CN108802044A - The method for building up and system of train wheel tread damage detecting system - Google Patents
The method for building up and system of train wheel tread damage detecting system Download PDFInfo
- Publication number
- CN108802044A CN108802044A CN201810417392.XA CN201810417392A CN108802044A CN 108802044 A CN108802044 A CN 108802044A CN 201810417392 A CN201810417392 A CN 201810417392A CN 108802044 A CN108802044 A CN 108802044A
- Authority
- CN
- China
- Prior art keywords
- structural parameters
- rail
- structured light
- line
- optical plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000006378 damage Effects 0.000 title claims description 6
- 230000003287 optical effect Effects 0.000 claims abstract description 104
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000005457 optimization Methods 0.000 claims abstract description 6
- 230000003902 lesion Effects 0.000 claims abstract description 3
- 230000007547 defect Effects 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 3
- 230000006735 deficit Effects 0.000 abstract description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 14
- 238000010586 diagram Methods 0.000 description 13
- 238000013461 design Methods 0.000 description 11
- 229910052742 iron Inorganic materials 0.000 description 7
- 238000012360 testing method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 208000004350 Strabismus Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 239000000700 radioactive tracer Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2201/00—Features of devices classified in G01N21/00
- G01N2201/06—Illumination; Optics
- G01N2201/061—Sources
- G01N2201/06186—Resistance heated; wire sources; lamelle sources
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2201/00—Features of devices classified in G01N21/00
- G01N2201/06—Illumination; Optics
- G01N2201/063—Illuminating optical parts
- G01N2201/0635—Structured illumination, e.g. with grating
Landscapes
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Signal Processing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of train wheel tread detecting system method for building up and system, type of impairment and lesion size for detecting the wheel tread being in direct contact with rail include the structural parameters of optimization system：The ratio for taking turns the length to structured light projection at two diverse locations on tread is first structure parameter；Structured light sensor optical plane and the angle of rail upper surface are the second structural parameters；The optical axis of line structure optical sensor is third structural parameters with respect to the angle of rail to traffic direction in wheel；Line-structured light optical plane is the 4th structural parameters with respect to the height of rail upper surface；The structure light optical plane that high-speed industrial camera optical axis is projected with line structure optical sensor angle on the direction of parallel rails is the 5th structural parameters；Viewing field of camera angle is the 6th structural parameters；The opposite wheel of high-speed industrial camera is the 7th structural parameters to the distance at the midpoint at structure light optical plane height.The method of the present invention is convenient for train wheel tread detecting system under the different detection scenes of optimization.
Description
Technical field
The present invention relates to a kind of train wheel tread detecting system method for building up and systems, belong to based on photoelectricity and computer
The wheel tread detection technique field of vision.
Background technology
Structure light testing principle is mainly triangulation, and Fig. 7 shows line-structured light testing principle schematic diagram, in Fig. 7
In, laser sends out line laser in face of measured object, and industrial camera is captured from side through the modulated striation of measured object configuration of surface
Image；Measured object depth morphological feature is reflected by the deformation and offset of laser striation.Turn by system calibrating and coordinate
It, can be by striation deformation reverse in image after changing.
Usually, it is broadly divided into direct-injection type and oblique fire formula using the laser system of triangulation, as shown in Figure 8.Two kinds
The difference of mode is：The structure light optical plane of direct-injection type perpendicular to reference plane, its main feature is that camera can preferably receive it is scattered
Light is penetrated, the occasion using body surface scattering properties is applicable to.The structure light of oblique fire formula is tilted relative to reference plane, feature
It is the light that camera can preferably receive measured object reflection, if measured object reflection behavior of surface is close to mirror-reflection, tiltedly
The formula of penetrating can preferably receive laser reflection.
The detection object of this system is train wheel tread.Wheel tread compares it as the part for being in direct contact rail
He is partly more easy to be damaged, and running environment is also the most harsh, damage type with tread wear, flat sliding, tread surface stripping,
Based on tread crack.On-line checking is needed to go out the type of impairment of wheel tread and damage big for the detecting system of wheel tread
It is small, so that staff safeguards in time, ensure train operating safety.
Problem of the existing technology is that structure design is not scientific and reasonable, practicability is not strong, cannot be according to different detecting fields
Scape flexible configuration and design system parameter.
Invention content
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, one kind is provided and is existed suitable for wheel tread
Rail, week, high-precision data acquire and the method for building up and system of the detecting system of damage check.
In order to solve the above technical problems, on the one hand, the present invention provides a kind of train wheel tread detecting system method for building up,
Including:
Type of impairment and lesion size for detecting the wheel tread being in direct contact with rail, including it is used for control system
The computer control module for the image data that beginning and end and storage obtain, which is characterized in that including:
(1) foundation includes the train wheel tread detecting system of line-structured light generator, high-speed industrial camera, wheel pair；
Wherein high-speed industrial camera is mounted on the outside of rail, for acquiring the structure light image being incident upon on wheel tread letter
Number, as detection data so as to the defect extraction and analysis in later stage；
Line-structured light generator, for laser beam to be incident upon wheel tread；
(2) structural parameters of optimization system：Structural parameters include
The ratio for taking turns the length to structured light projection at two diverse locations on tread is first structure parameter；
Structured light sensor optical plane and the second structural parameters that the angle of rail upper surface is system；
The optical axis of line-structured light generator is third structural parameters with respect to the angle of rail to traffic direction in wheel；
Line-structured light optical plane is the 4th structural parameters with respect to the height of rail upper surface；
The structure light optical plane that high-speed industrial camera optical axis is projected with line structure optical sensor is on the direction of parallel rails
Angle is the 5th structural parameters；
Viewing field of camera angle is the 6th structural parameters；
The opposite wheel of high-speed industrial camera is the 7th structural parameters to the distance at the midpoint at structure light optical plane height.
On the other hand, the present invention provides a kind of train wheel tread detecting systems, including rail, which is characterized in that packet
Include line-structured light generator, high-speed industrial camera, wheel pair；The outer lateral incision that the line-structured light generator is installed on rail is higher than iron
The upper surface of rail；The structure light optical plane of the projection of the optical sensor is parallel to rail upper surface；
Line-structured light generator is located on the outside of rail higher than at rail upper surface, line-structured light occurs as system source
The structure light optical plane of device projection is parallel to rail upper surface；
The high-speed industrial camera is installed on rail less than at rail upper surface, and the optical axis of high-speed industrial camera is in parallel iron
Perpendicular to the structure light optical plane of optical sensor on the direction of rail.
The advantageous effect that the present invention is reached：Present approach provides the parameter optimizations of train wheel tread detecting system
Design criteria, convenient for the design of the train wheel tread detecting system under different detection scenes；On the other hand, the present invention provides
A kind of train wheel tread detecting system, reality parallel with track upper surface by the optical plane that line structure optical sensor is arranged
Existing one, optical plane and wheel remain same distance to the center of circle, ensure that light source is being taken turns with same angular illumination on his face, avoiding
The relative scale variation of different images frame striation wheel rim, tread and wheel rim caused by structure light is chamfer；Second is that ensureing laser projection
At tread sustained height position, avoid because of the non-uniform problem of successive image frame scan position caused by optical plane tilts；
Optical axis by designing high-speed industrial camera realizes that one is camera optical axis perpendicular to structure light perpendicular to the optical plane of optical sensor
When optical plane, camera avoids strabismus target, therefore obtained optical strip image and tread original-shape are closest, by image zooming-out
Error information detection it is minimum；Second is that optical plane is made to be maintained at as possible within the scope of optical center small distance, reduces striation and scheming
The non-uniform problem of detection data caused by change in size as in.The movement locus of striation in the picture is single straight simultaneously
Line facilitates post-processing and analysis.
Description of the drawings
Fig. 1 is the structural schematic diagram of train wheel tread detecting system of the present invention；
Fig. 2 is the apparatus structure front view of train wheel tread detecting system of the embodiment of the present invention；
Fig. 3 is the opposite wheel pair of optical plane of the embodiment of the present invention and rail location diagram；
Fig. 4 is line-structured light of embodiment of the present invention generator with respect to rail location diagram；
Fig. 5 is optical plane of embodiment of the present invention height and reflected light schematic diagram；Fig. 6 is camera of the embodiment of the present invention with respect to iron
Rail position relationship schematic diagram；
Fig. 7 is line-structured light testing principle schematic diagram；
Fig. 8 is the laser system direct-injection type and oblique fire formula schematic diagram of triangulation；
In figure：1, line-structured light light source；2, high-speed industrial camera；3, Railway wheelset；4, rail；5, structure light light is flat
Face；6, camera optical axis；7, first structure parameter；8, the second structural parameters；9, third structural parameters；10, the 4th structural parameters；
11, the 5th structural parameters；12, the 6th structural parameters；13, the 7th structural parameters.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
Fig. 1 is the structural schematic diagram of train wheel tread detecting system of the present invention；Fig. 1 shows line-structured light generator 1
With high-speed industrial camera 2, wherein line-structured light generator 1 is used as system line structured light light source, is located at 4 outside of rail and is higher than rail
At 4 upper surfaces, the structure light optical plane 5 of projection is parallel to rail upper surface；High-speed industrial camera 2 is located at structured light generators
1 homonymy is less than at 4 upper surface of rail, and camera optical axis 6 is on the direction of parallel rails perpendicular to structure light optical plane 5；Work as train
When by detecting system, line-structured light is incident upon wheel on 3 tread, the acquisition of high-speed industrial camera 2 is clapped by structured light generators 1
Structure light image signal is taken the photograph, extraction and analysis that computer carries out defect are transmitted to.
The method of the present invention proposes optimization system knot on the basis of establishing train wheel tread detecting system in one aspect
The method of structure parameter：Wherein structural parameters include:
Take turns to 3 at two diverse locations length of the structured light projection on tread ratio be first structure parameter 7；
Structured light sensor optical plane 5 and the second structural parameters 8 that the angle of 4 upper surface of rail is system；
The optical axis of line-structured light generator 1 is third structural parameters 9 with respect to the angle of rail to 3 traffic directions in wheel；
Line-structured light optical plane 5 is the 4th structural parameters 10 with respect to the height of 4 upper surface of rail；
The structure light optical plane 5 that 2 optical axis of high-speed industrial camera is projected with line-structured light generator 1 is in the side of parallel rails 4
Upward angle is the 5th structural parameters 11；
Viewing field of camera angle is the 6th structural parameters 12；
The opposite wheel of high-speed industrial camera 2 is the 7th structural parameters to 3 distance at the midpoint that structure light optical plane 5 is highly located
13。
The first structure parameter 7 of system is that 3, structural light strip is projected on tread wheel at different location on the rail 4
Radical length ratio, for ensure accuracy of detection consistency, it is preferable that structural parameters 7 be constant 1.It corresponds to preferably, the second knot
The angle of structure parameter 8, i.e. structured light sensor optical plane 5 and 4 upper surface of rail is equal to 0 degree of constant.
7 specific relationship of structural parameters is：
In formula：K is first structure parameter 7；l1、l2For wheel to 3 at different locations projection of the structure light on tread away from
From；d1、d2To take turns to 3 fore-and-aft distances of the opposite wheel in structured light projection position to axle center at different locations；r1、r2To take turns to 3
Tread radius and flange radius.
The third structural parameters 9 of system are that the optical axis of line-structured light generator 1 is being taken turns to 3 traffic directions with respect to rail 4
Angle, design should meet following relationship：
In formula：δ is third structural parameters 9；θ is 1 angle of divergence of line-structured light generator；D is that line-structured light generator 1 arrives iron
The distance of rail 4；L is the distance between 1 both sides sideline of line-structured light generator and 4 intersection point of rail.
Distance d installs standard according to railway peripheral facility and determines that angle of divergence θ is it is known that L is determined according to testing requirements, thus
It can determine third structural parameters 9.
4th structural parameters 10 of system are height of the line-structured light optical plane 5 with respect to 4 upper surface of rail, and design should expire
Sufficient following relationship：
In formula：H is the 4th structural parameters 10；R is tread radius；
5th structural parameters 11 of system are the structure light that 2 optical axis of high-speed industrial camera is projected with line-structured light generator 1
The angle on the direction of parallel rails 4 of optical plane 5, it is preferable that it is 90 degree to design its value, i.e. 2 optical axis of industrial camera is being parallel to
Perpendicular to structure light optical plane 5 on the direction of rail 4.
The intersection point of 2 optical axis of system design high-speed industrial camera and structure light optical plane 5 is through third wheel pair 3 in structure light optical plane
Midpoint at 5 height, the 6th structural parameters 12 of system are the field angle of camera under the design scenario, and design should meet following
Relational expression：
In formula：θ is the 6th structural parameters 12；δ is that optical plane 5 is highly located to take turns outside to 3 inside edge points and 4 upper surface of rail
Angle of the lateral edges point line with respect to optical plane 5.
7th structural parameters 13 of system, which are that high-speed industrial camera 2 is opposite, takes turns to 3 in structure light optical plane 5 is highly located
The distance of point, design should meet following relationship：
In formula：L is the 7th structural parameters 13；θ is the 6th structural parameters 12；D is high-speed industrial camera 2 perpendicular to rail
With respect to the distance of rail 4 on 4 directions；δ is that optical plane 5 highly locates wheel to 3 inside edge points and 4 upper surface outer ledge point of rail
Angle of the line with respect to optical plane 5.
The position of high-speed industrial camera 2 can highly be taken turns by structural parameters 13 and the optical plane 5 to 3 inside edge points with
4 upper surface outer ledge point line of rail is uniquely determined with respect to the angle of optical plane 5.
Embodiment one
Fig. 2 is the apparatus structure front view of train wheel tread detecting system of the present invention；Fig. 2 is shown from detecting system front
Line-structured light generator 1 and the opposite wheel of industrial camera 2 to 3 position.Line-structured light generator 1 and industrial camera 2 are mounted on
4 outside of rail, 1 installation site of line-structured light generator is higher than 4 upper surface of rail and less than wheel to 3 center of circle height.Structure light light
Plane 5 is parallel to 4 upper surface of rail, and camera optical axis 6 straight up, and has certain inclination, camera optical axis 6 with respect to 4 side of rail
It is vertical with structure light optical plane 5.
Embodiment two
Fig. 3 is the opposite wheel pair of optical plane and rail location diagram.Fig. 3 is illustrating the excellent of system first structure parameter 7
Change.The opposite wheel of optical plane 5 is to 3 and 4 position relationship of rail as shown in figure 3, setting 5 relative level angle of optical plane as θ, wheel is to stepping on
Radius at face and wheel rim is respectively r1And r2, effective detection length at 5 scan position of optical plane is respectively l to movement with wheel1
And l2, scan position is respectively d with respect to the height in the center of circle1And d2.With the operation of wheel pair, the ratio k for effectively detecting length can be with
Approximate representation is：
In formula：K is first structure parameter 7；l1、l2For wheel to 3 at different locations projection of the structure light on tread away from
From；d1、d2To take turns to 3 fore-and-aft distances of the opposite wheel in structured light projection position to axle center at different locations；r1、r2To take turns to 3
Tread radius and flange radius.
Wherein variable d1And d2It is related with the angle, θ of 5 relative level of optical plane, in order to keep the effective length of detection consistent,
It avoids detection tread form ratio at different scanning position from changing, is convenient for the three-dimensional reconstruction and defects detection in later stage, should make
Ratio k is a constant.Work as d1Equal to d2When, k is equal to constant 1, and 5 relative level angle of optical plane is 0 degree at this time, i.e. light is flat
Face 5 is parallel to horizontal plane, effectively detects length as wheel remains unchanged movement.
Embodiment three
Fig. 4 is line-structured light generator with respect to rail location diagram.Fig. 4 is illustrating how to determine third structural parameters
9.The installation standard of reference iron way lamp of the present invention determines that line-structured light generator 1 arrives the distance of rail 4, is set as d.Cable architecture
The angle of divergence of optical generator 1 is θ, and both sides sideline and optical axis are respectively α, β and δ with respect to the angle of rail 4.Due to securing iron
The value of the distance d of rail 4, effective scanning range be between 1 both sides sideline of line-structured light generator and 4 intersection point of rail away from
From being set as L, then have：
In formula：L is the 7th structural parameters 13；θ is the 6th structural parameters 12；D is industrial camera 2 perpendicular to 4 side of rail
The distance of opposite rail 4 upwards；δ is that optical plane 5 highly locates wheel to 4 upper surface outer ledge point company of 3 inside edge points and rail
Angle of the line with respect to optical plane 5.
According to above formula can release line-structured light generator 1 relative to wheel to the expression formula of the angle δs of 3 traffic directions such as
Under：
In formula：δ is third structural parameters 9；θ is 1 angle of divergence of line-structured light generator；D is that line-structured light generator 1 arrives iron
The distance of rail 4；L is the distance between 1 both sides sideline of line-structured light generator and 4 intersection point of rail.
From the above equation, we can see that angle δ is related with relative distance d, detection range L and angle of divergence θ, due to distance d and angle of divergence θ
It is known that L is determined according to testing requirements and viewing field of camera, thus may determine that third structural parameters δ.
Example IV
Fig. 5 is optical plane height and reflected light schematic diagram.Fig. 5 to illustrate how determine the 4th structural parameters 10.We
Think that wheel tread is an annular minute surface, laser projection is incident upon by reflection on camera photosensitive element on tread, such as Fig. 5
It is shown.According to the reflection characteristic of arc surface, the reflection optical axis of incident light and reflected light is to inject where the radius of the circle at point
Ray.In Fig. 5, r is wheel pair radius, and α is the angle of axis of reflection relative level, and β is the angle of incident light and reflected light.Due to
Incident ray is parallel to horizontal plane, and incidence angle is equal to angle of reflection, thus incidence angle be α and：
The α of β=2 (7)
When α is equal to 45 degree, angle beta is equal to 90 degree, and reflection light is parallel with respect to camera optical axis at this time, at this time optical strip image
Imaging effect is preferable, and according to geometrical relationship, optical plane height h at this time is：
In formula：H is the 4th structural parameters 10；R is tread radius；
The diameter of general wheel pair is at 95 centimeters or so, and it is 14 centimeters to bring above formula into and can obtain optical plane height, this height is low
In bogie height, meet the requirements.
Embodiment five
Fig. 6 is camera with respect to rail position relationship schematic diagram.The figure to illustrate how to determine the 6th structural parameters 12 with
7th structural parameters 13.In figure, A, B, C are that wheel is at laser scanning line position to 3 left hand edge point, midpoint and right hand edge point, D
4 upper surface of rail is in the marginal point of 2 side of camera, and o is camera photocentre, and angle δ is in by the boundary line of viewing field of camera and optical plane 5
Angle, angle θ are viewing field of camera angle.
First, it in order to ensure that tread upper tracer region is completely covered viewing field of camera range, avoids hiding caused by rail 4
Gear, therefore the lower sideline of viewing field of camera should be higher than that point D and be less than point A, in order to ensure the efficient utilization of field of view, improve image
The accounting of middle area-of-interest, straight line is viewing field of camera lower sideline where selecting line segment AD, and the upper sideline of viewing field of camera should be higher than that
Point C, it is visual field upper sideline to select oC for same purpose.Distance due to striation different zones apart from optical center not etc. can not lead to mesh
Shape of marking on a map deformation increases the error of three-dimensional coordinate point clearing, therefore setting optical axis is scanned through at position and takes turns the midpoint to 3, structure
At line segment oB, and the length of AB is equal to BC.
According to above restrictive condition, the field angle of camera can be acquired by descriptive geometry clearing：
In formula：θ is the 6th structural parameters 12；δ is that optical plane 5 is highly located to take turns outside to 3 inside edge points and 4 upper surface of rail
Angle of the lateral edges point line with respect to optical plane 5.
The object distance of camera 2 is the length of line segment oB, is set as L, and 2 object distance L resolvings of camera can obtain：
In formula：L is the 7th structural parameters 13；θ is the 6th structural parameters 12；D is industrial camera 2 perpendicular to 4 side of rail
The distance of opposite rail 4 upwards；δ is that optical plane 5 highly locates wheel to 4 upper surface outer ledge point company of 3 inside edge points and rail
Angle of the line with respect to optical plane 5.
So far, optical center o, as 2 position of camera can be uniquely determined according to straight line AD and object distance L.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of train wheel tread detecting system method for building up, the damage for detecting the wheel tread being in direct contact with rail
Type and lesion size, the computer for including the image data obtained for control system beginning and end and storage control mould
Block, which is characterized in that including:
(1) foundation includes the train wheel tread detecting system of line-structured light generator, high-speed industrial camera, wheel pair；
Wherein high-speed industrial camera is mounted on the outside of rail, for acquiring the structure light image signal being incident upon on wheel tread,
As detection data so as to the defect extraction and analysis in later stage；
Line-structured light generator, for laser beam to be incident upon wheel tread；
(2) structural parameters of optimization system：Structural parameters include：
The ratio for taking turns the length to structured light projection at two diverse locations on tread is first structure parameter；
Line-structured light generator optical plane and the second structural parameters that the angle of rail upper surface is system；
The optical axis of line-structured light generator is third structural parameters with respect to the angle of rail to traffic direction in wheel；
Line-structured light optical plane is the 4th structural parameters with respect to the height of rail upper surface；
The structure light optical plane that high-speed industrial camera optical axis is projected with line-structured light generator angle on the direction of parallel rails
For the 5th structural parameters；
Viewing field of camera angle is the 6th structural parameters；
The opposite wheel of high-speed industrial camera is the 7th structural parameters to the distance at the midpoint at structure light optical plane height.
2. train wheel tread detecting system method for building up according to claim 1, which is characterized in that
The first structure parameter meets following relationship：
In formula (1)：K is first structure parameter；l1、l2For the projector distance for taking turns to structure light at different locations on tread；
d1、d2For the fore-and-aft distance for taking turns to the opposite wheel in structured light projection position at different locations to axle center；r1、r2For the tread of wheel pair
Radius and flange radius.
3. train wheel tread detecting system method for building up according to claim 2, which is characterized in that first structure parameter
Equal to constant 1.
4. train wheel tread detecting system method for building up according to claim 1, which is characterized in that the second structural parameters
Equal to 0 degree of constant.
5. train wheel tread detecting system method for building up according to claim 1, which is characterized in that the third structure
Parameter meets following relationship：
δ is third structural parameters in formula；θ is the structured light generators angle of divergence；D is distance of the structured light generators to rail；L is
The distance between structured light generators both sides sideline and rail intersection point.
6. train wheel tread detecting system method for building up according to claim 1, which is characterized in that the 4th structural parameters
Meet following relationship：
H is the 4th structural parameters in formula；R is tread radius.
7. train wheel tread detecting system method for building up according to claim 1, which is characterized in that
5th structural parameters are equal to 90 degree.
8. train wheel tread detecting system method for building up according to claim 1, which is characterized in that
6th structural parameters meet following relationship：
θ is the 6th structural parameters in formula；δ is that wheel connects inside edge point and rail upper surface outer ledge point at optical plane height
Angle of the line with respect to optical plane.
9. train wheel tread detecting system method for building up according to claim 1, which is characterized in that the 7th structural parameters
Meet following relationship：
L is the 7th structural parameters in formula；θ is the 6th structural parameters；D is industrial camera in the opposite rail on rail direction
Distance；δ is the angle taken turns at optical plane height to inside edge point optical plane opposite with rail upper surface outer ledge point line
Degree.
10. a kind of train wheel tread detecting system, including rail, which is characterized in that including line-structured light generator, high speed work
Industry camera, wheel pair；
The line-structured light generator is installed on upper surface of the outer lateral incision higher than rail of rail；
The structure light optical plane of the projection of the line-structured light generator is parallel to rail upper surface；
Line-structured light generator is located on the outside of rail higher than at rail upper surface, line-structured light generator is thrown as system source
The structure light optical plane penetrated is parallel to rail upper surface；
The high-speed industrial camera is installed on rail less than at rail upper surface, and the optical axis of high-speed industrial camera is in parallel rails
Perpendicular to the structure light optical plane of line-structured light generator on direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810417392.XA CN108802044B (en) | 2018-05-04 | 2018-05-04 | Method and system for establishing locomotive wheel pair tread damage detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810417392.XA CN108802044B (en) | 2018-05-04 | 2018-05-04 | Method and system for establishing locomotive wheel pair tread damage detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108802044A true CN108802044A (en) | 2018-11-13 |
| CN108802044B CN108802044B (en) | 2020-09-15 |
Family
ID=64093195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810417392.XA Expired - Fee Related CN108802044B (en) | 2018-05-04 | 2018-05-04 | Method and system for establishing locomotive wheel pair tread damage detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108802044B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102749336A (en) * | 2012-07-09 | 2012-10-24 | 南京航空航天大学 | Structured light-based surface defect high-speed detection system and detection method thereof |
| CN102788803A (en) * | 2012-07-09 | 2012-11-21 | 南京航空航天大学 | On-line high-speed detection system of train wheel set tread and wheel rim and detection method thereof |
| CN105203552A (en) * | 2015-09-18 | 2015-12-30 | 南京拓控信息科技有限公司 | 360-degree tread image detecting system and method |
-
2018
- 2018-05-04 CN CN201810417392.XA patent/CN108802044B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102749336A (en) * | 2012-07-09 | 2012-10-24 | 南京航空航天大学 | Structured light-based surface defect high-speed detection system and detection method thereof |
| CN102788803A (en) * | 2012-07-09 | 2012-11-21 | 南京航空航天大学 | On-line high-speed detection system of train wheel set tread and wheel rim and detection method thereof |
| CN105203552A (en) * | 2015-09-18 | 2015-12-30 | 南京拓控信息科技有限公司 | 360-degree tread image detecting system and method |
Non-Patent Citations (2)
| Title |
|---|
| JIWU WANG 等: "Geometric Parameters Measurement of Wheel Tread Based on Line Structured Light", 《JOURNAL OF ROBOTICS, NETWORKING AND ARTIFICIAL LIFE》 * |
| 高向东 等: "基于结构光视觉传感的轮对踏面擦伤快速检测", 《铁道学报》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108802044B (en) | 2020-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6909514B2 (en) | Wheel profile inspection apparatus and method | |
| CN101825438B (en) | Laser measuring device for measuring thickness of plate | |
| CN106885532B (en) | A kind of detection method of high-precision rail geometric profile | |
| KR102277633B1 (en) | Automatic robot measuring system for transit tunnel safety inspection | |
| CN103852060B (en) | A kind of based on single visual visible images distance-finding method felt | |
| CN101639452A (en) | 3D detection method for rail surface defects | |
| CN104655047A (en) | Rapid and comprehensive tunnel measurement system | |
| CN106403900B (en) | Flying object tracking location system and method | |
| CN107588732B (en) | Rail side train part height measurement method and system | |
| CN110634121A (en) | Track fastener loosening detection method based on texture and depth images | |
| US9726151B2 (en) | Assessment of rotor blades | |
| CN104554344B (en) | Thread defect information detecting system and method | |
| CN108274463A (en) | Train Ku Jian robots and Train Parts detection method | |
| CN110615016B (en) | Calibration method and verification method of steel rail profile and abrasion detection system | |
| CN105261025B (en) | A kind of line-scan digital camera quick high accuracy caliberating device of high ferro detecting system | |
| CN105507099A (en) | Static railway track assembly overall dimension and damage optical detection system | |
| CN108797241A (en) | A kind of rail clip nut loosening detection method compared based on height | |
| JPH10300633A (en) | Image processing head light tester | |
| CN109341592A (en) | A kind of road surface scanning means based on laser interferencefringes | |
| JP6850369B2 (en) | How to install the vehicle underfloor parts imaging system and the vehicle underfloor parts imaging system | |
| CN108802044A (en) | The method for building up and system of train wheel tread damage detecting system | |
| CN107808371B (en) | Vehicle-mounted tunnel lining surface crack image acquisition method | |
| JPS5822903A (en) | Rolling monitoring device of plate material | |
| JP2012242252A (en) | Rail paving stone caving detection device | |
| CN102069821A (en) | Measuring method for non-contact steel rail sagging surface |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200915 |