CN103587548B - The city rail vehicle wheel out of round degree method of inspection that sensor is directly measured - Google Patents

The city rail vehicle wheel out of round degree method of inspection that sensor is directly measured Download PDF

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CN103587548B
CN103587548B CN201310556600.1A CN201310556600A CN103587548B CN 103587548 B CN103587548 B CN 103587548B CN 201310556600 A CN201310556600 A CN 201310556600A CN 103587548 B CN103587548 B CN 103587548B
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邢宗义
张永
陈岳剑
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Nanjing University of Science and Technology
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Abstract

本发明公开了一种传感器直接测量的城轨车辆车轮不圆度检测装置及方法。该装置包括中央处理单元和多个激光传感器,所述激光传感器均与中央处理单元连接;检测区段的钢轨向外偏移,且该检测区段的钢轨内侧设置护轨;激光传感器设置于钢轨偏移所空出的区域与护轨之间,激光传感器的探头沿钢轨方向排列且均位于车轮下方,所有激光传感器与进行不圆度测量的车轮圆周共面。该方法使用多个激光传感器,将其按照一定几何关系安装在车轮下方,选取车轮经过每个传感器测量范围内的探测点,通过最小二乘拟合得到每个传感器对应测量的直径,而后用最大值减去最小值得到车轮不圆度。本发明在线非接触式测量具有速度快、精度高、测量直径范围大的优点。

The invention discloses a device and method for detecting the out-of-roundness of urban rail vehicle wheels directly measured by a sensor. The device includes a central processing unit and a plurality of laser sensors, and the laser sensors are all connected to the central processing unit; the rails in the detection section deviate outward, and guard rails are arranged inside the rails in the detection section; the laser sensors are arranged on the rails Between the area vacated by the offset and the guard rail, the probes of the laser sensors are arranged along the direction of the rail and are located under the wheel, and all the laser sensors are coplanar with the circumference of the wheel for out-of-roundness measurement. This method uses multiple laser sensors, installs them under the wheel according to a certain geometric relationship, selects the detection point where the wheel passes through the measurement range of each sensor, obtains the diameter corresponding to each sensor through least square fitting, and then uses the largest The minimum value is subtracted from the value to get the wheel out of roundness. The online non-contact measurement of the present invention has the advantages of fast speed, high precision and large measuring diameter range.

Description

传感器直接测量的城轨车辆车轮不圆度检测方法Detection method of urban rail vehicle wheel out-of-roundness directly measured by sensor

技术领域technical field

本发明涉及铁路车轮检测领域,特别是一种传感器直接测量的城轨车辆车轮不圆度检测装置及方法。The invention relates to the field of railway wheel detection, in particular to a device and method for detecting out-of-roundness of urban rail vehicle wheels directly measured by a sensor.

背景技术Background technique

城轨车辆在运行的过程中会出现不同程度的磨耗,磨耗对车轮安全运行会产生影响,而其中磨耗不均匀导致的车轮踏面多边形尤为重要,它对列车的运行安全性构成严重威胁,使机车车辆对线路和自身的动力作用大大加大,同时还会带来附加的振动和冲击,降低机车车辆的临界速度,使得列车的平稳性和舒适性变差。因此对车轮踏面的不圆度测量对列车安全运行有着重要意义。During the operation of urban rail vehicles, there will be different degrees of wear and tear, which will affect the safe operation of the wheels, and the polygonal wheel tread caused by uneven wear is particularly important, which poses a serious threat to the safety of the train, making the locomotive The dynamic effect of the vehicle on the line and itself is greatly increased, and at the same time it will bring additional vibration and impact, reduce the critical speed of the rolling stock, and make the stability and comfort of the train worse. Therefore, the measurement of the out-of-roundness of the wheel tread is of great significance to the safe operation of the train.

车轮圆度的检测方法主要分为静态检测和动态监测,静态检测需要在列车停止或车轮拆卸的情况下进行,不仅占用列车的周转时间,且速度慢,劳动强度大;动态监测不仅可以实现对轮对的在线监测,而且自动化程度高,不占用车辆周转时间,便于存储信息资料,目前采用的动态监测不圆度方法有振动加速度检测法和接触测量法:The detection methods of wheel roundness are mainly divided into static detection and dynamic monitoring. Static detection needs to be carried out when the train is stopped or the wheels are disassembled, which not only takes up the turnaround time of the train, but also is slow and labor-intensive; dynamic monitoring can not only realize the On-line monitoring of wheelsets, with a high degree of automation, does not take up vehicle turnover time, and is convenient for storing information. Currently, the dynamic monitoring methods for out-of-roundness include vibration acceleration detection method and contact measurement method:

振动加速度检测法通过分析采集的整列列车经过检测点时轨道的振动情况,提取车轮的不圆度信息,但是该方法受传感器安装夹具、枕木振动衰减的影响,测量精确度不高。接触测量法典型的为平行四边形法,专利1(升降式车轮踏面插伤及不圆度在线动态检测装置,申请号:200720082608.9,申请日:2007-12-20)和专利2(一种车轮踏面插伤和不圆度在线检测装置,申请号:201210307496.8,申请日:2012-08-27)均公开了平行四边形结构的在线测量方法及其改进,该方法中位移传感器与固定在构成平行四边形机构一边的钢轨上的支座相连,传感器可直接测量出车轮踏面与轮缘的相对高度的变化量,位移传感器记录整个踏面圆周的直径情况,当踏面不圆时传感器即输出曲线从而得出不圆度,但是该方法采用了接触式测量,不适合于列车高速通过的情况,并且存在测量响应速度慢、机械结构寿命低、工程实施困难等问题。The vibration acceleration detection method extracts the out-of-roundness information of the wheel by analyzing the vibration of the track when the whole train passes the detection point. However, this method is affected by the sensor installation fixture and the vibration attenuation of sleepers, and the measurement accuracy is not high. The typical contact measurement method is the parallelogram method, patent 1 (on-line dynamic detection device for lifting wheel tread damage and out-of-roundness, application number: 200720082608.9, application date: 2007-12-20) and patent 2 (a wheel tread Insertion and out-of-roundness online detection device, application number: 201210307496.8, application date: 2012-08-27) both disclose the online measurement method of parallelogram structure and its improvement. In this method, the displacement sensor and the parallelogram mechanism are fixed The support on one side of the rail is connected. The sensor can directly measure the change in the relative height between the wheel tread and the wheel rim. The displacement sensor records the diameter of the entire tread circumference. However, this method uses contact measurement, which is not suitable for trains passing at high speed, and has problems such as slow measurement response speed, low mechanical structure life, and difficulty in engineering implementation.

发明内容Contents of the invention

本发明的目的在于提供一种高精度的传感器直接测量的城轨车辆车轮不圆度检测装置,采用非接触式测量,检测速度快、测量范围大。The purpose of the present invention is to provide a high-precision sensor direct measurement of urban rail vehicle wheel out-of-roundness detection device, using non-contact measurement, fast detection speed, large measurement range.

实现本发明目的的技术解决方案为:一种传感器直接测量的城轨车辆车轮不圆度检测装置,包括中央处理单元和多个激光传感器,所述激光传感器均与中央处理单元连接;检测区段的钢轨向外偏移,且该检测区段的钢轨内侧设置护轨,护轨与车轮轮缘内侧相切;激光传感器设置于钢轨偏移所空出的区域与护轨之间,激光传感器的探头沿钢轨方向排列且分布在水平线上,各激光传感器的探测光束垂直钢轨向上,所有激光传感器与进行不圆度测量的车轮圆周共面。The technical solution for realizing the object of the present invention is: a kind of urban rail vehicle wheel out-of-roundness detection device directly measured by a sensor, including a central processing unit and a plurality of laser sensors, and the laser sensors are all connected with the central processing unit; the detection section The rails of the detection section are offset outwards, and guard rails are set on the inner side of the rails in the detection section, and the guard rails are tangent to the inner side of the wheel rim; the laser sensor is set between the area vacated by the rail offset and the guard rails, and the laser sensor The probes are arranged along the direction of the rail and distributed on the horizontal line, the detection beams of each laser sensor are vertical to the rail, and all the laser sensors are coplanar with the circumference of the wheel for out-of-roundness measurement.

一种传感器直接测量的城轨车辆车轮不圆度检测方法,包括以下步骤:A method for detecting the out-of-roundness of an urban rail vehicle wheel directly measured by a sensor, comprising the following steps:

第1步,将各激光传感器安装于钢轨偏移所空出的区域,使各个激光传感器的探头沿钢轨方向排列且均位于车轮下方,所有激光传感器与进行直径测量的车轮圆周共面,激光传感器记为Pi,沿着钢轨方向i依次为1,2,...n,n为激光传感器的个数;Step 1, install each laser sensor in the area vacated by the rail offset, so that the probes of each laser sensor are arranged along the direction of the rail and are all located under the wheel. All laser sensors are in the same plane as the wheel circumference for diameter measurement. The laser sensor Denoted as P i , along the rail direction i is sequentially 1, 2,...n, n is the number of laser sensors;

第2步,在进行直径测量的车轮圆周所在平面上建立二维坐标系:沿钢轨方向为X轴,经过第一个激光传感器P1且垂直于钢轨向上为Y轴,则激光传感器的坐标为(xi,yi),各个激光传感器探头相对于X轴的安装倾角为90°;The second step is to establish a two-dimensional coordinate system on the plane where the wheel circumference for diameter measurement is located: the X axis along the rail direction, the Y axis passing through the first laser sensor P 1 and perpendicular to the rail, then the coordinates of the laser sensor are (x i , y i ), the installation inclination angle of each laser sensor probe relative to the X axis is 90°;

第3步,采集所有激光传感器的输出值,并选出有个传感器输出的有效数据组{Si},Si为第i个传感器Pi的输出值,i=1,2,...n;Step 3, collect the output values of all laser sensors, and select a valid data set {S i } output by a sensor, where S i is the output value of the i-th sensor P i , i=1,2,... n;

第4步:确定列车经过各个传感器P的速度:Step 4: Determine the speed of the train passing each sensor P:

vi=di/ti v i =d i /t i

其中di=(xi-xi-1)/2+(xi+1-xi)/2,ti=(tpi-tpi-1)/2+(tpi+1-tpi)/2,tpi为第i个传感器Pi输出最小值的时刻,tpi+1为第i+1个传感器Pi+1输出最小值的时刻,tpi-1为第i-1个传感器Pi-1输出最小值的时刻,并假定在该传感器P区间内为匀速;where d i =(x i -x i-1 )/2+(x i+1 -x i )/2, t i =(t pi -t pi-1 )/2+(t pi+1 -t pi )/2, t pi is the moment when the i-th sensor P i outputs the minimum value, t pi+1 is the moment when the i+1th sensor P i+1 outputs the minimum value, and t pi-1 is the moment when the i-1th sensor P i+1 outputs the minimum value The moment when a sensor P i-1 outputs the minimum value, and it is assumed that it is a constant speed in the interval of the sensor P;

第5步,根据传感器Pi的输出值Si、坐标值(xi,yi)确定车轮上对应传感器Pi的测量点坐标,并以t为时间轴,遴选出该车轮经过传感器Pi测量范围内的点坐标(Xit,Yit):Step 5: Determine the coordinates of the measuring point corresponding to the sensor P i on the wheel according to the output value S i and the coordinate value ( xi , y i ) of the sensor P i , and take t as the time axis to select the wheel passing the sensor P i Measuring range Point coordinates in (X it ,Y it ):

(Xit,Yit)=(xi,yi)+(tvi/f,Sit)i=1,2…nt=1,2…(X it ,Y it )=(x i ,y i )+(tv i /f,S it )i=1,2...nt=1,2...

其中:i表示第i个传感器;t为采样时刻;f为采样周期;vi为车轮经过传感器Pi的速度;Among them: i represents the i-th sensor; t is the sampling moment; f is the sampling period; v i is the speed of the wheel passing the sensor P i ;

第6步,根据序列点(Xit,Yit)进行拟合圆,得到传感器Pi对应的车轮直径DiStep 6: Fit the circle according to the sequence points (X it , Y it ), and obtain the wheel diameter D i corresponding to the sensor P i ;

第7步,重复第5~6步,对各个感器采集得到的有效数据组Si进行测量点坐标计算与拟合得到n个车轮直径,将n个传感器拟合后得到的n个直径中的最大值减去最小值,得到车轮不圆度的量化值E。Step 7, repeat steps 5-6, calculate and fit the coordinates of the measurement points for the effective data set S i collected by each sensor to obtain n wheel diameters, and fit the n sensors to obtain the n diameters Subtract the minimum value from the maximum value to get the quantitative value E of the wheel out-of-roundness.

与现有技术相比,本发明的显著优点在于:(1)基于激光检测系统,通过最小二乘拟合的算法,实现对列车车轮在线非接触测量,测量精度高;(2)由激光传感器自动获取车轮任意多点坐标,通过相应数据处理算法,获得当下所测车轮直径,取直径的最大值减去最小值,得到不圆度的量化指标,操作简单、方便快捷;(3)自动获取车轮经过时的速度;(4)具有检测速度快、测量范围大的优点。Compared with the prior art, the remarkable advantages of the present invention are: (1) Based on the laser detection system, the on-line non-contact measurement of the train wheels is realized through the least squares fitting algorithm, and the measurement accuracy is high; (2) The laser sensor Automatically obtain the coordinates of any multi-point of the wheel, and obtain the diameter of the currently measured wheel through the corresponding data processing algorithm, and subtract the minimum value from the maximum value of the diameter to obtain the quantitative index of out-of-roundness, which is simple, convenient and fast to operate; (3) Automatically obtain (4) It has the advantages of fast detection speed and large measurement range.

附图说明Description of drawings

图1为车轮踏面运行后的磨耗示意图。Figure 1 is a schematic diagram of the wear of the wheel tread after running.

图2为本发明传感器直接测量的城轨车辆车轮不圆度检测装置的结构图。Fig. 2 is a structural diagram of the out-of-roundness detection device of the urban rail vehicle wheel directly measured by the sensor of the present invention.

图3为本发明城轨车辆车轮不圆度检测装置中钢轨切换处的示意图。Fig. 3 is a schematic diagram of a rail switching point in the wheel out-of-roundness detection device of an urban rail vehicle according to the present invention.

图4为本发明钢轨偏移的距离Q与护轨的尺寸破面示意图。Fig. 4 is a cross-sectional schematic diagram of the distance Q of the rail offset and the size of the guard rail in the present invention.

图5为实施例中激光传感器直线垂直安装的车轮不圆度检测示意图。Fig. 5 is a schematic diagram of the out-of-roundness detection of the wheel in which the laser sensor is installed in a straight line and vertically in the embodiment.

图6为实施例中9个激光传感器的测量值S随时间t(ms)的关系。Fig. 6 is the relation of measured value S of 9 laser sensors with time t (ms) in the embodiment.

图7为实施例中某个传感器测量点的输出(Xit,Yit)及其拟合后的圆。Fig. 7 shows the output (X it , Y it ) of a certain sensor measurement point and its fitted circle in the embodiment.

图8为实施例中重复测量20次不圆度所得结果示意图。FIG. 8 is a schematic diagram of the results obtained by repeated measurement of the out-of-roundness 20 times in the embodiment.

具体实施方式detailed description

下面结合附图及具体实施例对本发明作进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

图1中表示出了某车轮运行过后的踏面形状与刚投入运行时踏面形状,可以看出距离轮缘侧面处70mm为磨耗集中处,该处为工程中常用的衡量直径所在位置,而车轮直径往往控制在770~840mm之间,故激光传感器探测点选取为该处的车轮圆周。Figure 1 shows the shape of the tread surface of a certain wheel after running and the shape of the tread surface when it is just put into operation. It can be seen that the wear concentration point is 70mm away from the side of the wheel rim, which is the location where the diameter is commonly used in engineering, and the wheel diameter It is often controlled between 770 and 840mm, so the detection point of the laser sensor is selected as the wheel circumference at this place.

本发明基于激光传感器的城轨车辆车轮不圆度检测装置,包括中央处理单元和多个激光传感器,所述激光传感器均与中央处理单元连接;检测区段的钢轨向外偏移,且该检测区段的钢轨内侧设置护轨,护轨与车轮轮缘内侧相切;激光传感器设置于钢轨偏移所空出的区域与护轨之间,激光传感器的探头沿钢轨方向排列且分布在水平线上,各激光传感器的探测光束垂直钢轨向上,所有激光传感器与进行不圆度测量的车轮圆周共面。The wheel out-of-roundness detection device for urban rail vehicles based on a laser sensor in the present invention includes a central processing unit and a plurality of laser sensors, and the laser sensors are all connected to the central processing unit; the rails in the detection section deviate outward, and the detection A guard rail is set on the inner side of the rail in the section, and the guard rail is tangent to the inner side of the wheel rim; the laser sensor is set between the area vacated by the rail offset and the guard rail, and the probes of the laser sensor are arranged along the direction of the rail and distributed on the horizontal line , the detection beams of each laser sensor are vertical to the rail, and all the laser sensors are coplanar with the circumference of the wheel for out-of-roundness measurement.

如图2所示,在检测区段将钢轨6外偏,空出一定区域,将激光传感器探头3安装在车轮1的测量点下方,在轮缘内侧设置护轨5以防止轮对蛇行或轴向窜动造成脱轨,激光传感器探头3通过传感器夹具4固定,并可以调整激光传感器探头3的位置和倾角,各个激光传感器探头3发出的激光光束2能够同时检测到车轮上的对应检测点。As shown in Figure 2, the steel rail 6 is deflected outward in the detection section, and a certain area is vacated, the laser sensor probe 3 is installed below the measurement point of the wheel 1, and the guard rail 5 is set on the inner side of the wheel rim to prevent the wheel pair from snaking or shaft To move to cause derailment, the laser sensor probe 3 is fixed by the sensor fixture 4, and the position and inclination angle of the laser sensor probe 3 can be adjusted, and the laser beam 2 emitted by each laser sensor probe 3 can simultaneously detect the corresponding detection point on the wheel.

如图3所示,钢轨向外偏移的切换处为弧形,有利于列车进入和退出探测区。图4说明了钢轨向外偏移的具体尺寸Q,针对车轮踏面和60轨,Q控制在50~65mm之间,使得轨道中心线不超出车轮的外缘。护轨高出轮缘的尺寸P,控制在30~50mm之间。进行直径测量的车轮圆周距离车轮轮缘侧面的距离为70mm。As shown in Figure 3, the switching point where the rails are shifted outward is arc-shaped, which is beneficial for the train to enter and exit the detection area. Figure 4 illustrates the specific dimension Q of the outward offset of the rail. For the wheel tread and 60 rails, Q is controlled between 50 and 65mm, so that the centerline of the track does not exceed the outer edge of the wheel. The dimension P of the guard rail higher than the rim is controlled between 30 and 50mm. The distance from the circumference of the wheel for diameter measurement to the side of the wheel rim is 70mm.

由于待测的车轮与轨道长期接触,表面光滑粗糙度低,因此涉及到利用激光扫描测头对镜面反射很强的金属曲面进行轮廓测量,该被测对象是目前形貌测量领域的一个难点。张良等分析了现有的几种激光测头对金属表面的测量能力,得出了锥光偏振全息探头和斜射式三角探头较适合测量金属曲面(张良,费致根,郭俊杰.激光扫描测头对金属曲面测量研究,机床与液压,第39卷第9期:2011年5月)。故本发明涉及的激光传感器,优选锥光偏振全息探头和斜射式三角探头,激光传感器的数量为3~20且所有激光传感器的探头通过传感器夹具固定于车轮下方。Since the wheel to be measured is in long-term contact with the track, the surface is smooth and rough, so it involves the use of a laser scanning probe to measure the profile of a metal surface with strong specular reflection. This measured object is a difficult point in the field of shape measurement. Zhang Liang et al. analyzed the measurement capabilities of several existing laser probes on metal surfaces, and concluded that conoscopic polarization holographic probes and oblique beam triangular probes are more suitable for measuring metal surfaces (Zhang Liang, Fei Zhigen, Guo Junjie. Laser scanning Research on measuring probes on metal surfaces, Machine Tools and Hydraulics, Vol. 39 No. 9: May 2011). Therefore, the laser sensors involved in the present invention are preferably conoscopic polarization holographic probes and oblique triangular probes, the number of laser sensors is 3-20 and the probes of all laser sensors are fixed under the wheel through sensor fixtures.

使用上述传感器直接测量的城轨车辆车轮不圆度检测装置进行车轮不圆度检测的方法,包括以下步骤:The method for detecting the wheel out-of-roundness using the urban rail vehicle wheel out-of-roundness detection device directly measured by the above sensors comprises the following steps:

第1步,将各激光传感器安装于钢轨偏移所空出的区域,使各个激光传感器的探头沿钢轨方向排列且均位于车轮下方,所有激光传感器与进行直径测量的车轮圆周共面,激光传感器记为Pi,沿着钢轨方向i依次为1,2,...n,n为激光传感器的个数;Step 1, install each laser sensor in the area vacated by the rail offset, so that the probes of each laser sensor are arranged along the direction of the rail and are all located under the wheel. All laser sensors are in the same plane as the wheel circumference for diameter measurement. The laser sensor Denoted as P i , along the rail direction i is sequentially 1, 2,...n, n is the number of laser sensors;

第2步,在进行直径测量的车轮圆周所在平面上建立二维坐标系:沿钢轨方向为X轴,经过第一个激光传感器P1且垂直于钢轨向上为Y轴,则激光传感器的坐标为(xi,yi),各个激光传感器探头相对于X轴的安装倾角为90°;The second step is to establish a two-dimensional coordinate system on the plane where the wheel circumference for diameter measurement is located: the X axis along the rail direction, the Y axis passing through the first laser sensor P 1 and perpendicular to the rail, then the coordinates of the laser sensor are (x i , y i ), the installation inclination angle of each laser sensor probe relative to the X axis is 90°;

第3步,采集所有激光传感器的输出值,并选出有个传感器输出的有效数据组{Si},Si为第i个传感器Pi的输出值,i=1,2,...n;Step 3, collect the output values of all laser sensors, and select a valid data set {S i } output by a sensor, where S i is the output value of the i-th sensor P i , i=1,2,... n;

第4步:确定列车经过各个传感器P的速度:Step 4: Determine the speed of the train passing each sensor P:

vi=di/ti v i =d i /t i

其中di=(xi-xi-1)/2+(xi+1-xi)/2,ti=(tpi-tpi-1)/2+(tpi+1-tpi)/2,tpi为第i个传感器Pi输出最小值的时刻,tpi+1为第i+1个传感器Pi+1输出最小值的时刻,tpi-1为第i-1个传感器Pi-1输出最小值的时刻,并假定在该传感器P区间内为匀速;where d i =(x i -x i-1 )/2+(x i+1 -x i )/2, t i =(t pi -t pi-1 )/2+(t pi+1 -t pi )/2, t pi is the moment when the i-th sensor P i outputs the minimum value, t pi+1 is the moment when the i+1th sensor P i+1 outputs the minimum value, and t pi-1 is the moment when the i-1th sensor P i+1 outputs the minimum value The moment when a sensor P i-1 outputs the minimum value, and it is assumed that it is a constant speed in the interval of the sensor P;

第5步,根据传感器Pi的输出值Si、坐标值(xi,yi)确定车轮上对应传感器Pi的测量点坐标,并以t为时间轴,遴选出该车轮经过传感器Pi测量范围内的点坐标(Xit,Yit):Step 5: Determine the coordinates of the measuring point corresponding to the sensor P i on the wheel according to the output value S i and the coordinate value ( xi , y i ) of the sensor P i , and take t as the time axis to select the wheel passing the sensor P i Measuring range Point coordinates in (X it ,Y it ):

(Xit,Yit)=(xi,yi)+(tvi/f,Sit)i=1,2…nt=1,2…(X it ,Y it )=(x i ,y i )+(tv i /f,S it )i=1,2...nt=1,2...

其中:i表示第i个传感器;t为采样时刻;f为采样周期;vi为车轮经过传感器Pi的速度;Among them: i represents the i-th sensor; t is the sampling moment; f is the sampling period; v i is the speed of the wheel passing the sensor P i ;

第6步,根据序列点(Xit,Yit)进行拟合圆,得到传感器Pi对应的车轮直径Di;采用最小二乘法进行拟合圆,公式如下:Step 6: Fit the circle according to the sequence points (X it , Y it ) to obtain the wheel diameter D i corresponding to the sensor P i ; use the least square method to fit the circle, the formula is as follows:

DD. == aa 22 ++ bb 22 ++ 44 ΣΣ (( Xx ii 22 ++ YY ii 22 )) ++ aΣaΣ Xx ii ++ bΣbΣ YY ii nno ,, ii == 1,21,2 ·&Center Dot; ·&Center Dot; ·&Center Dot; nno

其中,a为拟合后的圆心横坐标x0的-2倍即a=-2x0,b为拟合后的圆心纵坐标y0的-2倍即b=-2y0,并且Wherein, a is -2 times of the abscissa x 0 of the fitted circle center, i.e. a=-2x 0 , b is -2 times of the fitted circle center ordinate y 0 ie b=-2y 0 , and

aa == HDHD -- EGEG CGCG -- DD. 22 bb == HCHC -- EDED DD. 22 -- GCGC

其中C、D、E、G、H为中间参数,分别如下:Among them, C, D, E, G, and H are intermediate parameters, which are as follows:

CC == nΣnΣ Xx ii 22 -- ΣΣ Xx ii ΣΣ Xx ii DD. == nΣnΣ Xx ii YY ii -- ΣΣ Xx ii ΣΣ YY ii EE. == nΣnΣ Xx ii 33 ++ nΣnΣ Xx ii YY ii 22 -- ΣΣ (( Xx ii 22 ++ YY ii 22 )) ΣΣ Xx ii GG == nΣnΣ YY ii 22 -- ΣΣ YY ii ΣΣ YY ii Hh == nΣnΣ Xx ii 22 YY ii ++ nΣnΣ YY ii 33 -- ΣΣ (( Xx ii 22 ++ YY ii 22 )) ΣΣ YY ii ii == 1,21,2 .. .. .. nno

第7步,重复第5~6步,对各个感器采集得到的有效数据组Si进行测量点坐标计算与拟合得到n个车轮直径,将n个传感器拟合后得到的n个直径中的最大值减去最小值,得到车轮不圆度的量化值E。Step 7, repeat steps 5-6, calculate and fit the coordinates of the measurement points for the effective data set S i collected by each sensor to obtain n wheel diameters, and fit the n sensors to obtain the n diameters Subtract the minimum value from the maximum value to get the quantitative value E of the wheel out-of-roundness.

下面结合具体实施例,分别介绍传感器采用直线垂直、直线倾斜安装方式的城轨车辆车轮不圆度检测装置及方法,对本发明作进一步详细说明。In the following, in conjunction with specific embodiments, the device and method for detecting the out-of-roundness of an urban rail vehicle wheel with sensors installed in a straight line vertical or a straight line inclination are respectively introduced, and the present invention will be further described in detail.

实施例Example

本实施例为传感器直线垂直安装的城轨车辆车轮不圆度检测装置及方法。This embodiment is an urban rail vehicle wheel out-of-roundness detection device and method in which sensors are installed vertically in a straight line.

如图5所示,n个激光传感器的探头沿钢轨方向排列且均布在水平线上,各激光传感器的探测光束垂直钢轨向上。As shown in Figure 5, the probes of n laser sensors are arranged along the direction of the rail and evenly distributed on the horizontal line, and the detection beams of each laser sensor are vertical to the rail.

激光传感器的安装参数满足以下条件:激光传感器的个数n为9,相邻激光传感器间隔300mm,激光传感器的安装点至钢轨的垂直距离为|y1|为100mm。该安装方案6个及以上传感器同时测量到的距离超过2800mm,覆盖了车轮直径最大的情况840×3.14=2637.6mm,能够检测到车轮踏面的整个圆周范围,且使得传感器的测量光线与被测面的倾角控制在了±20°之间,避免改倾角导致的传感器测量误差。从而得到各传感器的坐标(xi,yi)(单位:mm):The installation parameters of the laser sensor meet the following conditions: the number n of laser sensors is 9, the distance between adjacent laser sensors is 300mm, and the vertical distance between the installation point of the laser sensor and the rail is | y1 |100mm. In this installation scheme, the distance measured by 6 or more sensors at the same time exceeds 2800mm, covering the case of the largest wheel diameter of 840×3.14=2637.6mm, which can detect the entire circumference of the wheel tread, and makes the sensor’s measurement light and the measured surface The inclination angle is controlled between ±20° to avoid sensor measurement errors caused by changing the inclination angle. The coordinates (x i , y i ) of each sensor are thus obtained (unit: mm):

xi=300(i-1)i=1,2…9x i =300(i-1)i=1,2...9

其中i表示第i个传感器;where i represents the i-th sensor;

设激光传感器的采样周期为1kHz,测量随机误差0.05mm,并假定列车运行速度为1m/s,由计算机模拟产生直径为800的被测车轮测量数据如图6所示,由测量数据按照以下步骤输出不圆度:Assuming that the sampling period of the laser sensor is 1kHz, the measurement random error is 0.05mm, and assuming that the train running speed is 1m/s, the measurement data of the measured wheel with a diameter of 800 is generated by computer simulation as shown in Figure 6, and the measurement data is obtained according to the following steps Output out of roundness:

(1.1)采集所有激光传感器的输出值,并选出同时有9个传感器输出值的有效数据组{Si},Si为第i个传感器Pi的输出值,i=1,2,...n;(1.1) Collect the output values of all laser sensors, and select an effective data group {S i } with 9 sensor output values at the same time, S i is the output value of the i-th sensor P i , i=1,2,. ..n;

(1.2)根据传感器Pi的输出值Si、坐标值(xi,yi)确定车轮上对应传感器Pi的测量点坐标(Xit,Yit),图7绘制了(1.1)中第一个传感器输出Si确定的序列点(Xit,Yit)和该时刻拟合后的圆;(1.2) Determine the coordinates (X it , Y it ) of the measuring point corresponding to the sensor P i on the wheel according to the output value S i and the coordinate value (x i , y i ) of the sensor P i . Figure 7 draws the first A sensor outputs the sequence point (X it ,Y it ) determined by S i and the fitted circle at this moment;

(1.3)根据序列点(Xit,Yit)进行拟合圆,得到这一传感器对应的车轮直径为799.913mm。9个传感器测量输出Si拟合后得到的直径误差序列为:(1.3) According to the sequence point (X it , Y it ) to fit the circle, the wheel diameter corresponding to this sensor is obtained as 799.913mm. The diameter error sequence obtained after fitting the measured output S i of nine sensors is:

ε=[-0.08700.1606-0.08200.09130.1481-0.1556-0.06810.0824-0.2800]ε=[-0.08700.1606-0.08200.09130.1481-0.1556-0.06810.0824-0.2800]

(1.4)对步骤(1.3)求得的9个传感器测量得到的直径误差序列,取直径的最大值减去最小值,得到不圆度为0.4406。模拟测量20次,得到图8所示的测量结果,由该测量结果可见,该实施方式可以实现车轮不圆度的高精度测量,测量误差在不考虑安装误差的情况下<0.8mm。(1.4) For the diameter error sequence measured by the 9 sensors obtained in step (1.3), take the maximum value of the diameter and subtract the minimum value to obtain an out-of-roundness of 0.4406. After 20 simulation measurements, the measurement results shown in Figure 8 are obtained. It can be seen from the measurement results that this embodiment can realize high-precision measurement of wheel out-of-roundness, and the measurement error is <0.8mm without considering the installation error.

综上所述,本发明基于激光检测系统,通过最小二乘拟合的算法,实现对列车车轮不圆度的在线非接触测量,测量精度高、操作简单、方便快捷,并且具有检测速度快、测量范围大的优点。In summary, based on the laser detection system, the present invention realizes the online non-contact measurement of the out-of-roundness of the train wheel through the least squares fitting algorithm, with high measurement accuracy, simple operation, convenient and fast, and has the advantages of fast detection speed, The advantage of a large measuring range.

Claims (2)

1.一种传感器直接测量的城轨车辆车轮不圆度检测方法,其特征在于,包括中央处理单元和多个激光传感器,所述激光传感器均与中央处理单元连接;检测区段的钢轨向外偏移,且该检测区段的钢轨内侧设置护轨,护轨与车轮轮缘内侧相切;激光传感器设置于钢轨偏移所空出的区域与护轨之间,激光传感器的探头沿钢轨方向排列且分布在水平线上,各激光传感器的探测光束垂直钢轨向上,所有激光传感器与进行不圆度测量的车轮圆周共面,具体包括以下步骤:1. an urban rail vehicle wheel out-of-roundness detection method directly measured by a sensor, is characterized in that, comprises a central processing unit and a plurality of laser sensors, and the laser sensors are all connected with the central processing unit; the steel rail of the detection section is outward The inner side of the rail in the detection section is set with a guard rail, which is tangent to the inner side of the wheel rim; the laser sensor is set between the area vacated by the rail offset and the guard rail, and the probe of the laser sensor is along the direction of the rail Arranged and distributed on the horizontal line, the detection beams of each laser sensor are vertical to the rail, and all the laser sensors are coplanar with the wheel circumference for out-of-roundness measurement, specifically including the following steps: 第1步,将各激光传感器安装于钢轨偏移所空出的区域,使各个激光传感器的探头沿钢轨方向排列且均位于车轮下方,所有激光传感器与进行直径测量的车轮圆周共面,激光传感器记为Pi,沿着钢轨方向i依次为1,2,Kn,n为激光传感器的个数;Step 1, install each laser sensor in the area vacated by the rail offset, so that the probes of each laser sensor are arranged along the direction of the rail and are all located under the wheel. All laser sensors are in the same plane as the wheel circumference for diameter measurement. The laser sensor Denoted as P i , the direction i along the rail is 1, 2, Kn in sequence, and n is the number of laser sensors; 第2步,在进行直径测量的车轮圆周所在平面上建立二维坐标系:沿钢轨方向为X轴,经过第一个激光传感器P1且垂直于钢轨向上为Y轴,则激光传感器的坐标为(xi,yi),各个激光传感器探头相对于X轴的安装倾角为90°;The second step is to establish a two-dimensional coordinate system on the plane where the wheel circumference for diameter measurement is located: the X axis along the rail direction, the Y axis passing through the first laser sensor P 1 and perpendicular to the rail, then the coordinates of the laser sensor are (x i , y i ), the installation inclination angle of each laser sensor probe relative to the X axis is 90°; 第3步,采集所有激光传感器的输出值,并选出各个传感器输出的有效数据组{Si},Si为第i个传感器Pi的输出值,i=1,2,Kn;The third step is to collect the output values of all laser sensors, and select the effective data group {S i } output by each sensor, S i is the output value of the i-th sensor P i , i=1, 2, Kn; 第4步:确定列车经过各个传感器P的速度:Step 4: Determine the speed of the train passing each sensor P: vi=di/ti v i =d i /t i 其中di=(xi-xi-1)/2+(xi+1-xi)/2,ti=(tpi-tpi-1)/2+(tpi+1-tpi)/2,tpi为第i个传感器Pi输出最小值的时刻,tpi+1为第i+1个传感器Pi+1输出最小值的时刻,tpi-1为第i-1个传感器Pi-1输出最小值的时刻,并假定在该传感器P区间内为匀速;where d i =(x i -x i-1 )/2+(x i+1 -x i )/2, t i =(t pi -t pi-1 )/2+(t pi+1 -t pi )/2, t pi is the moment when the i-th sensor P i outputs the minimum value, t pi+1 is the moment when the i+1th sensor P i+1 outputs the minimum value, and t pi-1 is the moment when the i-1th sensor P i+1 outputs the minimum value The moment when a sensor P i-1 outputs the minimum value, and it is assumed that it is a constant speed in the interval of the sensor P; 第5步,根据传感器Pi的输出值Si、坐标值(xi,yi)确定车轮上对应传感器Pi的测量点坐标,并以t为时间轴,遴选出该车轮经过传感器Pi测量范围内的点坐标(Xit,Yit):Step 5: Determine the coordinates of the measuring point corresponding to the sensor P i on the wheel according to the output value S i and the coordinate value ( xi , y i ) of the sensor P i , and take t as the time axis to select the wheel passing the sensor P i Measuring range Point coordinates in (X it ,Y it ): (Xit,Yit)=(xi,yi)+(tvi/f,Sit)i=1,2…nt=1,2…(X it ,Y it )=(x i ,y i )+(tv i /f,S it )i=1,2...nt=1,2... 其中:i表示第i个传感器;t为采样时刻;f为采样周期;vi为车轮经过传感器Pi的速度;Among them: i represents the i-th sensor; t is the sampling moment; f is the sampling period; v i is the speed of the wheel passing the sensor P i ; 第6步,根据序列点(Xit,Yit)进行拟合圆,得到传感器Pi对应的车轮直径DiStep 6: Fit the circle according to the sequence points (X it , Y it ), and obtain the wheel diameter D i corresponding to the sensor P i ; 第7步,重复第5~6步,对各个传感器采集得到的有效数据组Si进行测量点坐标计算与拟合得到n个车轮直径,将n个传感器拟合后得到的n个直径中的最大值减去最小值,得到车轮不圆度的量化值E。Step 7, repeat steps 5-6, calculate and fit the coordinates of the measurement points for the effective data set S i collected by each sensor to obtain n wheel diameters, and fit the n sensors to obtain n diameters The maximum value is subtracted from the minimum value to obtain the quantitative value E of the wheel out-of-roundness. 2.根据权利要求1所述的传感器直接测量的城轨车辆车轮不圆度检测方法,其特征在于,第6步所述根据车轮上n个测量点坐标(Xi,Yi)进行拟合圆,采用最小二乘法,公式如下:2. the urban rail vehicle wheel out-of-roundness detection method that sensor directly measures according to claim 1, is characterized in that, described in the 6th step carries out fitting according to n measuring point coordinates (X i , Y i ) on the wheel Circle, using the least square method, the formula is as follows: DD. == aa 22 ++ bb 22 ++ 44 &Sigma;&Sigma; (( Xx ii 22 ++ YY ii 22 )) ++ a&Sigma;Xa&Sigma;X ii ++ b&Sigma;Yb&Sigma;Y ii nno ,, ii == 11 ,, 22 ...... nno 其中,a为拟合后的圆心横坐标x0的-2倍即a=-2x0,b为拟合后的圆心纵坐标y0的-2倍即b=-2y0,并且Wherein, a is -2 times of the abscissa x 0 of the fitted circle center, i.e. a=-2x 0 , b is -2 times of the fitted circle center ordinate y 0 ie b=-2y 0 , and aa == Hh DD. -- EE. GG CC GG -- DD. 22 bb == Hh CC -- EE. DD. DD. 22 -- GG CC 其中C、D、E、G、H为中间参数,分别如下:Among them, C, D, E, G, and H are intermediate parameters, which are as follows: CC == n&Sigma;Xn&Sigma;X ii 22 -- &Sigma;X&Sigma;X ii &Sigma;X&Sigma;X ii DD. == n&Sigma;Xn&Sigma;X ii YY ii -- &Sigma;X&Sigma;X ii &Sigma;Y&Sigma;Y ii EE. == n&Sigma;Xn&Sigma;X ii 33 ++ n&Sigma;Xn&Sigma;X ii YY ii 22 -- &Sigma;&Sigma; (( Xx ii 22 ++ YY ii 22 )) &Sigma;X&Sigma;X ii GG == nYn ii 22 -- &Sigma;Y&Sigma;Y ii &Sigma;Y&Sigma;Y ii Hh == n&Sigma;Xn&Sigma;X ii 22 YY ii ++ n&Sigma;Yn&Sigma;Y ii 33 -- &Sigma;&Sigma; (( Xx ii 22 ++ YY ii 22 )) &Sigma;Y&Sigma;Y ii ,, ii == 11 ,, 22 ...... nno ..
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