CN103591902A - Device and method for detecting wheel diameter of urban rail vehicle based on laser sensors - Google Patents

Abstract

The invention discloses an urban rail vehicle wheel diameter detection device and method based on a laser 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 are shifted outward, and guard rails are arranged inside the rails of the detection section, and the guard rails are connected to the wheels. The inner side of the edge is tangent; the laser sensor is set between the area vacated by the rail offset and the guard rail. The probes of the laser sensor are arranged along the direction of the rail and are all located under the wheel. All laser sensors are coplanar with the wheel circumference for diameter measurement. This method uses multiple laser sensors, which are installed under the wheel according to a certain geometric relationship. The sensors detect the wheel at the same time to obtain the detection points, and the initial diameter is obtained by least squares fitting, and then the initial diameter is averaged to obtain the wheel diameter. The online non-contact measurement of the present invention has the advantages of fast speed, high precision and large measuring diameter range.

Description

A kind of city rail vehicle wheel diameter pick-up unit and method based on laser sensor

Technical field

The present invention relates to railway wheel detection field, particularly a kind of city rail vehicle wheel diameter pick-up unit and method based on laser sensor.

Background technology

City rail vehicle there will be abrasion in various degree in the process of operation, and abrasion exert an influence to wheel safe operation meeting, and the wheel diameter that wherein abrasion cause changes particularly key.Train main track is in service, coaxially and with steering framing wheel footpath differ from all limited requirements, the poor excessive wheel that easily causes in coaxial wheels footpath is to scratch, same wheel poor excessive flange wear or the train abnormal vibrations of also easily causing in wheel footpath, therefore to the measurement of wheel diameter to safe train operation important in inhibiting.

Conventional arc radius measuring method comprises slide calliper rule method and the high chord length method of bow, and wherein slide calliper rule method is applicable to the not high occasion of accuracy requirement, and measurement range is subject to the restriction of arc length, and slide calliper rule range is subject to the restriction of located lateral frame; And the operation of bending high chord length method is more loaded down with trivial details, these two kinds of methods are generally used for workpiece to do static off-line measurement.Chinese patent CN201159640Y(diameter measurement device of railway wheel, application number: 200820055350.8, the applying date: 2008-02-02) disclose the high chord length method of a kind of bow and measured radius of wheel device, repair method belongs to hand dipping and off-line is measured automatically, needs regularly to send workshop to overhaul after wheel travels a period of time.This static off-line measurement adopts special measuring tool or omnipotent measurer manual detection, the shortcoming such as have that testing result error is large, poor accuracy, rework rate are high, inefficiency, labour intensity are large.

Contactless on-line measurement wheel grows up to geometric parameter gradually to diameter or wheel, Chinese patent CN1899904A(detector for train wheel pair size online test method and device, application number: 200510035961.7 applyings date: 2005-07-20), the laser displacement sensor of certain distance is installed in the both sides of every one steel rail, sensor is measured obliquely from the bottom side of rail, thereby record wheel tread data, and the speed moving based on train calculating obtains diameter through two laser sensor chord lengths.The shortcoming of the method is, need to utilize train speed information simultaneously, measurement that can not complete independently diameter, and utilize single laser sensor to record tread information, can be because diameter position cannot be accurately located in the variation of tread.The wheel diameter non-contact type dynamic measurement method of Chinese patent CN101219672A(based on laser, application number: 200810056339.8 applyings date: 2008-01-16) adopt two laser displacement sensor direct irradiation wheel tread rolling surfaces, geometry site by sensor installation is measured wheel diameter, the shortcoming of the method does not solve alignment issues for surveying line, and the same approximate method of cutting sth. askew cannot accurately be described wheel diameter.To sum up, still there is the shortcomings such as measuring accuracy is not high, measurement response speed is slow, engineering construction is difficult in current contactless wheel diameter measuring technique.

Summary of the invention

The object of the present invention is to provide a kind of high-precision city rail vehicle wheel diameter pick-up unit and method based on laser sensor, adopt non-contact measurement, detection speed is fast, measurement range is large.

The technical solution that realizes the object of the invention is: a kind of city rail vehicle wheel diameter pick-up unit based on laser sensor, comprise CPU (central processing unit) and a plurality of laser sensor, and described laser sensor is all connected with CPU (central processing unit); The rail of detector segments is outwards offset, and the rail of this detector segments inner side arranges guard rail, tangent inside guard rail and wheel rim; Laser sensor is arranged at rail and is offset between the region and guard rail of vacating, and the probe of laser sensor is arranged and is all positioned at wheel below along rail direction, and all laser sensors are coplanar with the wheel circumference that carries out diameter measurement.

A city rail vehicle wheel diameter detection method for laser sensor, comprises the following steps:

The 1st step, is installed on by each laser sensor the region that rail skew is vacated, and makes the probe of each laser sensor arrange and all be positioned at wheel below along rail direction, and all laser sensors are coplanar with the wheel circumference that carries out diameter measurement, and laser sensor is designated as P _i, along rail direction, i is followed successively by 1,2 ... n, the number that n is laser sensor;

The 2nd step, sets up two-dimensional coordinate system in the plane at the wheel circumference that carries out diameter measurement: along rail direction, be X-axis, through first laser sensor P ₁and perpendicular to rail, be upwards Y-axis, the coordinate of laser sensor is (x _i, y _i), each laser sensor probe is θ with respect to the mounted angle of X-axis _i;

The 3rd step, gathers the output valve of all laser sensors, and selects and have the valid data of n sensor output value group { S simultaneously _i, S _ibe i sensor P _ioutput valve, i=1,2 ... n;

The 4th step, according to sensor P _ioutput valve S _i, coordinate figure (x _i, y _i), mounted angle θ _idetermine respective sensor P on wheel _imeasurement point coordinate (X _i, Y _i):

(X _i,Y _i)＝(x _i,y _i)+(S _i×cosθ _i,S _i×sinθ _i) i＝1,2…n

The 5th step, according to n on wheel measurement point coordinate (X _i, Y _i) carry out fitting circle, obtain the wheel diameter D of this measuring position;

The 6th step, carries out matching by a plurality of valid data groups that collect and obtains a series of wheel diameters, and a series of wheel diameters that obtain are averaged, and obtains the final wheel diameter D in this measuring position _final.

Compared with prior art, remarkable advantage of the present invention is:, based on laser detection system, by the algorithm of least square fitting, realize the online non-cpntact measurement of train wheel (1), and measuring accuracy is high; (2) by any multiple spot coordinate of laser sensor automatic acquisition wheel, by corresponding data Processing Algorithm, obtain institute's measuring car wheel diameter instantly, simple, convenient quick; (3) have advantages of that detection speed is fast, measurement range is large.

Accompanying drawing explanation

Fig. 1 is the postrun abrasion schematic diagram of wheel tread.

Fig. 2 is the structural representation that the present invention is based on the city rail vehicle wheel diameter pick-up unit of laser sensor.

Fig. 3 is the schematic diagram of rail switching place in city rail vehicle wheel diameter pick-up unit of the present invention.

Fig. 4 is the distance Q of rail skew of the present invention and the broken face schematic diagram of the size of guard rail.

Fig. 5 is that the wheel diameter that in embodiment 1, laser sensor circular arc normal is installed detects schematic diagram.

Fig. 6 is the measured value relation of t (ms) in time of each laser sensor in embodiment 1.

Fig. 7 is a certain moment detection sequence point (X in embodiment 1 _i, Y _i) and matching after circle.

Fig. 8 is the resulting whole diameters of all effective measured data values matchings in embodiment 1.

Fig. 9 is 20 diameter acquired results schematic diagram of duplicate measurements in embodiment 1.

Figure 10 is that in embodiment 2, the vertically arranged wheel diameter of laser sensor circular arc detects schematic diagram.

Figure 11 is the measured value relation of t (ms) in time of each laser sensor in embodiment 2.

Figure 12 is a certain moment detection sequence point (X in embodiment 2 _i, Y _i) and matching after circle.

Figure 13 is the resulting whole diameters of all effective measured data values matchings in embodiment 2.

Figure 14 is 20 diameter acquired results schematic diagram of duplicate measurements in embodiment 2.

Figure 15 is that the wheel diameter that in embodiment 3, laser sensor straight line tilts to install detects schematic diagram.

Figure 16 is the measured value relation of t (ms) in time of each laser sensor in embodiment 3.

Figure 17 is a certain moment detection sequence point (X in embodiment 3 _i, Y _i) and matching after circle.

Figure 18 is the resulting whole diameters of all effective measured data values matchings in embodiment 3.

Figure 19 is 20 diameter acquired results schematic diagram of duplicate measurements in embodiment 3.

Figure 20 is that in embodiment 4, the vertically arranged wheel diameter of laser sensor straight line detects schematic diagram.

Figure 21 is the measured value relation of t (ms) in time of each laser sensor in embodiment 4.

Figure 22 is a certain moment detection sequence point (X in embodiment 4 _i, Y _i) and matching after circle.

Figure 23 is the resulting whole diameters of all effective measured data values matchings in embodiment 4.

Figure 24 is 20 diameter acquired results schematic diagram of duplicate measurements in embodiment 4.

Figure 25 is that the wheel diameter of laser sensor designated mounting in embodiment 5 detects schematic diagram.

Figure 26 is the measured value relation of t (ms) in time of each laser sensor in embodiment 5.

Figure 27 is a certain moment detection sequence point (X in embodiment 5 _i, Y _i) and matching after circle.

Figure 28 is the resulting whole diameters of all effective measured data values matchings in embodiment 5.

Figure 29 is 20 diameter acquired results schematic diagram of duplicate measurements in embodiment 5.

Embodiment

Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.

Tread profile when having expressed certain wheel operation tread profile later in Fig. 1 and just having put into operation, can find out apart from the 70mm of place, wheel rim side and concentrate and locate for abrasion, this place is conventional measurement diameter position in engineering, and wheel diameter is often controlled between 770～840mm, therefore laser sensor sensing point is chosen for the wheel circumference at this place.

The city rail vehicle wheel diameter pick-up unit that the present invention is based on laser sensor, comprises CPU (central processing unit) and a plurality of laser sensor, and described laser sensor is all connected with CPU (central processing unit); The rail of detector segments is outwards offset, and the rail of this detector segments inner side arranges guard rail, tangent inside guard rail and wheel rim; Laser sensor is arranged at rail and is offset between the region and guard rail of vacating, and the probe of laser sensor is arranged and is all positioned at wheel below along rail direction, and all laser sensors are coplanar with the wheel circumference that carries out diameter measurement.

As shown in Figure 2, in detector segments, rail 6 is outer partially, vacate certain area, laser sensor probe 3 is arranged on to the measurement point below of wheel 1, in wheel rim inner side, guard rail 5 is set and causes derailing to prevent taking turns in S or axial float, laser sensor probe 3 is fixing by clamp of sensor 4, and can adjust position and the inclination angle of laser sensor probe 3, and each laser sensor probe 3 laser beams that send 2 can detect the corresponding check point on wheel simultaneously.

As shown in Figure 3, rail outwards switching place of skew is arc, is conducive to train and enters and exit detecting area.Fig. 4 has illustrated the outwards concrete size Q of skew of rail, and for wheel tread and 60 rails, Q is controlled between 50～65mm, makes track centerline not exceed the outer rim of wheel.Guard rail exceeds the size P of wheel rim, is controlled between 30～50mm.The wheel circumference that carries out diameter measurement is 70mm apart from the distance of wheel rim side.

Due to wheel to be measured and track Long Term Contact, smooth surface roughness is low, therefore relates to and utilizes laser scanning testing head to carry out profile measurement to the very strong metal curved surface of mirror-reflection, and this measurand is a difficult point in current topography measurement field.Zhang Liang etc. have analyzed the measurement capability of existing several laser feeler to metal surface, shown that the holographic probe of cone light polarization and oblique fire formula triangle probe are applicable to measuring metal curved surface (Zhang Liang, Fei Zhigen, Guo Junjie. laser scanning testing head is measured research to metal curved surface, lathe and hydraulic pressure, the 39th the 9th phase of volume: in May, 2011).Therefore the laser sensor the present invention relates to, preferably bores the holographic probe of light polarization and oblique fire formula triangle probe, the quantity of laser sensor be 3～10 and the probe of all laser sensors by clamp of sensor, be fixed on wheel below.

The method of using the above-mentioned city rail vehicle wheel diameter pick-up unit based on laser sensor to carry out wheel diameter detection, comprises the following steps:

The 1st step, is installed on by each laser sensor the region that rail skew is vacated, and makes the probe of each laser sensor arrange and all be positioned at wheel below along rail direction, and all laser sensors are coplanar with the wheel circumference that carries out diameter measurement, and laser sensor is designated as P _i, along rail direction, i is followed successively by 1,2 ... n, the number that n is laser sensor;

The 2nd step, sets up two-dimensional coordinate system in the plane at the wheel circumference that carries out diameter measurement: along rail direction, be X-axis, through first laser sensor P ₁and perpendicular to rail, be upwards Y-axis, the coordinate of laser sensor is (x _i, y _i), each laser sensor probe is θ with respect to the mounted angle of X-axis _i;

The 3rd step, gathers the output valve of all laser sensors, and selects and have the valid data of n sensor output value group { S simultaneously _i, S _ibe i sensor P _ioutput valve, i=1,2 ... n;

The 4th step, according to sensor P _ioutput valve S _i, coordinate figure (x _i, y _i), mounted angle θ _idetermine respective sensor P on wheel _imeasurement point coordinate (X _i, Y _i):

(X _i,Y _i)＝(x _i,y _i)+(S _i×cosθ _i,S _i×sinθ _i) i＝1,2...n

The 5th step, according to n on wheel measurement point coordinate (X _i, Y _i) carry out fitting circle, obtain the wheel diameter D of this measuring position; Adopt least square method to carry out fitting circle, formula is as follows:

$D=\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">b</figure-callout>}}^2+4\frac{\mathrm{\&Sigma;}({{\mathrm{<figure-callout\; id="2"\; label="X\; i"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">X</figure-callout>}}_i}^2+{Y_i}^2)+\mathrm{a\&Sigma;}{X}_i+\mathrm{b\&Sigma;}{Y}_i}{n}},i=\mathrm{1,2}...n$

Wherein, a is the center of circle horizontal ordinate x after matching ₀-2 times be a=-2x ₀, b is the center of circle ordinate y after matching ₀-2 times be b=-2y ₀, and

$a=\frac{\mathrm{HD}-\mathrm{EG}}{\mathrm{CG}-{\mathrm{<figure-callout\; id="2"\; label="D"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">D</figure-callout>}}^2}$

$b=\frac{\mathrm{HC}-\mathrm{ED}}{D^2-\mathrm{GC}}$

Wherein C, D, E, G, H are intermediate parameters, as follows respectively:

$\left.\begin{array}{c}C=\mathrm{n\&Sigma;}{X}_i^2-\mathrm{\&Sigma;}{X}_i\mathrm{\&Sigma;}{X}_i\\ D=\mathrm{n\&Sigma;}{X}_i{Y}_i-\mathrm{\&Sigma;}{X}_i\mathrm{\&Sigma;}{Y}_i\\ E=\mathrm{n\&Sigma;}{\mathrm{<figure-callout\; id="3"\; label="X\; i"\; filenames="HDA0000411892490000101.png"\; state="\{\{state\}\}">X</figure-callout>}}_i^{}+\mathrm{n\&Sigma;}{X}_i{Y}_i^2-\mathrm{\&Sigma;}({\mathrm{<figure-callout\; id="2"\; label="X\; i"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">X</figure-callout>}}_i^{}+Y_i^2)\mathrm{\&Sigma;}{X}_i\\ G=\mathrm{n\&Sigma;}{Y}_i^2-\mathrm{\&Sigma;}{Y}_i\mathrm{\&Sigma;}{Y}_i\\ H=\mathrm{n\&Sigma;}{X}_i^2{Y}_i+\mathrm{n\&Sigma;}{Y}_i^3-\mathrm{\&Sigma;}({\mathrm{<figure-callout\; id="2"\; label="X\; i"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">X</figure-callout>}}_i^{}+Y_i^2)\mathrm{\&Sigma;}{Y}_i\end{array}\right\}i=\mathrm{1,2}...n$

The 6th step, carries out matching by a plurality of valid data groups that collect and obtains a series of wheel diameters, and a series of wheel diameters that obtain are averaged, and obtains the final wheel diameter D in this measuring position _final.

Below in conjunction with specific embodiment, introduce respectively that sensor adopts circular arc normal, circular arc is vertical, straight line tilts, straight line is vertical and city rail vehicle wheel diameter pick-up unit and the method for designated mounting mode, the present invention is described in further detail.

Embodiment 1

The present embodiment is city rail vehicle wheel diameter pick-up unit and the method that sensor circular arc normal is installed.

As shown in Figure 5, chord length is arranged and be distributed on to the probe of n laser sensor along rail direction is that on L, the radius circular arc that is R, each laser sensor probe is measured along the normal direction of circular arc, and detecting light beam is aimed at the center of circle that circular arc is installed.

The external factor that affects laser triangulation sensor accuracy mainly comprises measured surface inclination, surface gloss, roughness, color and sweep velocity etc.Sensor adopts circular arc normal form to install, and makes laser sensor probe can aim at tested surface simultaneously, has effectively suppressed the error that tested surface tilts to bring; Be conducive to the preferred process of installation parameter to be analyzed simultaneously, reduced analysis difficulty.

The installation parameter of laser sensor meets the following conditions: the number of laser sensor is n and 3≤n≤10, it is L and n * 30mm≤L≤1800mm that laser sensor is installed chord length, and the vertical range along the mounting points of first laser sensor of rail direction to track is | y ₁| and | y ₁|>=100mm, laser sensor install arc radius be R and $\sqrt{{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">L</figure-callout>}}^2+{\left|y_1\right|}^2}\&le;R\&le;5000\mathrm{mm}.$

The method that city rail vehicle wheel diameter pick-up unit based on installing with upper sensor arc method line detects, comprises the following steps:

The 1st step, n laser sensor is installed on to the region that rail skew is vacated, chord length is arranged and be distributed on to the probe of laser sensor along rail direction is on L, the radius circular arc that is R, each laser sensor probe is measured along the normal direction of circular arc, detecting light beam is aimed at the center of circle that circular arc is installed, and laser sensor is designated as respectively P _i, along rail direction, i is followed successively by 1,2 ... n, the number that n is laser sensor;

The 2nd step, sets up two-dimensional coordinate system in the plane at the wheel circumference that carries out diameter measurement: along rail direction, be X-axis, through first laser sensor P ₁and perpendicular to rail, be upwards Y-axis, each laser sensor probe is with respect to the mounted angle θ of X-axis _iby following formula, determined:

${\mathrm{\&theta;}}_i=\frac{\mathrm{\&pi;}}{2}+(i-1-\frac{n-1}{2})\&times;\mathrm{\&theta;},i=\mathrm{1,2}...n$

Wherein θ is the definite arc angle of chord length L and radius R,

Coordinate (the x of laser sensor _i, y _i) by following formula, determined:

$\left\{\begin{array}{c}{x}_i=\frac{L}{2}-R\&times;\cos {\mathrm{\&theta;}}_i\\ y_i=y_1-R\sin {\mathrm{\&theta;}}_i+\sqrt{R^2-\frac{{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">L</figure-callout>}}^2}{4}}\end{array}\right.i=\mathrm{1,2}...n$

The 3rd step, gathers the output valve of all laser sensors, and selects and have the valid data of n sensor output value group { S simultaneously _i, S _ibe i sensor P _ioutput valve, i=1,2 ... n;

The 4th step, according to sensor P _ioutput valve S _i, coordinate figure (x _i, y _i), mounted angle θ _idetermine respective sensor P on wheel _imeasurement point coordinate (X _i, Y _i):

(X _i,Y _i)＝(x _i,y _i)+(S _i×cosθ _i,S _i×sinθ _i) i＝1,2…n

The 5th step, according to n on wheel measurement point coordinate (X _i, Y _i) carry out fitting circle, obtain the wheel diameter D of this measuring position; Carry out fitting circle, adopt least square method, formula is as follows:

$D=\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">b</figure-callout>}}^2+4\frac{\mathrm{\&Sigma;}({{\mathrm{<figure-callout\; id="2"\; label="X\; i"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">X</figure-callout>}}_i}^2+{Y_i}^2)+\mathrm{a\&Sigma;}{X}_i+\mathrm{b\&Sigma;}{Y}_i}{n}},i=\mathrm{1,2}...n$

Wherein, a is the center of circle horizontal ordinate x after matching ₀-2 times be a=-2x ₀, b is the center of circle ordinate y after matching ₀-2 times be b=-2y ₀, and

$a=\frac{\mathrm{HD}-\mathrm{EG}}{\mathrm{CG}-{\mathrm{<figure-callout\; id="2"\; label="D"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">D</figure-callout>}}^2}$

$b=\frac{\mathrm{HC}-\mathrm{ED}}{D^2-\mathrm{GC}}$

Wherein C, D, E, G, H are intermediate parameters, as follows respectively:

$\left.\begin{array}{c}C=\mathrm{n\&Sigma;}{X}_i^2-\mathrm{\&Sigma;}{X}_i\mathrm{\&Sigma;}{X}_i\\ D=\mathrm{n\&Sigma;}{X}_i{Y}_i-\mathrm{\&Sigma;}{X}_i\mathrm{\&Sigma;}{Y}_i\\ E=\mathrm{n\&Sigma;}{\mathrm{<figure-callout\; id="3"\; label="X\; i"\; filenames="HDA0000411892490000101.png"\; state="\{\{state\}\}">X</figure-callout>}}_i^{}+\mathrm{n\&Sigma;}{X}_i{Y}_i^2-\mathrm{\&Sigma;}({\mathrm{<figure-callout\; id="2"\; label="X\; i"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">X</figure-callout>}}_i^{}+Y_i^2)\mathrm{\&Sigma;}{X}_i\\ G=\mathrm{n\&Sigma;}{Y}_i^2-\mathrm{\&Sigma;}{Y}_i\mathrm{\&Sigma;}{Y}_i\\ H=\mathrm{n\&Sigma;}{X}_i^2{Y}_i+\mathrm{n\&Sigma;}{Y}_i^3-\mathrm{\&Sigma;}({\mathrm{<figure-callout\; id="2"\; label="X\; i"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">X</figure-callout>}}_i^{}+Y_i^2)\mathrm{\&Sigma;}{Y}_i\end{array}\right\}i=\mathrm{1,2}...n$

The 6th step, carries out matching by a plurality of valid data groups that collect and obtains a series of wheel diameters, and a series of wheel diameters that obtain are averaged, and obtains the final wheel diameter D in this measuring position _final.

And analysis to measuring error actual according to engineering, to 4 parameters be preferably as follows (unit: mm):

$\left\{\begin{array}{c}{y}_1=-100\\ n=6\\ L=800\\ R=2500\end{array}\right.$

Thereby obtain the coordinate (x of each sensor _i, y _i) (unit: mm) with mounted angle θ _i(unit: °):

θ _i＝[80.7931 84.4759 88.1586 91.8414 95.5241 99.2069]

$\left\{\begin{array}{cccccc}{x}_i=\&lsqb;0& 159.3373& 319.6685& 480.3315& 640.6627& 800\&rsqb;\\ y_i=\&lsqb;-100& -120.5968& -130.9165& -130.9165& -120.5968& -100\&rsqb;\end{array}\right.$

If the sampling period of laser sensor is 1kHz, measure stochastic error 0.1mm, the tested vechicle wheel measurement data that are 800 by computer simulation generation diameter as shown in Figure 6, are exported diameter by measurement data according to following steps:

(1.1) collect all laser sensor output point sequence S _i, and the data when selecting 6 sensors and effectively surveying.Certain constantly wheel through out-of-date effective value:

S _i＝[309.2010 188.2974 137.8491 138.1852 189.8197 312.4783]

(1.2) for the output valve S of sensor _iand mounting points coordinate (x _i, y _i), inclination angle [theta] _i, push away to obtain the point coordinate (X on camber line _i, Y _i); Fig. 7 has drawn S in (1.1) _iwheel is through central point sequence of points (X constantly constantly _i, Y _i) and matching after circle:

$\left\{\begin{array}{cccccc}{X}_i=\&lsqb;49.5169& 177.4748& 324.1039& 475.8919& 622.4061& 750.0586\&rsqb;\\ Y_i=\&lsqb;205.4936& 66.9409& 7.0473& 7.1771& 68.1715& 208.1128\&rsqb;\end{array}\right.$

(1.3) by sequence of points (X _i, Y _i) according to least square fitting circle, to obtain the wheel diameter that this moment surveys be 800.44mm.Fig. 8 is the corresponding wheel diameter values in all effective measurements constantly, and the wheel that is 800 to diameter under present embodiment measurement is effectively measured and counted is 137 points, and it is that D is 799.6mm～800.4mm that the data in interior all moment of effective range calculate diameter.

(1.4) data in Fig. 8 are averaged, obtain the output diameter D of one-shot measurement _final=799.93mm.Analogue measurement 20 times, obtains the measurement result shown in Fig. 9, and from this measurement result, this embodiment can be realized the high-acruracy survey of wheel diameter, and measuring error is <0.1mm in the situation that not considering alignment error.

Embodiment 2

The present embodiment is sensor circular arc vertically arranged city rail vehicle wheel diameter pick-up unit and method.

As shown in figure 10, along rail direction, to arrange and be distributed on chord length be that on L, the radius circular arc that is R, the vertical rail of detecting light beam of each laser sensor upwards to the probe of n laser sensor.

The installation parameter of laser sensor meets the following conditions: the number of laser sensor is n and 3≤n≤10, it is L and n * 30mm≤L≤1800mm that laser sensor is installed chord length, and the vertical range along the mounting points of first laser sensor of rail direction to track is | y ₁| and | y ₁|>=100mm, laser sensor install arc radius be R and $\sqrt{{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">L</figure-callout>}}^2+{\left|y_1\right|}^2}\&le;R\&le;5000\mathrm{mm}.$

Method based on detecting with the vertically arranged city rail vehicle wheel diameter of upper sensor circular arc pick-up unit, comprises the following steps:

The 1st step, n laser sensor is installed on to the region that rail skew is vacated, chord length is arranged and be distributed on to the probe of laser sensor along rail direction is that on L, the radius circular arc that is R, upwards, laser sensor is designated as respectively P to the vertical rail of detecting light beam of each laser sensor _i, along rail direction, i is followed successively by 1,2 ... n, the number that n is laser sensor;

The 2nd step, sets up two-dimensional coordinate system in the plane at the wheel circumference that carries out diameter measurement: along rail direction, be X-axis, through first laser sensor P ₁and perpendicular to rail, be upwards Y-axis, each laser sensor probe is with respect to the mounted angle θ of X-axis _ibe 90 °, the coordinate (x of laser sensor _i, y _i) by following formula, determined:

$\left\{\begin{array}{c}{x}_i=\frac{L}{2}-R\&times;\cos {\mathrm{\&beta;}}_i\\ y_i=y_1-R\sin {\mathrm{\&beta;}}_i+\sqrt{R^2-\frac{{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">L</figure-callout>}}^2}{4}}\end{array}\right.i=\mathrm{1,2}...n$

Wherein ${\mathrm{\&beta;}}_i=\frac{\mathrm{\&pi;}}{2}+(i-1-\frac{n-1}{2})\&times;\mathrm{\&beta;},i=\mathrm{1,2}...n$

In formula, β is the definite arc angle of chord length L and radius R,

The 3rd step, gathers the output valve of all laser sensors, and selects and have the valid data of n sensor output value group { S simultaneously _i, S _ibe i sensor P _ioutput valve, i=1,2 ... n;

The 4th step, according to sensor P _ioutput valve S _i, coordinate figure (x _i, y _i), mounted angle θ _idetermine respective sensor P on wheel _imeasurement point coordinate (X _i, Y _i):

(X _i,Y _i)＝(x _i,y _i)+(S _i×cosθ _i,S _i×sinθ _i)i＝1,2…n

The 5th step, according to n on wheel measurement point coordinate (X _i, Y _i) carry out fitting circle, obtain the wheel diameter D of this measuring position; Adopt least square method to carry out fitting circle, formula is as follows:

$D=\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">b</figure-callout>}}^2+4\frac{\mathrm{\&Sigma;}({{\mathrm{<figure-callout\; id="2"\; label="X\; i"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">X</figure-callout>}}_i}^2+{Y_i}^2)+\mathrm{a\&Sigma;}{X}_i+\mathrm{b\&Sigma;}{Y}_i}{n}},i=\mathrm{1,2}...n$

Wherein, a is the center of circle horizontal ordinate x after matching ₀-2 times be a=-2x ₀, b is the center of circle ordinate y after matching ₀-2 times be b=-2y ₀, and

$a=\frac{\mathrm{HD}-\mathrm{EG}}{\mathrm{CG}-{\mathrm{<figure-callout\; id="2"\; label="D"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">D</figure-callout>}}^2}$

$b=\frac{\mathrm{HC}-\mathrm{ED}}{D^2-\mathrm{GC}}$

Wherein C, D, E, G, H are intermediate parameters, as follows respectively:

$\left.\begin{array}{c}C=\mathrm{n\&Sigma;}{X}_i^2-\mathrm{\&Sigma;}{X}_i\mathrm{\&Sigma;}{X}_i\\ D=\mathrm{n\&Sigma;}{X}_i{Y}_i-\mathrm{\&Sigma;}{X}_i\mathrm{\&Sigma;}{Y}_i\\ E=\mathrm{n\&Sigma;}{\mathrm{<figure-callout\; id="3"\; label="X\; i"\; filenames="HDA0000411892490000101.png"\; state="\{\{state\}\}">X</figure-callout>}}_i^{}+\mathrm{n\&Sigma;}{X}_i{Y}_i^2-\mathrm{\&Sigma;}({\mathrm{<figure-callout\; id="2"\; label="X\; i"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">X</figure-callout>}}_i^{}+Y_i^2)\mathrm{\&Sigma;}{X}_i\\ G=\mathrm{n\&Sigma;}{Y}_i^2-\mathrm{\&Sigma;}{Y}_i\mathrm{\&Sigma;}{Y}_i\\ H=\mathrm{n\&Sigma;}{X}_i^2{Y}_i+\mathrm{n\&Sigma;}{Y}_i^3-\mathrm{\&Sigma;}({\mathrm{<figure-callout\; id="2"\; label="X\; i"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">X</figure-callout>}}_i^{}+Y_i^2)\mathrm{\&Sigma;}{Y}_i\end{array}\right\}i=\mathrm{1,2}...n$

The 6th step, carries out matching by a plurality of valid data groups that collect and obtains a series of wheel diameters, and a series of wheel diameters that obtain are averaged, and obtains the final wheel diameter D in this measuring position _final.

According to engineering reality and the analysis to measuring error, 4 parameters are preferably as follows:

$\left\{\begin{array}{c}{y}_1=-100\\ n=6\\ L=600\\ R=3000\end{array}\right.$

Thereby obtain the coordinate (x of each sensor _i, y _i) (unit: mm):

$\left\{\begin{array}{cccccc}{x}_i=\&lsqb;0& 119.93& 239.97& 360.03& 480.07& 600\&rsqb;\\ y_i=\&lsqb;-100& -105.76& -108.65& -108.65& -105.76& -100\&rsqb;\end{array}\right.$

If the sampling period of laser sensor is 1kHz, measure stochastic error 0.1mm, the tested vechicle wheel measurement data that are 800 by computer simulation generation diameter as shown in Figure 11, are exported diameter by measurement data according to following steps:

(2.1) collect all laser sensor output point sequence S _i, and the data when selecting 6 sensors and effectively surveying.Certain constantly wheel through out-of-date effective value:

S _i＝[234.0412 151.6957 118.6378 118.5963 153.0630 236.7570]

(2.2) for the output valve S of sensor _iand mounting points coordinate (x _i, y _i), inclination angle [theta] _i, push away to obtain the point coordinate (X on camber line _i, Y _i); Figure 12 has drawn S in (2.1) _idefinite sequence of points (X _i, Y _i) and this constantly matching after circle:

$\left\{\begin{array}{cccccc}{X}_i=\&lsqb;0& 119.8072& 239.9036& 360.0964& 480.1928& 600.0000\&rsqb;\\ Y_i=\&lsqb;137.2381& 42.2560& 4.2916& 4.7120& 43.1836& 136.5666\&rsqb;\end{array}\right.$

(2.3) by sequence of points (X _i, Y _i) according to least square fitting circle, to obtain the wheel diameter in this moment be 798.782mm.Figure 13 is all effective corresponding wheel diameter values of measuring in the moment, and it is that D is 798.5mm～801.5mm that the data in interior all moment of effective range calculate diameter.

(2.4) data in Figure 13 are averaged, obtain the output diameter D of one-shot measurement _final=799.89mm.And analogue measurement 20 times, obtain the measurement result shown in Figure 14, from this measurement result, this embodiment can be realized the high-acruracy survey of wheel diameter, and measuring error is not considered <0.25mm in the situation of alignment error.

Embodiment 3

The present embodiment is city rail vehicle wheel diameter pick-up unit and the method that sensor straight line tilts to install.

As shown in figure 15, the probe of laser sensor is arranged and is distributed on the horizontal line that length is E along rail direction, according to the coordinate of laser sensor, each laser sensor probe is set with respect to the mounted angle θ of X-axis _i, make each laser sensor probe can arrive wheel along different directions measurement and detecting light beam simultaneously.

The installation parameter of laser sensor meets the following conditions: the number of laser sensor is n and 3≤n≤10, it is E and n * 30mm≤E≤1800mm that laser sensor is installed horizontal line length, and the vertical range along the mounting points of first laser sensor of rail direction to track is | y ₁| and | y ₁|>=100mm.

The method that city rail vehicle wheel diameter pick-up unit based on installing with upper sensor vertical bank detects, comprises the following steps:

The 1st step, each laser sensor is installed on to the region that rail skew is vacated, the probe of laser sensor is arranged and is distributed on the horizontal line that length is E along rail direction, each laser sensor probe can arrive wheel along different directions measurement and detecting light beam simultaneously, and each laser sensor is designated as respectively P _i, along rail direction, i is followed successively by 1,2 ... n, the number that n is laser sensor;

The 2nd step, sets up two-dimensional coordinate system in the plane at the wheel circumference that carries out diameter measurement: along rail direction, be X-axis, through first laser sensor P ₁and be upwards Y-axis, the coordinate (x of laser sensor perpendicular to rail _i, y _i) by following formula, determined:

$\left\{\begin{array}{c}{x}_i=(i-1)\&times;E/(n-1)\\ y_i=y_1\end{array}\right.i=\mathrm{1,2}...n$

According to the coordinate of laser sensor, each laser sensor probe is set with respect to the mounted angle θ of X-axis _i, make all detecting light beams can arrive wheel simultaneously;

The 3rd step, gathers the output valve of all laser sensors, and selects and have the valid data of n sensor output value group { S simultaneously _i, S _ibe i sensor P _ioutput valve, i=1,2 ... n;

The 4th step, according to sensor P _ioutput valve S _i, coordinate figure (x _i, y _i), mounted angle θ _idetermine respective sensor P on wheel _imeasurement point coordinate (X _i, Y _i):

(X _i,Y _i)＝(x _i,y _i)+(S _i×cosθ _i,S _i×sinθ _i) i＝1,2…n

The 5th step, according to n on wheel measurement point coordinate (X _i, Y _i) carry out fitting circle, obtain the wheel diameter D of this measuring position; Adopt least square method to carry out fitting circle, formula is as follows:

$D=\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">b</figure-callout>}}^2+4\frac{\mathrm{\&Sigma;}({{\mathrm{<figure-callout\; id="2"\; label="X\; i"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">X</figure-callout>}}_i}^2+{Y_i}^2)+\mathrm{a\&Sigma;}{X}_i+\mathrm{b\&Sigma;}{Y}_i}{n}},i=\mathrm{1,2}...n$

Wherein, a is the center of circle horizontal ordinate x after matching ₀-2 times be a=-2x ₀, b is the center of circle ordinate y after matching ₀-2 times be b=-2y ₀, and

$a=\frac{\mathrm{HD}-\mathrm{EG}}{\mathrm{CG}-{\mathrm{<figure-callout\; id="2"\; label="D"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">D</figure-callout>}}^2}$

$b=\frac{\mathrm{HC}-\mathrm{ED}}{D^2-\mathrm{GC}}$

Wherein C, D, E, G, H are intermediate parameters, as follows respectively:

$\left.\begin{array}{c}C=\mathrm{n\&Sigma;}{X}_i^2-\mathrm{\&Sigma;}{X}_i\mathrm{\&Sigma;}{X}_i\\ D=\mathrm{n\&Sigma;}{X}_i{Y}_i-\mathrm{\&Sigma;}{X}_i\mathrm{\&Sigma;}{Y}_i\\ E=\mathrm{n\&Sigma;}{\mathrm{<figure-callout\; id="3"\; label="X\; i"\; filenames="HDA0000411892490000101.png"\; state="\{\{state\}\}">X</figure-callout>}}_i^{}+\mathrm{n\&Sigma;}{X}_i{Y}_i^2-\mathrm{\&Sigma;}({\mathrm{<figure-callout\; id="2"\; label="X\; i"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">X</figure-callout>}}_i^{}+Y_i^2)\mathrm{\&Sigma;}{X}_i\\ G=\mathrm{n\&Sigma;}{Y}_i^2-\mathrm{\&Sigma;}{Y}_i\mathrm{\&Sigma;}{Y}_i\\ H=\mathrm{n\&Sigma;}{X}_i^2{Y}_i+\mathrm{n\&Sigma;}{Y}_i^3-\mathrm{\&Sigma;}({\mathrm{<figure-callout\; id="2"\; label="X\; i"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">X</figure-callout>}}_i^{}+Y_i^2)\mathrm{\&Sigma;}{Y}_i\end{array}\right\}i=\mathrm{1,2}...n$

The 6th step, carries out matching by a plurality of valid data groups that collect and obtains a series of wheel diameters, and a series of wheel diameters that obtain are averaged, and obtains the final wheel diameter D in this measuring position _final.

According to engineering reality and the analysis to measuring error, 4 parameters are preferably as follows:

$\left\{\begin{array}{c}{y}_1=-100\\ n=6\\ E=1000\end{array}\right.$

Thereby obtain the coordinate (x of each sensor _i, y _i) (unit: mm) with mounted angle θ _i(unit: °):

θ _i＝[45 60 90 90 120 135]

$\left\{\begin{array}{cccccc}{x}_i=\&lsqb;0& 200& 400& 600& 800& 1000\&rsqb;\\ y_i=\&lsqb;-100& -100& -100& -100& -100& -100\&rsqb;\end{array}\right.$

If the sampling period of laser sensor is 1kHz, measure stochastic error 0.1mm, the tested vechicle wheel measurement data that are 800 by computer simulation generation diameter as shown in figure 16, are exported diameter by measurement data according to following steps:

(3.1) collect all laser sensor output point sequence S _i, and the data when selecting 6 sensors and effectively surveying.A certain moment wheel is through out-of-date effective value:

S _i＝[383.1241 244.0411 153.0311 99.8297 140.6533 243.1484]

(3.2) for the output valve S of sensor _iand mounting points coordinate (x _i, y _i), inclination angle [theta] _i, push away to obtain the point coordinate (X on camber line _i, Yi); Figure 17 has drawn S _idefinite sequence of points (X _i, Y _i) and this constantly matching after circle:

$\left\{\begin{array}{cccccc}{X}_i=\&lsqb;170.8398& 269.9187& 400.0000& 600.0000& 677.3753& 727.9330\&rsqb;\\ Y_i=\&lsqb;170.9372& 111.2730& 52.7153& -0.1772& 22.1058& 71.9640\&rsqb;\end{array}\right.$

(3.3) by sequence of points (X _i, Y _i) after according to least square fitting circle, to obtain the diameter in this moment be 798.853mm.Figure 18 is all effective corresponding wheel diameter values of measuring in the moment, and it is that D is 797mm～803mm that the data in interior all moment of effective range calculate diameter.

(3.4) data in Figure 18 are averaged, obtain the output diameter D of one-shot measurement _final=800.17mm.Analogue measurement 20 times, obtains the measurement result shown in accompanying drawing 19, and from this measurement result, this embodiment can be realized the high-acruracy survey of wheel diameter, and measuring error is not considered <0.35mm in the situation of alignment error.

Embodiment 4

The present embodiment is sensor straight line vertically arranged city rail vehicle wheel diameter pick-up unit and method.

As shown in figure 20, the probe of n laser sensor is arranged and is distributed on the horizontal line that length is F along rail direction, and the vertical rail of detecting light beam of each laser sensor upwards.

The installation parameter of laser sensor meets the following conditions: the number of laser sensor is n and 3≤n≤10, it is F and n * 30mm≤F≤D that laser sensor is installed horizontal line length, D is wheel diameter, and the vertical range along the mounting points of first laser sensor of rail direction to track is | y ₁| and | y ₁|>=100mm.

Method based on detecting with the vertically arranged city rail vehicle wheel diameter of upper sensor straight line pick-up unit, comprises the following steps:

The 1st step, each laser sensor is installed on to the region that rail skew is vacated, the probe of laser sensor is arranged and is distributed on the horizontal line that length is F along rail direction, and upwards, each laser sensor is designated as respectively P to the vertical rail of detecting light beam of each laser sensor _i, along rail direction, i is followed successively by 1,2 ... n, the number that n is laser sensor;

The 2nd step, sets up two-dimensional coordinate system in the plane at the wheel circumference that carries out diameter measurement: along rail direction, be X-axis, through first laser sensor P ₁and perpendicular to rail, be upwards Y-axis, each laser sensor probe is with respect to the mounted angle θ of X-axis _ibe 90 °, the coordinate (x of laser sensor _i, y _i) by following formula, determined:

$\left\{\begin{array}{c}{x}_i=(i-1)\&times;F/(n-1)\\ y_i=y_1\end{array}\right.i=\mathrm{1,2}...n$

The 3rd step, gathers the output valve of all laser sensors, and selects and have the valid data of n sensor output value group { S simultaneously _i, S _ibe i sensor P _ioutput valve, i=1,2 ... n;

The 4th step, according to sensor P _ioutput valve S _i, coordinate figure (x _i, y _i), mounted angle θ _idetermine respective sensor P on wheel _imeasurement point coordinate (X _i, Y _i):

(X _i,Y _i)＝(x _i,y _i)+(S _i×cosθ _i,S _i×sinθ _i) i＝1,2…n

The 5th step, according to n on wheel measurement point coordinate (X _i, Y _i) carry out fitting circle, obtain the wheel diameter D of this measuring position; Adopt least square method to carry out fitting circle, formula is as follows:

$D=\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">b</figure-callout>}}^2+4\frac{\mathrm{\&Sigma;}({{\mathrm{<figure-callout\; id="2"\; label="X\; i"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">X</figure-callout>}}_i}^2+{Y_i}^2)+\mathrm{a\&Sigma;}{X}_i+\mathrm{b\&Sigma;}{Y}_i}{n}},i=\mathrm{1,2}...n$

Wherein, a is the center of circle horizontal ordinate x after matching ₀-2 times be a=-2x ₀, b is the center of circle ordinate y after matching ₀-2 times be b=-2y ₀, and

$a=\frac{\mathrm{HD}-\mathrm{EG}}{\mathrm{CG}-{\mathrm{<figure-callout\; id="2"\; label="D"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">D</figure-callout>}}^2}$

$b=\frac{\mathrm{HC}-\mathrm{ED}}{D^2-\mathrm{GC}}$

Wherein C, D, E, G, H are intermediate parameters, as follows respectively:

$\left.\begin{array}{c}C=\mathrm{n\&Sigma;}{X}_i^2-\mathrm{\&Sigma;}{X}_i\mathrm{\&Sigma;}{X}_i\\ D=\mathrm{n\&Sigma;}{X}_i{Y}_i-\mathrm{\&Sigma;}{X}_i\mathrm{\&Sigma;}{Y}_i\\ E=\mathrm{n\&Sigma;}{\mathrm{<figure-callout\; id="3"\; label="X\; i"\; filenames="HDA0000411892490000101.png"\; state="\{\{state\}\}">X</figure-callout>}}_i^{}+\mathrm{n\&Sigma;}{X}_i{Y}_i^2-\mathrm{\&Sigma;}({\mathrm{<figure-callout\; id="2"\; label="X\; i"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">X</figure-callout>}}_i^{}+Y_i^2)\mathrm{\&Sigma;}{X}_i\\ G=\mathrm{n\&Sigma;}{Y}_i^2-\mathrm{\&Sigma;}{Y}_i\mathrm{\&Sigma;}{Y}_i\\ H=\mathrm{n\&Sigma;}{X}_i^2{Y}_i+\mathrm{n\&Sigma;}{Y}_i^3-\mathrm{\&Sigma;}({\mathrm{<figure-callout\; id="2"\; label="X\; i"\; filenames="HDA0000411892490000012.png,HDA0000411892490000042.png"\; state="\{\{state\}\}">X</figure-callout>}}_i^{}+Y_i^2)\mathrm{\&Sigma;}{Y}_i\end{array}\right\}i=\mathrm{1,2}...n$

The 6th step, carries out matching by a plurality of valid data groups that collect and obtains a series of wheel diameters, and a series of wheel diameters that obtain are averaged, and obtains the final wheel diameter D in this measuring position _final.

According to engineering reality and the analysis to measuring error, 3 parameters are preferably as follows:

$\left\{\begin{array}{c}{y}_1=-100\\ n=6\\ F=600\end{array}\right.$

Thereby obtain the coordinate (x of each sensor _i, y _i) (unit: mm):

$\left\{\begin{array}{cccccc}{x}_i=\&lsqb;0& 120& 240& 360& 480& 600\&rsqb;\\ y_i=\&lsqb;-100& -100& -100& -100& -100& -100\&rsqb;\end{array}\right.$

If the sampling period of laser sensor is 1kHz, measure stochastic error 0.1mm, the tested vechicle wheel measurement data that are 800 by computer simulation generation diameter as shown in figure 21, are exported diameter by measurement data according to following steps:

(4.1) collect all laser sensor output point sequence S _i, and the data when selecting 6 sensors and effectively surveying.A certain moment wheel is through out-of-date effective value:

S _i＝[233.9894 142.0952 104.0036 104.3825 143.4801 236.6142]

(4.2) for the output valve S of sensor _iand mounting points coordinate (x _i, y _i), inclination angle [theta] _i, push away to obtain the point coordinate (X on camber line _i, Y _i); Figure 22 has drawn S in (4.1) _idefinite sequence of points (X _i, Y _i) and this constantly matching after circle:

$\left\{\begin{array}{cccccc}{X}_i=\&lsqb;0& 120& 240& 360& 480& 600\&rsqb;\\ Y_i=\&lsqb;133.9894& 42.0952& 4.0036& 4.3825& 43.4801& 136.6142\&rsqb;\end{array}\right.$

(4.3) by sequence of points (X _i, Y _i) according to least square fitting circle, to obtain the wheel diameter that this moment surveys be 799.354mm.Figure 23 is all effective corresponding wheel diameter values of measuring in the moment, and it is that D is 798.5mm～801.5mm that the data in interior all moment of effective range calculate diameter.

(4.4) data in Figure 23 are averaged, obtain the output diameter D of one-shot measurement _final=800.13mm.Analogue measurement 20 times, obtains the measurement result shown in Figure 24, and from this measurement result, this embodiment can be realized the high-acruracy survey of wheel diameter, and measuring error is <0.3mm in the situation that not considering alignment error.

Embodiment 5

The present embodiment is city rail vehicle wheel diameter pick-up unit and the method for sensor designated mounting.

As shown in figure 25, set the coordinate (x of each sensor _i, y _i) and mounted angle θ _i:

θ _i＝[45° 60° 90° 120° 135°]

$\left\{\begin{array}{cccccc}{x}_i=\&lsqb;0& 300& 500& 700& 1000\&rsqb;& \\ y_1=\&lsqb;-100& -100& -100& -100& -100\&rsqb;& \end{array}\right.$

If the sampling period of laser sensor is 1kHz, measure stochastic error 0.1mm, the tested vechicle wheel measurement data that are 800 by computer simulation generation diameter as shown in figure 26, are exported diameter by measurement data according to following steps:

(5.1) collect all laser sensor output point sequence S _i, and the data when selecting 5 sensors and effectively surveying.A certain moment wheel is through out-of-date effective value:

S _i＝[306.6595 140.0944 99.8658 140.5186 307.6415]

(5.2) for the output valve S of sensor _iand mounting points coordinate (x _i, y _i), inclination angle [theta] _i, push away to obtain the point coordinate (X on camber line _i, Y _i); Figure 27 has drawn S in (5.1) _idefinite sequence of points (X _i, Y _i) and matching after circle:

$\left\{\begin{array}{ccccc}{X}_i=\&lsqb;216.8410& 370.0472& 500.0000& 629.7407& 782.4646\&rsqb;\\ Y_i=\&lsqb;116.8410& 21.3253& -0.1342& 21.6926& 117.5354\&rsqb;\end{array}\right.$

(5.3) by sequence of points (X _i, Y _i) according to least square fitting circle, to obtain the wheel diameter that this moment surveys be 801.243mm.Figure 28 is the corresponding wheel diameter values in all effective measurements constantly, and the wheel that is 800 to diameter under present embodiment measurement is effectively measured and counted is 137 points, and it is 797mm～803mm that the data in interior all moment of effective range calculate diameter D.

(5.4) data in Figure 28 are averaged, obtain the output diameter D of one-shot measurement _final=800.15mm.Analogue measurement 20 times, obtains the measurement result shown in Figure 29, and from this measurement result, this embodiment can be realized the high-acruracy survey of wheel diameter, and measuring error is <0.4mm in the situation that not considering alignment error.

In sum, the present invention is based on laser detection system, by the algorithm of least square fitting, realize the online non-cpntact measurement of train wheel, measuring accuracy is high; By any multiple spot coordinate of laser sensor automatic acquisition wheel, by corresponding data Processing Algorithm, obtain institute's measuring car wheel diameter instantly, simple, convenient quick; And have advantages of that detection speed is fast, measurement range is large.

Claims (7)

1. a kind of urban rail vehicle wheel diameter detection device based on laser sensor, it is characterized in that, comprises central processing unit and a plurality of laser sensors, and described laser sensor is all connected with central processing unit; The steel rail of detection section deviates outwards , and the inner side of the rail in the detection section is provided with a guard rail, which is tangent to the inner side of the wheel rim; the laser sensor is arranged 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 All located under the wheel, all laser sensors are coplanar with the wheel circumference where the diameter measurement is taken. 2. The wheel diameter detection device for urban rail vehicles based on a laser sensor according to claim 1, wherein the rail of the detection section is shifted outward by 50-65mm, and the switching point of the rail shift outward is arc. 3. the urban rail vehicle wheel diameter detection device based on laser sensor according to claim 1, is characterized in that, the distance of the wheel circumference that carries out diameter measurement is 70mm from the wheel rim side. 4. The wheel diameter detection device for urban rail vehicles based on laser sensors according to claim 1, wherein the number of the laser sensors is n and 3≤n≤10. 5. the urban rail vehicle wheel diameter detection device based on laser sensor according to claim 1, is characterized in that, the probe of described laser sensor is conoscopic polarization holographic probe or oblique type triangular probe, and the probe of all laser sensors passes through The sensor fixture is fixed under the wheel. 6. A method for detecting the wheel diameter of an urban rail vehicle based on a laser sensor, characterized in that, comprising the following steps: 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; 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 θ _i ; The third step is to collect the output values of all laser sensors, and select an effective data group {S _i } with n sensor output values at the same time, S _i is the output value of the i-th sensor P _i , i=1,2, ... n; Step 4: Determine the coordinates (X _i , Y _i ) of the measuring point corresponding to sensor P _i on the wheel according to the output value S i of sensor _{P i} , the coordinate value (xi _, y _i ), and the installation inclination θ _i : (X _i ,Y _i )=(xi _, y _i )+(S _i ×cosθ _i ,S _i ×sinθ _i ) i=1,2…n Step 5: Fit the circle according to the coordinates (X _i , Y _i ) of n measurement points on the wheel to obtain the wheel diameter D at the measurement position; Step 6: Repeat the fitting of multiple valid data sets collected to obtain a series of wheel diameters, and average the obtained series of wheel diameters to obtain the final wheel diameter D _final at the measurement position. 7. the urban rail vehicle wheel diameter detection method based on laser sensor according to claim 6, is characterized in that, described in the 5th step carries out fitting circle according to n measuring point coordinates (X _i , Y _i ) on the wheel, Using the least square method, the formula is as follows: $\mathrm{<span\; class="notranslate">\; D.</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; a</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; b</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 4</span>}\frac{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}<span\; class="notranslate">\; (</span>{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; a\&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; b\&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; no</span>}}}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1,2</span>}<span\; class="notranslate">\; .</span><span\; class="notranslate">\; .</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; no</span>}$ 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 $\mathrm{<span\; class="notranslate">\; a</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; HD</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; EG</span>}}{\mathrm{<span\; class="notranslate">\; CG</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; D.</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}$ $\mathrm{<span\; class="notranslate">\; b</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; HC</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; ED</span>}}{{\mathrm{<span\; class="notranslate">\; D.</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; GC</span>}}$ Among them, C, D, E, G, and H are intermediate parameters, which are as follows: $\left.\begin{array}{c}\mathrm{<span\; class="notranslate">\; C</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; n\&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\\ \mathrm{<span\; class="notranslate">\; D.</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; n\&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\\ \mathrm{<span\; class="notranslate">\; E.</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; n\&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; n\&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\\ \mathrm{<span\; class="notranslate">\; G</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; n\&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\\ \mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; n\&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; n\&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\end{array}\right\}\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1,2</span>}<span\; class="notranslate">\; .</span><span\; class="notranslate">\; .</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; .</span>$

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