Technische Universität Berlin | Method and device for determining wheel diameters on rail vehicles |
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