CN102901457B - Dynamic measurement method and system for train wheel diameter - Google Patents
Dynamic measurement method and system for train wheel diameter Download PDFInfo
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- CN102901457B CN102901457B CN201210397292.8A CN201210397292A CN102901457B CN 102901457 B CN102901457 B CN 102901457B CN 201210397292 A CN201210397292 A CN 201210397292A CN 102901457 B CN102901457 B CN 102901457B
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Abstract
The invention discloses a dynamic measurement method for train wheel diameter. The dynamic measurement method comprises the following steps of: symmetrically arranging line-structured light vision sensors along a train track and acquiring light bar images of fracture surface contours of a train wheel and an axle; determining an inner side surface equation of a rim through the light bar of the fracture surface contour of the wheel and a straight segment corresponding to the inner side of the rim, determining an axis equation of the axle through the light bar of the fracture surface contour of the axle, and calculating projection coordinates of the inner side surface of the center of a vertex circle of a wheel flange through the intersection of the axis and the inner side surface of the rim; calculating the diameter of the vertex circle of the wheel flange through projection coordinates of the center of the vertex circle of the wheel flange and the vertex of the wheel flange in the inner side surface of the rim; recovering complete fracture surface contour of the wheel through the light bars of the local contours of the inner side and the outer side of fracture surface of the wheel, and calculating the height of the wheel flange; and subtracting the height of the wheel flange twice from the diameter of the vertex circle of the wheel flange to obtain the diameter of the wheel. The invention discloses a dynamic measurement system for the train wheel diameter simultaneously. The dynamic measurement method and the dynamic measurement system provided by the invention can be adopted for non-contact high-precision dynamic measurement of the train wheel diameter.
Description
Technical field
The present invention relates to field of measuring technique, particularly relate to a kind of train wheel diameter dynamic measurement method and system.
Background technology
Along with China Railway is towards high speed, large density, heavily loaded future development, the tread of train wheel and the wearing and tearing of wheel rim day by day serious, wheel diameter is caused to change, matching relationship between wheel and rail is changed, not only exacerbate the hurt of Railway wheelset structure member, cause higher cost of railway traffic, and directly affect safety of railway traffic.For ensureing train operating safety, railroad regulation running train is wanted regularly to detect wheel condition, to determine that the section of wheel is repaiied and scraps.
Wheel diameter is the important parameter of train wheel state-detection, and because its size is comparatively large, different model wheel diameter difference is comparatively large, and being difficult to directly measure with ordinary measring tool, is the parameter of more difficult accurate measurement in the numerous geometric parameter of wheel.
At present, domesticly in train wheel diameter measurement, still rest on the static measurement stage, static measurement is divided into measures and self-operated measuring unit measurement manually.For a long time, domestic railway interests is all adopt Special wheel footpath chi to measure manually to the detection of train wheel diameter, and automaticity and work efficiency are not high, and is affected by human factors very large, can not meet the requirement that current rail runs.
For self-operated measuring unit, if notification number is the measurement mechanism announced in the patent documents such as CN2463262Y, CN2863584Y, CN2511564Y, the method of contact mechanical type or noncontact vision that adopts measures wheel diameter more, but these devices generally need to use complicated physical construction propped by wheel and control rotation of wheel, therefore this kind of device can only be arranged in servicing depot, need wheel to unload to be transported to from train to measure place, considerably increase labor capacity, and take locomotive turnaround time, the quality condition that wheel is in operation cannot be understood in time.
To be in operation the situation of wheel diameter for understanding train in time, Chinese scholars and the research institution method to wheel diameter kinetic measurement is studied.Notification number is " the wheel diameter non-contact type dynamic measurement method based on laser " that the patent of invention of CN101219672B is announced, adopt two laser displacement sensor direct irradiation wheel tread rolling circles, measure wheel diameter by the geometric relationship of sensor mounting location.This device needs laser displacement sensor to be accurately radiated on wheel tread rolling circle, so, strict guarantee sensor to be arranged on correct position, high requirement is proposed to in-site installation, be difficult to reach perfect precision.Notification number is " detector for train wheel pair size online test method and the device " that the patent of invention of CN100396529C is announced, the certain Laser Displacement Sensor of two pairs of spacing distances is set in the symmetria bilateralis of every one steel rail, adopts the method for the high chord length of bow to measure train wheel diameter.This device needs accurately to ensure the height of the Distance geometry between Laser Displacement Sensor apart from rail level, and needs the Measurement accuracy speed of a motor vehicle, and scene is difficult to accurate realization.Be propose in the patent document of CN100449259C, US5936737, US5247338, US4932784 etc. to adopt structured light and charge coupled cell (Charge-coupled Device in the patent No., CCD) method of kinetic measurement train wheel diameter, but the common issue that these methods all exist is:
1) need the geometric relationship ensureing between each sensor by the physical construction of precision, add machining cost on the one hand, on the other hand high requirement is proposed to in-site installation;
2) adopt the method directly measuring tread rolling circle diameter, location survey point is very difficult;
3) adopt method measurement diameter tread taping point multiple in small arc-shaped being justified to matching, the extraction of its unique point is very large on measuring accuracy impact, is difficult to ensure measuring accuracy;
4) dynamic measured is not high, generally can only measure the train wheel diameter that the speed of a motor vehicle is 10-30km/h.
Summary of the invention
In view of this, fundamental purpose of the present invention is to provide a kind of train wheel diameter dynamic measurement method and system, can lower at machining cost, lower condition is required to in-site installation under, ensure measuring accuracy, at train quickly through Measurement accuracy train wheel diameter during measured zone.
For achieving the above object, technical scheme of the present invention is achieved in that
A kind of train wheel diameter dynamic measurement method, the method comprises:
In train rail both sides, along Orbital Symmetry deployment line structured light vision sensor, form wheel observation sensor and axletree observation sensor, obtain wheel profiled outline optical strip image and axletree profiled outline optical strip image respectively;
According to straight-line segment determination wheel rim medial surface equation corresponding with inside wheel rim on wheel profiled outline striation, according to axletree profiled outline striation determination axle axis equation, axis the calculate wheel rim apex circle center of circle crossing with wheel rim medial surface is in wheel rim medial surface projection coordinate;
According to wheel profiled outline striation determination wheel rim summit in wheel rim medial surface projection coordinate, in conjunction with wheel rim apex circle central coordinate of circle, calculate wheel rim apex circle diameter;
Recover the complete profiled outline of wheel by outside local configuration striation in wheel section, calculate wheel rim height;
The flange height deducting twice with wheel rim apex circle diameter obtains wheel diameter.
In described wheel observation sensor, for every side of rail, to be arranged symmetrically with along rail by more than a pair wheel observation sensor and to form wheel tread observation sensor, the local section profile optical strip image of the same section of wheel is obtained respectively from wheel inner side and outer side, other wheel observation sensor is distributed in inside rail, obtains other profiled outline optical strip image of wheel; Described axletree observation sensor, is distributed between two sleepers along track sleeper, obtains axletree profiled outline optical strip image.
Described according to before straight-line segment determination wheel rim medial surface equation corresponding with inside wheel rim on wheel profiled outline striation, comprise further: measuring system is demarcated, and calculate the coordinate of each profile striation under the corresponding optical plane coordinate system of each line structured light vision sensor.
Described measuring system to be demarcated, comprise: the demarcation of the ccd video camera inner parameter of each line structured light vision sensor, the demarcation of each line structured light vision sensor structural parameters, the ccd video camera coordinate of each line structured light vision sensor is tied to the rotation matrix of global coordinate system and the demarcation of translation vector.
The coordinate of described calculating each profile striation under the corresponding optical plane coordinate system of each line structured light vision sensor, comprising:
Extract each profile striation center image coordinate;
According to ccd video camera inner parameter and the structural parameters of line structured light vision sensor mathematical model and each line structured light vision sensor, calculate the coordinate of each profile striation point under corresponding ccd video camera coordinate system;
Set up optical plane coordinate system at the laser plane of each line structured light vision sensor, determine that the ccd video camera coordinate of each line structured light vision sensor is tied to rotation matrix between corresponding optical plane coordinate system and translation vector;
By the coordinate conversion of each profile striation under corresponding ccd video camera coordinate system under corresponding optical plane coordinate system, determine each profile striation coordinate under corresponding optical plane coordinate system.
The described calculating wheel rim apex circle center of circle, in wheel rim medial surface projection coordinate, comprising:
According to the coordinate of wheel profiled outline striation under corresponding optical plane coordinate system that wheel observation sensor obtains inside rail, straight-line segment striation point corresponding with inside wheel rim on search wheel profiled outline striation, determines the coordinate of straight-line segment striation point under corresponding optical plane coordinate system inside each profile wheel rim;
The ccd video camera coordinate being tied to the corresponding rotation matrix of optical plane coordinate system and the inverse transformation of translation vector and each line structured light vision sensor according to the ccd video camera coordinate of each line structured light vision sensor is tied to rotation matrix and the translation vector of global coordinate system, by straight-line segment striation point coordinate unification inside each profile wheel rim under global coordinate system, carry out plane fitting and obtain the equation of wheel rim medial surface under global coordinate system;
According to the coordinate of axletree profiled outline striation under corresponding optical plane coordinate system that axletree observation sensor obtains, respectively matching is justified to axletree profiled outline, obtains the coordinate of axletree profiled outline center under optical plane coordinate system;
Be tied to according to the ccd video camera coordinate of each line structured light vision sensor rotation matrix and the translation vector that the corresponding rotation matrix of optical plane coordinate system and the inverse transformation of translation vector and each ccd video camera coordinate are tied to global coordinate system, calculate the coordinate of axletree profiled outline center under global coordinate system;
Analytical Calculation is carried out to axletree profiled outline centre coordinate or fitting a straight line obtains the equation of axle axis under global coordinate system, according to wheel rim medial surface equation and axle axis equation, calculate axle axis and wheel rim medial surface intersection point coordinate under global coordinate system.
Described calculating wheel rim apex circle diameter, comprising:
Point to the direction on wheel rim summit along straight-line segment corresponding with wheel rim medial surface on wheel profiled outline striation, apart from straight line end points point farthest on search wheel profiled outline striation, obtain the coordinate of each profile wheel rim summit under corresponding optical plane coordinate system;
Be tied to according to the ccd video camera coordinate of each line structured light vision sensor rotation matrix and the translation vector that the corresponding rotation matrix of optical plane coordinate system and the inverse transformation of translation vector and each ccd video camera coordinate are tied to global coordinate system, determine the wheel rim summit of each profile coordinate under global coordinate system;
According to the equation of rim for automobile wheel medial surface under global coordinate system, calculate the projection coordinate of wheel rim summit at rim for automobile wheel medial surface;
By wheel rim apex coordinate and apex circle central coordinate of circle determination wheel rim apex circle diameter.
Described calculating wheel rim height, comprising:
According to the profile striation coordinate of the same section of wheel under corresponding optical plane coordinate system that wheel tread observation sensor obtains from the inside and outside both sides of wheel, extract the straight-line segment that wheel profiled outline striation is corresponding with outside in wheel rim;
According to the angle of rectilinear direction and coordinate axis, inside and outside for wheel both sides profiled outline striation is carried out rotation into alignment, obtains the profiled outline that wheel is complete;
Using straight line corresponding to the wheel rim medial surface of complete profiled outline as with reference to straight line, wheel contour is searched for, determines wheel contour wheel rim summit;
Calculating wheel rim summit and tread taping point, along the distance of wheel rim medial surface straight line, obtain wheel rim height.
A kind of train wheel diameter dynamic measurement system, this system is made up of along rail symmetria bilateralis layout line structured light vision sensor, for every side wherein, comprising:
Wheel observation module, is used for observing train wheel, obtains the optical strip image of wheel profiled outline; Wherein, to be arranged symmetrically with along rail by more than a pair line structured light vision sensor and to form wheel tread observation sensor, the local section profile optical strip image of the same section of wheel is obtained respectively from wheel inner side and outer side, the line structured light vision sensor of observation wheel is in addition distributed in inside rail, obtains other profiled outline optical strip image of wheel;
Axletree observation module, be used for observing train axle, its line structured light vision sensor is distributed in inside rail, is symmetrically distributed between two sleepers along track sleeper, obtains the optical strip image of axletree profiled outline.
Described line structured light vision sensor is made up of more than one laser projecting apparatus and a ccd video camera.
Therefore, train wheel diameter dynamic measurement method provided by the present invention and system, have the following advantages and feature:
1) adopt high-precision scaling method to demarcate relative position between the structural parameters of each line structured light vision sensor and each line structured light vision sensor, do not need accurate physical construction, reduce machining cost, require low to in-site installation.
2) the present invention program with unworn wheel rim medial surface for benchmark, by unworn wheel rim apex circle diameter and the flange height indirect calculation wheel diameter being comparatively easy to measurement, avoid the measurement point location difficulty problem directly measured tread rolling circle diameter and exist.
3) for the measurement of wheel rim apex circle diameter, first determine the center of circle by axle axis, can avoid directly carrying out justifying the stability problem that matching exists, eliminate the measuring error that axletree and wheel out of plumb are brought simultaneously.
4) measure dynamic high, can when train speed be higher, as with the speed reaching 160km/h by measured zone time, Measurement accuracy train wheel diameter.
Accompanying drawing explanation
Fig. 1 is train wheel diameter dynamic measurement method process flow diagram of the present invention;
Fig. 2 (a) ~ (b) is a kind of embodiment schematic diagram of train wheel diameter dynamic measurement system of the present invention;
Fig. 3 (a) ~ (e) is respectively the wheel profiled outline optical strip image that line structured light vision sensor S1 ~ S5 obtains;
Fig. 4 is a kind of embodiment process flow diagram calculating train wheel diameter according to the wheel of S1 ~ S5 acquisition and the profiled outline optical strip image of axletree;
Fig. 5 is the transformational relation figure that the ccd video camera coordinate of line structured light vision sensor is tied to global coordinate system;
Fig. 6 is the transformational relation figure between the ccd video camera coordinate system of line structured light vision sensor and optical plane coordinate system;
Fig. 7 is complete wheel profiled outline figure.
Embodiment
The invention provides a kind of train wheel diameter dynamic measurement system, make use of line-structured light vision measurement principle, adopt line structured light vision sensor to obtain the profiled outline optical strip image of wheel and axletree respectively, each line structured light vision sensor is made up of more than one laser projecting apparatus and a ccd video camera; Particularly, arrange 2N line structured light vision sensor along track in the symmetria bilateralis of rail, every N number of line structured light vision sensor completes the measurement of single wheel diameter; For the measurement of one-sided wheel diameter, wheel is observed by M line structured light vision sensor, form wheel observation module, obtain the optical strip image of wheel more than 3 profiled outlines, wherein, 2i line structured light vision sensor is arranged symmetrically with along rail and forms i to wheel tread observation sensor, often pair of wheel tread observation sensor obtains the local section profile optical strip image of the same section of wheel respectively from wheel inner side and outer side, the line structured light vision sensor of M-2i observation wheel is distributed in inside rail in addition, obtains other profiled outline optical strip image of wheel; Observe axletree by N-M line structured light vision sensor, form axletree observation module, be distributed between two sleepers along track sleeper, obtain the optical strip image of axletree more than 2 profiled outlines.
A kind of train wheel diameter of the present invention dynamic measurement method realization flow as shown in Figure 1, comprises the following steps:
Step 110, in the both sides of rail, is arranged symmetrically with line structured light vision sensor along train rail, forms wheel observation sensor and axletree observation sensor, obtains wheel profiled outline optical strip image and axletree profiled outline optical strip image respectively;
In described wheel observation sensor, for every side of rail, to be arranged symmetrically with along rail by more than a pair wheel observation sensor and to form wheel tread observation sensor, the local section profile optical strip image of the same section of wheel is obtained respectively from wheel inner side and outer side, other wheel observation sensor is distributed in inside rail, obtains other profiled outline optical strip image of wheel; Described axletree observation sensor, is distributed between two sleepers along track sleeper, obtains axletree profiled outline optical strip image.
Step 120, according to straight-line segment determination wheel rim medial surface equation corresponding with inside wheel rim on wheel profiled outline striation, according to axletree profiled outline striation determination axle axis equation, axis the calculate wheel rim apex circle center of circle crossing with wheel rim medial surface is in wheel rim medial surface projection coordinate;
Taking a step forward of described step 120 comprises, and demarcates measuring system, and calculates the coordinate of each profile striation under the corresponding optical plane coordinate system of each line structured light vision sensor;
Describedly demarcation is carried out to measuring system comprise: the demarcation of the ccd video camera inner parameter of each line structured light vision sensor, the demarcation of each line structured light vision sensor structural parameters, the ccd video camera coordinate of each line structured light vision sensor is tied to the rotation matrix of global coordinate system and the demarcation of translation vector.
The coordinate of described calculating each profile striation under the corresponding optical plane coordinate system of each line structured light vision sensor comprises: extract each profile striation center image coordinate; According to ccd video camera inner parameter and the structural parameters of line structured light vision sensor mathematical model and each line structured light vision sensor, calculate the coordinate of each profile striation point under corresponding ccd video camera coordinate system; Set up optical plane coordinate system at the laser plane of each line structured light vision sensor, determine that the ccd video camera coordinate of each line structured light vision sensor is tied to rotation matrix and the translation vector of corresponding optical plane coordinate system; By the coordinate conversion of each profile striation under corresponding ccd video camera coordinate system under corresponding optical plane coordinate system, determine each profile striation coordinate under corresponding optical plane coordinate system.
Described step 120 is specially:
Step 120a, according to the coordinate of wheel profiled outline striation under corresponding optical plane coordinate system that wheel observation sensor obtains inside rail, straight-line segment striation point corresponding with inside wheel rim on search wheel profiled outline striation, determines the coordinate of straight-line segment striation point under corresponding optical plane coordinate system inside each profile wheel rim;
Step 120b, the ccd video camera coordinate being tied to the corresponding rotation matrix of optical plane coordinate system and the inverse transformation of translation vector and each line structured light vision sensor according to the ccd video camera coordinate of each line structured light vision sensor is tied to rotation matrix and the translation vector of global coordinate system, by straight-line segment striation point coordinate unification inside each profile wheel rim under global coordinate system, carry out plane fitting and obtain the equation of rim for automobile wheel medial surface under global coordinate system;
Step 120c, according to the coordinate of multiple profiled outline striations under corresponding optical plane coordinate system of the axletree that axletree observation sensor obtains, respectively matching is justified to multiple axletree profiled outline, obtains the coordinate of center under optical plane coordinate system of the multiple profiled outline of axletree;
Step 120d, be tied to according to the ccd video camera coordinate of each line structured light vision sensor rotation matrix and the translation vector that the corresponding rotation matrix of optical plane coordinate system and the inverse transformation of translation vector and each ccd video camera coordinate are tied to global coordinate system, calculate the multiple profiled outline center of axletree coordinate under global coordinate system;
Step 120e, analytical Calculation is carried out to the multiple profiled outline centre coordinate of axletree or fitting a straight line obtains the equation of axle axis under global coordinate system, according to wheel rim medial surface equation and axle axis equation, calculate axle axis and the coordinate of wheel rim medial surface intersection point under global coordinate system, be the wheel rim apex circle center of circle in wheel rim medial surface projection coordinate.
Step 130, according to wheel profiled outline striation determination wheel rim summit in wheel rim medial surface projection coordinate, integrating step 120 calculates wheel rim apex circle diameter;
This step is specially:
Step 130a, the direction on wheel rim summit is pointed to along straight-line segment corresponding with wheel rim medial surface on wheel profiled outline striation, apart from straight line end points point farthest on search wheel profiled outline striation, be wheel rim summit, obtain the coordinate of each profile wheel rim summit under corresponding optical plane coordinate system;
Step 130b, be tied to according to the ccd video camera coordinate of each line structured light vision sensor rotation matrix and the translation vector that the corresponding rotation matrix of optical plane coordinate system and the inverse transformation of translation vector and each ccd video camera coordinate are tied to global coordinate system, determine the coordinate of wheel rim summit under global coordinate system of each profile;
Step 130c, according to the equation of rim for automobile wheel medial surface under global coordinate system, calculates the projection coordinate of wheel rim summit at rim for automobile wheel medial surface;
Step 130d, by wheel rim apex coordinate and apex circle central coordinate of circle determination wheel rim apex circle diameter, solves wheel rim apex circle diameter mean value, obtains final wheel rim apex circle diameter.
Step 140, recovers the complete profiled outline of wheel by outside local configuration in wheel section, calculates wheel rim height;
This step is specially:
Step 140a, according to the profile striation coordinate of the same section of wheel under corresponding optical plane coordinate system that often pair of sensor in wheel tread observation sensor obtains from the inside and outside both sides of wheel, extracts the straight-line segment that profile striation is corresponding with outside in wheel rim;
Step 140b, according to the angle of rectilinear direction and coordinate axis, carries out rotation into alignment by inside and outside for wheel both sides profiled outline striation, obtains the profiled outline that wheel is complete;
Step 140c, using straight line corresponding to the wheel rim medial surface of complete profiled outline as with reference to straight line, searches for wheel contour, determines wheel contour wheel rim summit;
Step 140d, calculating wheel rim summit and tread taping point, along the distance of wheel rim medial surface straight line, obtain wheel rim height.
Here, according to " Railway wheelset section the repaiies code " definition to tread taping point, the defining method of described tread taping point is: in profile cloud data, detection range consult straight line is the point of 70mm, is tread taping point.
Step 150, the flange height deducting twice with wheel rim apex circle diameter obtains wheel diameter.
Technical scheme of the present invention is further illustrated below by way of concrete example.
As shown in Figure 2, adopt 10 ccd video cameras 1 and 12 laser projecting apparatuss 2 to form 10 line structured light vision sensor S1-S10, triangle represents arrow in optical plane 3, figure and represents train working direction; In measuring process, when train wheel arrives measured zone, the laser projecting apparatus 2 projection light plane 3 of each line structured light vision sensor, optical plane 3 is crossing with wheel or axletree section produces profile striation, the profiled outline optical strip image of each ccd video camera 1 synchronous acquisition wheel and axletree.
Along rail both sides, every side arranges 5 line structured light vision sensors respectively, and wherein 4 line structured light vision sensor observation wheels, obtain the optical strip image of wheel 4 profiled outlines, 1 line structured light vision sensor observation axletree, obtains the optical strip image of axletree 2 profiled outlines.Ccd video camera in line structured light vision sensor can select adaptive visualization technology (Adaptive Visualization Technology, AVT) high-sensitive CCD video camera, image size is 1380 pixel × 1024 pixels, be equipped with 17mm camera lens, laser projecting apparatus can be the 2W linear structural laser projector.
Concrete, towards train working direction, the profiled outline optical strip image that S1, S2, S3, S4 complete right side wheels obtains, and the profiled outline optical strip image that S6, S7, S8, S9 complete left side wheel obtains.S1 and S2, S6 and S7 form two pairs of wheel tread observation sensor, obtain the local section profile optical strip image of the same section of wheel respectively from the inside and outside both sides of left and right wheels; S2, S3, S4, S6, S8, S9 obtain wheel profiled outline optical strip image respectively inside left and right wheels.In the present embodiment, after reducing in S3 and S4 or S8 and S9 one of them, in the rail left and right sides, every side can obtain the optical strip image of wheel 3 profiled outlines, and this is the wheel profiled outline quantity realizing the present invention and need is minimum situation.
Axletree observation sensor S5 and S10 is made up of two laser projecting apparatuss 2 and a ccd video camera 1, be positioned at inside rail, be distributed between two sleepers along sleeper, wherein S5 obtains the optical strip image of axletree near two profiled outlines of right side wheels, and S10 obtains the optical strip image of axletree near two profiled outlines of left side wheel.
Because both sides wheel measuring system is symmetrical, the right side wheels measuring system formed for S1 ~ S5, is introduced train wheel diameter dynamic measurement method.As shown in Figure 3, (a) ~ (e) is respectively the wheel profiled outline optical strip image that S1 ~ S5 obtains; As shown in Figure 4, according to a kind of embodiment concrete steps of the wheel of S1 ~ S5 acquisition and the profiled outline optical strip image calculating train wheel diameter of axletree be:
Step 401: carry out system calibrating, comprising: ccd video camera inner parameter and the structural parameters of demarcating each line structured light vision sensor, the ccd video camera coordinate demarcating each line structured light vision sensor is tied to rotation matrix and the translation vector of global coordinate system.
Concrete, adopt Sun Jun China wait article " structured light vision sensor general in-situ scaling method [J]. mechanical engineering journal 2009; 45 (3): 174-177 " in the line structured light vision sensor calibration algorithm mentioned, demarcate inner parameter and the structural parameters of each line structured light vision sensor.
Adopt Liu Zhen etc. article " based on on-the-spot overall situation calibration [J] of multiple vision sensor of biplane target. mechanical engineering journal; 2009; 45 (7): 228-232 " in the multi-visual sense sensor calibration method mentioned, the ccd video camera coordinate demarcating each line structured light vision sensor is tied to rotation matrix and the translation vector of global coordinate system.Wherein left and right wheels survey sensor carries out overall situation calibration respectively, and S1, S2, S3, S4, S5 are using the ccd video camera coordinate system of S2 as global coordinate system, corresponding, and S6, S7, S8, S9, S10 are using the ccd video camera coordinate system of S6 as global coordinate system.Certainly, the ccd video camera coordinate system of other sensor also can be selected here as global coordinate system, as selected S3 and S8.The ccd video camera coordinate of each line structured light vision sensor is tied to the transformational relation of global coordinate system as shown in Figure 5.
Table 1 is tied to rotation matrix and the translation vector of the ccd video camera coordinate system of S2 for demarcating the ccd video camera inner parameter of S4, line structured light vision sensor structural parameters and its ccd video camera coordinate that obtain.In table, f
x, f
y, u
0, v
0, k
1, k
2for ccd video camera inner parameter, wherein, f
x, f
yfor the effective focal length of ccd video camera respectively on x, y direction, (u
0, v
0) be ccd video camera principal point coordinate, k
1, k
2for ccd video camera radial distortion parameter.
Table 1
Step 402: calculate the coordinate of each profile striation central point under corresponding optical plane coordinate system.
First, each profile striation center image coordinate is extracted.Adopt Zhou Fuqiang etc. " the vision-mix disposal route [J] that structural light strip extracts. optoelectronic laser, 2008,19 (11): 1534-1537 " in the light strip center of structured light extraction algorithm mentioned, extract the image coordinate of each profile optical losses.
Secondly, the coordinate of striation under corresponding ccd video camera coordinate system is calculated.Ccd video camera inner parameter and the line structured light vision sensor structural parameters of each line structured light vision sensor obtained are demarcated according to line structured light vision sensor mathematical model and step 401, by the image coordinate of each profile striation point, calculate the three-dimensional coordinate of each profile striation point under corresponding ccd video camera coordinate system.Line structured light vision sensor mathematical model is existing very ripe mathematical model, Zhang Guangjun monograph " vision measurement [M]. Beijing: Science Press, 2005 " in have detailed introduction, here repeat no more.
Finally, the coordinate of striation under corresponding optical plane coordinate system is calculated.Set up optical plane coordinate system at the laser plane of each line structured light vision sensor, determine that the ccd video camera coordinate of each line structured light vision sensor is tied to the rotation matrix R of corresponding optical plane coordinate system
c, Pwith translation vector T
c, P, by the coordinate P of striation under corresponding ccd video camera coordinate system
cunder being transformed into corresponding optical plane coordinate system, determine the coordinate P of each profile striation under corresponding optical plane coordinate system
p=R
c, Pp
c+ T
c, P, R
c, P, T
c, Pcan according to Zhou Fuqiang etc. article " field calibration method [J] of line structured light vision sensor. mechanical engineering journal; 2004; 40 (6): 169-173 " in the scaling method mentioned obtain, the ccd video camera coordinate of line structured light vision sensor is tied to the transformational relation of optical plane coordinate system as shown in Figure 6, in figure, rectangle represents laser projecting apparatus 2, and dotted line represents optical plane 3.
For 10 points on line structured light vision sensor S4 profile striation, result is asked for the coordinate of striation point under optical plane coordinate system and shows, as shown in table 2.
| Sequence | Three-dimensional coordinate | Sequence | Three-dimensional coordinate |
| 1 | (-51.0481，43.0033，0) | 6 | (-52.813，52.0204，0) |
| 2 | (-51.2061，43.8403，0) | 7 | (-52.9668，52.8284，0) |
| 3 | (-51.3633，44.6792，0) | 8 | (-53.121，53.632，0) |
| 4 | (-51.5212，45.5105，0) | 9 | (-53.3472，54.9266，0) |
| 5 | (-51.6812，46.3228，0) | 10 | (-53.4882，55.7796，0) |
Table 2
Step 403: the equation of straight-line segment determination rim for automobile wheel medial surface under global coordinate system corresponding with inside wheel rim on the profile striation obtained by S2, S3, S4.
First, the straight line striation point that the profile striation of S2, S3, S4 acquisition is corresponding with wheel rim medial surface under optical plane coordinate system is searched for.As shown in the profile striation that S2, S3, S4 in Fig. 3 obtain, the optical plane of S2, S3, S4 is crossing with wheel rim medial surface forms straight line striation.To S2, S3, S4 profile striation under corresponding optical plane coordinate system, Hough transform Straight Line Extraction is adopted to extract straight line striation point corresponding with wheel rim medial surface on profile striation.
Secondly, the coordinate of calculated line striation point under global coordinate system.The ccd video camera coordinate that the ccd video camera coordinate determined according to step 402 is tied to S3, S4 that the corresponding rotation matrix of optical plane coordinate system and the inverse transformation of translation vector and step 401 are determined is tied to rotation matrix and the translation vector of the ccd video camera coordinate system of S2, the coordinate of calculated line striation point under global coordinate system.
Finally, according to the coordinate of wheel profiled outline straight line striation point under global coordinate system that S2, S3, S4 obtain, the equation of wheel rim medial surface under global coordinate system is obtained by plane fitting.
According to the equation of above step determination rim for automobile wheel medial surface under global coordinate system be:
0.0059x-0.0003y-0.0025z+1＝0。
Step 404: the axletree profiled outline optical strip image obtained by S5 calculates axle axis equation under global coordinate system, determines that the wheel rim apex circle center of circle is in wheel rim medial surface projection coordinate.
First, axle axis equation under global coordinate system is calculated.To the coordinate of profiled outline striation under optical plane coordinate system of the axletree that S5 obtains, carry out respectively justifying matching, determine the coordinate of axletree two profiled outline centers under corresponding optical plane coordinate system.The ccd video camera coordinate being tied to the S5 that the corresponding rotation matrix of optical plane coordinate system and the inverse transformation of translation vector and step 401 are determined according to the ccd video camera coordinate of the S5 determined in step 402 is tied to rotation matrix and the translation vector of the ccd video camera coordinate system of S2, calculates axletree two coordinates of section center under global coordinate system.By axletree two profiled outline centre coordinate, calculate axle axis equation under global coordinate system.
Secondly, axle axis and wheel rim medial surface intersection point is calculated.According to wheel rim medial surface equation under global coordinate system that axle axis equation and step 403 under global coordinate system are determined, calculate axle axis and wheel rim medial surface intersection point.According to the train wheel structure that " assembling of railway freight-car wheel shaft, maintenance and rule " specifies, wheel rim apex circle place plane is parallel with wheel rim medial surface, therefore this intersection point is the wheel rim apex circle center of circle in wheel rim medial surface projection coordinate.
Calculate axletree two coordinates of profiled outline center under global coordinate system according to above step, equation and the wheel rim apex circle center of circle are in wheel rim medial surface projection coordinate under global coordinate system for axle axis, result of calculation is as shown in table 3.
Table 3
Step 405: the wheel profiled outline optical strip image obtained by S2, S3, S4 calculates the wheel rim summit of wheel three sections in wheel rim medial surface projection coordinate, calculates wheel rim apex circle diameter.
First, the coordinate of wheel profiled outline wheel rim summit under optical plane coordinate system that S2, S3, S4 obtain is calculated.Inside wheel rim, straight-line segment points to the direction on wheel rim summit, apart from straight line end points point farthest on search profile, is wheel rim summit, can determines the coordinate of each profile wheel rim summit under corresponding optical plane coordinate system thus.
Secondly, the coordinate of each profile wheel rim summit under global coordinate system is calculated.The ccd video camera coordinate being tied to S3, S4 of determining in the corresponding rotation matrix of optical plane coordinate system and the inverse transformation of translation vector and step 401 according to the ccd video camera coordinate determined in step 402 is tied to rotation matrix and the translation vector of the ccd video camera coordinate system of S2, calculates the coordinate of wheel rim summit under global coordinate system of the profiled outline that S2, S3, S4 obtain.
Again, wheel rim summit is calculated in wheel rim medial surface projection coordinate.According to the equation of rim for automobile wheel medial surface under global coordinate system that step 403 is determined, calculate the projection coordinate of wheel rim summit at wheel rim medial surface.
Finally, wheel rim apex circle diameter is calculated.The wheel rim apex circle center of circle that the wheel profiled outline wheel rim summit obtained according to S2, S3, S4 is determined in wheel rim medial surface projection coordinate and step 404 is in wheel rim medial surface projection coordinate, calculate the wheel rim apex circle diameter of wheel 3 sections, solve mean value, obtain wheel rim apex circle diameter.
According to above step, the wheel profiled outline optical strip image obtained by S2, S3, S4 calculates wheel three wheel rim summits at the projection coordinate of wheel rim medial surface and wheel rim apex circle diameter, and result of calculation is as shown in table 4.
Table 4
Step 406: the coordinate determination wheel complete profiled outline of wheel profiled outline striation under optical plane coordinate system obtained by S1, S2, calculates flange height.First, the coordinate determination wheel complete profiled outline of wheel profiled outline striation under optical plane coordinate system obtained by S1, S2, to S1, S2 wheel profiled outline striation coordinate under corresponding optical plane coordinate system, the method of Hough transform is adopted to extract the profile striation straight-line segment corresponding with outside in wheel rim, according to the angle of rectilinear direction and coordinate axis, two profiles are carried out rotation into alignment, obtains the profiled outline that wheel is as shown in Figure 7 complete.Secondly, wheel rim summit and the tread taping point coordinate of complete profiled outline is determined; The straight line AB that wheel rim medial surface is corresponding in Fig. 7 is as reference straight line, and with the method search profile wheel rim summit in step 405, be designated as C, in profile cloud data, detection range straight-line segment AB is the point of 70mm, is tread taping point, is designated as D.Finally, flange height is calculated.Calculate wheel rim summit C and tread taping point D along the distance of wheel rim medial surface straight line, be flange height.
Calculate flange height according to above step, railroad carriage wheel the 4th kind of flange height that detector records being 0.1mm with measuring accuracy contrasts, and comparing result is as shown in table 5.
Table 5
Step 407: calculate wheel diameter, calculates left and right wheels diameter difference.
The flange height h that the wheel rim apex circle diameter D determined according to step 405 and step 406 are determined, deducts the flange height of twice, obtains wheel diameter d, d=D-2h with wheel rim apex circle diameter.Take turns left and right wheels diameter according to same, calculate wheel diameter poor.Meanwhile, employing resolution is that wheel diameter measured by the wheel footpath chi of 0.1mm, obtains measuring error.Measurement comparing result is as shown in table 6.
Table 6
In above-mentioned example, the measuring system adopting 10 line structured light vision sensors to form is introduced measuring method of the present invention.Obviously, the formation of this measuring system can be more flexible, by increasing the laser projecting apparatus quantity of line structured light vision sensor quantity or line structured light vision sensor, increasing optical plane, can obtain more wheel and axletree profiled outline, improve measuring accuracy.
The above, be only preferred embodiment of the present invention, is not intended to limit the protection domain that this law is bright.
Claims (10)
1. a train wheel diameter dynamic measurement method, is characterized in that, the method comprises:
In train rail both sides, along Orbital Symmetry deployment line structured light vision sensor, form wheel observation sensor and axletree observation sensor, obtain wheel profiled outline optical strip image and axletree profiled outline optical strip image respectively;
According to straight-line segment determination wheel rim medial surface equation corresponding with inside wheel rim on wheel profiled outline striation, according to axletree profiled outline striation determination axle axis equation, axis the calculate wheel rim apex circle center of circle crossing with wheel rim medial surface is in wheel rim medial surface projection coordinate;
According to wheel profiled outline striation determination wheel rim summit in wheel rim medial surface projection coordinate, in conjunction with wheel rim apex circle central coordinate of circle, calculate wheel rim apex circle diameter;
Recover the complete profiled outline of wheel by outside local configuration striation in wheel section, calculate wheel rim height;
The flange height deducting twice with wheel rim apex circle diameter obtains wheel diameter.
2. method according to claim 1, it is characterized in that, in described wheel observation sensor, for every side of rail, to be arranged symmetrically with along rail by more than a pair wheel observation sensor and to form wheel tread observation sensor, obtain the local section profile optical strip image of the same section of wheel respectively from wheel inner side and outer side, other wheel observation sensor is distributed in inside rail, obtains other profiled outline optical strip image of wheel; Described axletree observation sensor, is distributed between two sleepers along track sleeper, obtains axletree profiled outline optical strip image.
3. method according to claim 1, is characterized in that, described according to before straight-line segment determination wheel rim medial surface equation corresponding with inside wheel rim on wheel profiled outline striation, comprises further:
Measuring system is demarcated, and calculates the coordinate of each profile striation under the corresponding optical plane coordinate system of each line structured light vision sensor.
4. method according to claim 3, is characterized in that, describedly demarcates measuring system, comprising:
The demarcation of the ccd video camera inner parameter of each line structured light vision sensor, the demarcation of each line structured light vision sensor structural parameters, the ccd video camera coordinate of each line structured light vision sensor is tied to the rotation matrix of global coordinate system and the demarcation of translation vector.
5. method according to claim 3, is characterized in that, the coordinate of described calculating each profile striation under the corresponding optical plane coordinate system of each line structured light vision sensor, comprising:
Extract each profile striation center image coordinate;
According to ccd video camera inner parameter and the structural parameters of line structured light vision sensor mathematical model and each line structured light vision sensor, calculate the coordinate of each profile striation point under corresponding ccd video camera coordinate system;
Set up optical plane coordinate system at the laser plane of each line structured light vision sensor, determine that the ccd video camera coordinate of each line structured light vision sensor is tied to rotation matrix between corresponding optical plane coordinate system and translation vector;
By the coordinate conversion of each profile striation under corresponding ccd video camera coordinate system under corresponding optical plane coordinate system, determine each profile striation coordinate under corresponding optical plane coordinate system.
6. method according to claim 1, is characterized in that, the described calculating wheel rim apex circle center of circle, in wheel rim medial surface projection coordinate, comprising:
According to the coordinate of wheel profiled outline striation under corresponding optical plane coordinate system that wheel observation sensor obtains inside rail, straight-line segment striation point corresponding with inside wheel rim on search wheel profiled outline striation, determines the coordinate of straight-line segment striation point under corresponding optical plane coordinate system inside each profile wheel rim;
The ccd video camera coordinate being tied to the corresponding rotation matrix of optical plane coordinate system and the inverse transformation of translation vector and each line structured light vision sensor according to the ccd video camera coordinate of each line structured light vision sensor is tied to rotation matrix and the translation vector of global coordinate system, by straight-line segment striation point coordinate unification inside each profile wheel rim under global coordinate system, carry out plane fitting and obtain the equation of wheel rim medial surface under global coordinate system;
According to the coordinate of axletree profiled outline striation under corresponding optical plane coordinate system that axletree observation sensor obtains, respectively matching is justified to axletree profiled outline, obtains the coordinate of axletree profiled outline center under optical plane coordinate system;
Be tied to according to the ccd video camera coordinate of each line structured light vision sensor rotation matrix and the translation vector that the corresponding rotation matrix of optical plane coordinate system and the inverse transformation of translation vector and each ccd video camera coordinate are tied to global coordinate system, calculate the coordinate of axletree profiled outline center under global coordinate system;
Analytical Calculation is carried out to axletree profiled outline centre coordinate or fitting a straight line obtains the equation of axle axis under global coordinate system, according to wheel rim medial surface equation and axle axis equation, calculate axle axis and wheel rim medial surface intersection point coordinate under global coordinate system.
7. method according to claim 1, is characterized in that, described calculating wheel rim apex circle diameter, comprising:
Point to the direction on wheel rim summit along straight-line segment corresponding with wheel rim medial surface on wheel profiled outline striation, apart from straight line end points point farthest on search wheel profiled outline striation, obtain the coordinate of each profile wheel rim summit under corresponding optical plane coordinate system;
Be tied to according to the ccd video camera coordinate of each line structured light vision sensor rotation matrix and the translation vector that the corresponding rotation matrix of optical plane coordinate system and the inverse transformation of translation vector and each ccd video camera coordinate are tied to global coordinate system, determine the wheel rim summit of each profile coordinate under global coordinate system;
According to the equation of rim for automobile wheel medial surface under global coordinate system, calculate the projection coordinate of wheel rim summit at rim for automobile wheel medial surface;
By wheel rim apex coordinate and apex circle central coordinate of circle determination wheel rim apex circle diameter.
8. method according to claim 2, is characterized in that, described calculating wheel rim height, comprising:
According to the profile striation coordinate of the same section of wheel under corresponding optical plane coordinate system that wheel tread observation sensor obtains from the inside and outside both sides of wheel, extract the straight-line segment that wheel profiled outline striation is corresponding with outside in wheel rim;
According to the angle of rectilinear direction and coordinate axis, inside and outside for wheel both sides profiled outline striation is carried out rotation into alignment, obtains the profiled outline that wheel is complete;
Using straight line corresponding to the wheel rim medial surface of complete profiled outline as with reference to straight line, wheel contour is searched for, determines wheel contour wheel rim summit;
Calculating wheel rim summit and tread taping point, along the distance of wheel rim medial surface straight line, obtain wheel rim height.
9. a train wheel diameter dynamic measurement system, is characterized in that, this system is made up of along rail symmetria bilateralis layout line structured light vision sensor, for every side wherein, comprising:
Wheel observation module, is used for observing train wheel, obtains the optical strip image of wheel profiled outline; Wherein, to be arranged symmetrically with along rail by more than a pair line structured light vision sensor and to form wheel tread observation sensor, the local section profile optical strip image of the same section of wheel is obtained respectively from wheel inner side and outer side, the line structured light vision sensor of observation wheel is in addition distributed in inside rail, obtains other profiled outline optical strip image of wheel;
Axletree observation module, be used for observing train axle, its line structured light vision sensor is distributed in inside rail, is symmetrically distributed between two sleepers along track sleeper, obtains the optical strip image of axletree profiled outline.
10. system according to claim 9, is characterized in that, described line structured light vision sensor is made up of more than one laser projecting apparatus and a ccd video camera.
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