CN108802044B - Method and system for establishing locomotive wheel pair tread damage detection system - Google Patents
Method and system for establishing locomotive wheel pair tread damage detection system Download PDFInfo
- Publication number
- CN108802044B CN108802044B CN201810417392.XA CN201810417392A CN108802044B CN 108802044 B CN108802044 B CN 108802044B CN 201810417392 A CN201810417392 A CN 201810417392A CN 108802044 B CN108802044 B CN 108802044B
- Authority
- CN
- China
- Prior art keywords
- rail
- structural parameter
- tread
- structured light
- structural
- 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.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 49
- 230000003137 locomotive effect Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000003287 optical effect Effects 0.000 claims abstract description 35
- 230000007547 defect Effects 0.000 claims description 5
- 238000000605 extraction Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 238000009434 installation Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000000877 morphologic 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
Images
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
Abstract
The invention discloses a method and a system for establishing a locomotive wheel set tread detection system, which are used for detecting the damage type and the damage size of a wheel set tread directly contacted with a rail, and comprise the following structural parameters of an optimization system: the ratio of the length of the wheel pair projected on the tread by the structural light at two different positions is a first structural parameter; the included angle between the light plane of the structured light sensor and the upper surface of the rail is a second structural parameter; the angle of the optical axis of the line-structured light sensor relative to the rail in the running direction of the wheel set is a third structural parameter; the height of the light plane of the line structure relative to the upper surface of the rail is a fourth structural parameter; an included angle between the optical axis of the high-speed industrial camera and a structured light plane projected by the linear structured light sensor in the direction parallel to the rail is a fifth structural parameter; the camera field angle is a sixth structural parameter; the distance of the high-speed industrial camera from the midpoint of the wheel pair at the height of the structured light plane is a seventh structural parameter. The method is convenient for optimizing the locomotive wheel pair tread detection system under different detection scenes.
Description
Technical Field
The invention relates to a method and a system for establishing a locomotive wheel set tread detection system, and belongs to the technical field of wheel set tread detection based on photoelectricity and computer vision.
Background
The principle of structured light detection is mainly triangulation, fig. 7 shows a schematic diagram of the principle of structured light detection, in fig. 7, a laser is emitted facing a measured object, and an industrial camera captures an image of a light bar modulated by the surface morphology of the measured object from one side; the depth morphological characteristics of the measured object are reflected by the deformation and the offset of the laser light bar. After system calibration and coordinate conversion, the optical strip deformation in the image can be reversely solved.
In general, laser systems using triangulation methods are largely classified into direct and oblique laser systems, as shown in fig. 8. The two ways differ in that: the direct-projection structured light plane is perpendicular to the reference plane, and the direct-projection structured light plane is characterized in that the camera can better receive scattered light and is suitable for occasions needing to utilize the scattering property of the surface of an object. The oblique-type structured light inclines relative to the reference surface, and is characterized in that the camera can better receive the light reflected by the measured object, and if the reflection characteristic of the surface of the measured object is close to the mirror reflection, the oblique-type structured light can better receive the laser reflection.
The detection object of the system is a locomotive wheel pair tread. The wheel set tread is a part directly contacting with the rail, is more easily damaged compared with other parts, has the most severe operating environment, and is mainly damaged by tread abrasion, tread scratch, tread surface stripping and tread crack. The detection system for the wheel set tread needs to detect the damage type and the damage size of the wheel set tread on line so that workers can maintain the wheel set tread in time and the running safety of a train is guaranteed.
The problems existing in the prior art are that the structural design is not scientific and reasonable, the practicability is not strong, and the system parameters can not be flexibly configured and designed according to different detection scenes.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method and a system for establishing a detection system suitable for on-orbit, all-around and high-precision data acquisition and damage detection of a wheel set tread.
In order to solve the technical problem, on one hand, the invention provides a method for establishing a locomotive wheel set tread detection system, which comprises the following steps:
a computer control module for detecting the type and magnitude of damage to the tread of a wheel set in direct contact with a rail, including for controlling the start and stop of the system and storing the acquired image data, comprising:
(1) establishing a locomotive wheel pair tread detection system comprising a line structured light generator, a high-speed industrial camera and a wheel pair;
the high-speed industrial camera is arranged on the outer side of the rail and used for collecting structural light image signals projected on a wheel set tread as detection data so as to facilitate later defect extraction and analysis;
the linear structure light generator is used for projecting laser light on the wheel set tread;
(2) and (3) optimizing the structural parameters of the system: the structural parameters include
The ratio of the length of the wheel pair projected on the tread by the structural light at two different positions is a first structural parameter;
the included angle between the light plane of the structured light sensor and the upper surface of the rail is a second structural parameter of the system;
the angle of the optical axis of the linear structure light generator relative to the rail in the running direction of the wheel set is a third structural parameter;
the height of the light plane of the line structure relative to the upper surface of the rail is a fourth structural parameter;
an included angle between the optical axis of the high-speed industrial camera and a structured light plane projected by the linear structured light sensor in the direction parallel to the rail is a fifth structural parameter;
the camera field angle is a sixth structural parameter;
the distance of the high-speed industrial camera from the midpoint of the wheel pair at the height of the structured light plane is a seventh structural parameter.
On the other hand, the invention provides a locomotive wheel set tread detection system, which comprises a rail and is characterized by comprising a line structure light generator, a high-speed industrial camera and a wheel set; the line structure light generator is arranged on the outer side of the rail and is higher than the upper surface of the rail; the projected structured light plane of the light sensor is parallel to the upper surface of the rail;
the line structure light generator is used as a system light source and is positioned at the position, higher than the upper surface of the rail, of the outer side of the rail, and a structured light plane projected by the line structure light generator is parallel to the upper surface of the rail;
the high-speed industrial camera is installed on the rail below the upper surface of the rail, and the optical axis of the high-speed industrial camera is perpendicular to the structured light plane of the light sensor in the direction parallel to the rail.
The invention achieves the following beneficial effects: the method provides parameter optimization design criteria of the locomotive wheel pair tread detection system, and facilitates the design of the locomotive wheel pair tread detection system under different detection scenes; on the other hand, the invention provides a locomotive wheel pair tread detection system, which is characterized in that the light plane of a linear structure light sensor is arranged to be parallel to the upper surface of a track, so that the light plane and the circle center of a wheel pair always keep the same distance, a light source is ensured to irradiate the other surface of the wheel pair at the same angle, and the relative proportion change of light strip rims, treads and wheel rims of different image frames caused by oblique cutting of structural light is avoided; secondly, ensuring that the laser is projected at the same height position of the tread, and avoiding the problem of uneven scanning positions of continuous image frames caused by the inclination of an optical plane; the optical axis of the high-speed industrial camera is perpendicular to the optical plane of the optical sensor, so that when the optical axis of the camera is perpendicular to the structured light optical plane, the camera avoids an oblique view target, the obtained light bar image is closest to the original shape of the tread, and the error of detection data extracted from the image is minimum; and secondly, the light plane is kept in a smaller distance range from the light center as much as possible, so that the problem of uneven detection data caused by the size change of the light bars in the image is solved. Meanwhile, the movement track of the light bar in the image is a single straight line, so that post-processing and analysis are facilitated.
Drawings
FIG. 1 is a schematic view of a locomotive wheel set tread detection system according to the present invention;
FIG. 2 is a front view of the device of the wheel-to-tread detection system of the present invention;
FIG. 3 is a diagram illustrating the relationship between the location of the optical plane with respect to the wheel sets and rails in accordance with an embodiment of the present invention;
FIG. 4 is a diagram illustrating the position of a line structured light generator relative to a rail in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram of the light level and reflected light according to an embodiment of the present invention; FIG. 6 is a schematic view of a camera according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of the line structured light detection principle;
FIG. 8 is a schematic diagram of a laser system for triangulation both direct and oblique incidence;
in the figure: 1. a line structured light source; 2. a high-speed industrial camera; 3. a train wheel set; 4. a rail; 5. a structured light plane; 6. a camera optical axis; 7. a first structural parameter; 8. a second structural parameter; 9. a third structural parameter; 10. a fourth structural parameter; 11. a fifth structural parameter; 12. a sixth structural parameter; 13. and seventh structural parameters.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
FIG. 1 is a schematic view of a locomotive wheel set tread detection system according to the present invention; fig. 1 shows a line structured light generator 1 and a high speed industrial camera 2, wherein the line structured light generator 1 is located outside a rail 4 above the upper surface of the rail 4 as a system line structured light source, and projects a structured light plane 5 parallel to the upper surface of the rail; the high-speed industrial camera 2 is positioned at the same side of the structured light generator 1 and lower than the upper surface of the rail 4, and the optical axis 6 of the camera is vertical to the structured light plane 5 in the direction parallel to the rail; when a train passes through the detection system, the structured light generator 1 projects the structured light on the tread of the wheel set 3, and the high-speed industrial camera 2 collects and shoots structured light image signals and transmits the signals to the computer for defect extraction and analysis.
In one aspect, the method of the invention provides a method for optimizing system structural parameters on the basis of establishing a locomotive wheel pair tread detection system, which comprises the following steps: wherein the structural parameters include:
the ratio of the length of the projection of the structural light on the tread of the wheel pair 3 at two different positions is a first structural parameter 7;
the included angle between the light plane 5 of the structured light sensor and the upper surface of the rail 4 is a second structural parameter 8 of the system;
the angle of the optical axis of the linear structure light generator 1 relative to the rail in the running direction of the wheel pair 3 is a third structural parameter 9;
the height of the line structure light plane 5 relative to the upper surface of the rail 4 is a fourth structure parameter 10;
an included angle between the optical axis of the high-speed industrial camera 2 and a structured light plane 5 projected by the linear structured light generator 1 in a direction parallel to the rail 4 is a fifth structural parameter 11;
the camera field angle is a sixth structural parameter 12;
the distance of the high-speed industrial camera 2 from the midpoint of the wheel pair 3 at the height of the structured-light plane 5 is a seventh structural parameter 13.
The first structural parameter 7 of the system is the ratio of the radial lengths of the projection of the structured light bars on the treads at different positions of the wheel pair 3 on the rail 4, and in order to ensure the detection accuracy consistency, the structural parameter 7 is preferably constant 1. Correspondingly, the second construction parameter 8, i.e. the angle of the structured light sensor light plane 5 with the upper surface of the rail 4, is preferably equal to a constant 0 degrees.
The structural parameter 7 has the following specific relation:
in the formula: k is a first structural parameter 7; l1、l2The projection distance of the structured light on the tread for the wheel pair 3 at different positions; d1、d2The longitudinal distance of the projection position of the structured light of the wheel set 3 at different positions relative to the axle center of the wheel set; r is1、r2The tread radius and the rim radius of the wheel-set 3.
The third structural parameter 9 of the system is the angle of the optical axis of the line-structured light generator 1 relative to the rail 4 in the running direction of the wheel pair 3, and the design of the system should satisfy the following relation:
in the formula: is the third structural parameter 9; theta is the divergence angle of the linear structured light generator 1; d is the distance from the line structured light generator 1 to the rail 4; and L is the distance between the intersection points of the sidelines on the two sides of the line structured light generator 1 and the rail 4.
The distance d is determined according to the installation standard of the railway peripheral facilities, the divergence angle theta is known, and L is determined according to the detection requirement, so that the third structural parameter 9 can be determined.
A fourth structural parameter 10 of the system is the height of the light plane 5 of the line structure relative to the upper surface of the rail 4, which is designed to satisfy the following relation:
in the formula: h is a fourth structural parameter 10; r is the tread radius;
the fifth structural parameter 11 of the system is the angle between the optical axis of the high-speed industrial camera 2 and the structured light plane 5 projected by the linear structured light generator 1 in a direction parallel to the rail 4, and is preferably designed to be 90 degrees, i.e. the optical axis of the industrial camera 2 is perpendicular to the structured light plane 5 in a direction parallel to the rail 4.
The system designs the intersection point of the optical axis of the high-speed industrial camera 2 and the structured light plane 5 to pass through the middle point of the wheel pair 3 at the height of the structured light plane 5, the sixth structural parameter 12 of the system is the field angle of the camera under the design scene, and the design of the sixth structural parameter meets the following relational expression:
in the formula: theta is a sixth structural parameter 12; the angle of the connecting line of the inner edge point of the wheel pair 3 and the outer edge point of the upper surface of the rail 4 at the height of the light plane 5 relative to the light plane 5.
The seventh structural parameter 13 of the system is the distance between the high-speed industrial camera 2 and the middle point of the wheel pair 3 at the height of the structured light plane 5, and the design of the system satisfies the following relation:
in the formula: l is a seventh structural parameter 13; theta is a sixth structural parameter 12; d is the distance of the high-speed industrial camera 2 relative to the rail 4 in the direction perpendicular to the rail 4; the angle of the connecting line of the inner edge point of the wheel pair 3 and the outer edge point of the upper surface of the rail 4 at the height of the light plane 5 relative to the light plane 5.
The position of the high speed industrial camera 2 can be uniquely determined by the structural parameters 13 and the angle of the line connecting the inner edge point of the wheel pair 3 and the outer edge point of the upper surface of the rail 4 at the height of the light plane 5 relative to the light plane 5.
Example one
FIG. 2 is a front view of the device structure of the wheel-to-tread detection system of the present invention; fig. 2 shows the position of the line structured light generator 1 and the industrial camera 2 relative to the wheel set 3 from the front of the inspection system. The line structure light generator 1 and the industrial camera 2 are installed on the outer side of the rail 4, and the installation position of the line structure light generator 1 is higher than the upper surface of the rail 4 and lower than the circle center height of the wheel pair 3. The structured light plane 5 is parallel to the upper surface of the rail 4, the optical axis 6 of the camera is vertically upward and inclined to the side surface of the rail 4, and the optical axis 6 of the camera is perpendicular to the structured light plane 5.
Example two
Fig. 3 is a diagram of the position relationship of the light plane relative to the wheel set and the rail. Fig. 3 is used to illustrate the optimization of the first structural parameter 7 of the system. The positional relationship of the light plane 5 with respect to the wheelset 3 and the rail 4 is shown in FIG. 3, where the angle of the light plane 5 with respect to the horizontal plane is θ, and the radii of the tread and the rim of the wheelset are r1And r2The effective detection length at the scanning position of the light plane 5 is respectively l along with the movement of the wheel pair1And l2The heights of the scanning positions relative to the circle center are respectively d1And d2. With the wheel set in operation, the ratio k of the effective detection length can be approximated as:
in the formula: k is a first structural parameter 7; l1、l2The projection distance of the structured light on the tread for the wheel pair 3 at different positions; d1、d2The longitudinal distance of the projection position of the structured light of the wheel set 3 at different positions relative to the axle center of the wheel set; r is1、r2The tread radius and the rim radius of the wheel-set 3.
Wherein the variable d1And d2In relation to the angle θ of the light plane 5 with respect to the horizontal plane, in order to make the effective lengths of the detections consistent, avoid the occurrence of changes in the proportion of the detected tread form at different scanning positions, and facilitate the later three-dimensional reconstruction and defect detection, the proportion k should be made a constant. When d is1Is equal to d2K is equal to constant 1At this time, the angle of the light plane 5 relative to the horizontal plane is 0 degree, that is, the light plane 5 is parallel to the horizontal plane, and the effective detection length is kept unchanged along with the movement of the wheel set.
EXAMPLE III
FIG. 4 is a diagram of the position of the line structured light generator relative to the rail. Fig. 4 is used to illustrate how the third structural parameter 9 is determined. The invention refers to the installation standard of the railway lamp, determines the distance from the linear structure light generator 1 to the railway 4, and sets the distance as d. The divergence angle of the line structured light generator 1 is theta, and the angles of the side lines and the optical axis of the two sides relative to the rail 4 are alpha, beta and alpha respectively. Because the value of distance d to rail 4 has been fixed, the effectual scanning range is the distance between the nodical to the rail 4 nodical in line structure light generator 1 both sides sideline, establishes to L, then has:
in the formula: l is a seventh structural parameter 13; theta is a sixth structural parameter 12; d is the distance of the industrial camera 2 relative to the rail 4 in the direction perpendicular to the rail 4; the angle of the connecting line of the inner edge point of the wheel pair 3 and the outer edge point of the upper surface of the rail 4 at the height of the light plane 5 relative to the light plane 5.
The expression of the angle of the line structured light generator 1 with respect to the direction of travel of the wheel pair 3 can be derived from the above equation as follows:
in the formula: is the third structural parameter 9; theta is the divergence angle of the linear structured light generator 1; d is the distance from the line structured light generator 1 to the rail 4; and L is the distance between the intersection points of the sidelines on the two sides of the line structured light generator 1 and the rail 4.
The angle is related to the relative distance d, the detection range L and the divergence angle theta, and the third structural parameter can be determined because the distance d and the divergence angle theta are known and L is determined according to the detection requirement and the camera field of view.
Example four
FIG. 5 is a diagram of the light level and reflected light. Fig. 5 is used to illustrate how the fourth structural parameter 10 is determined. The wheel pair tread is considered to be an annular mirror surface, and laser light is projected on the tread and is projected on the camera photosensitive element through reflection, as shown in fig. 5. According to the reflection characteristic of the arc surface, the reflection optical axis of the incident light and the reflection light is a ray at the radius of the circle at the incident point. In fig. 5, r is the radius of the wheel set, α is the angle between the reflection axis and the horizontal plane, and β is the angle between the incident light and the reflected light. Since the incident ray is parallel to the horizontal plane and the angle of incidence is equal to the angle of reflection, the angle of incidence is α and:
β＝2α (7)
when alpha is equal to 45 degrees, the angle beta is equal to 90 degrees, the reflected light rays are parallel to the optical axis of the camera, the imaging effect of the light bar image is good, and according to the geometrical relationship, the height h of the light plane at the moment is as follows:
in the formula: h is a fourth structural parameter 10; r is the tread radius;
the diameter of the general wheel pair is about 95 centimeters, the height of the available light plane brought into the above formula is 14 centimeters, and the height is lower than the height of the bogie, so that the requirement is met.
EXAMPLE five
FIG. 6 is a schematic view of the position of the camera relative to the rail. This figure is used to illustrate how the sixth structural parameter 12 and the seventh structural parameter 13 are determined. In the figure, A, B, C represents the left edge point, the middle point and the right edge point of the wheel pair 3 at the laser scanning line position, D represents the edge point of the upper surface of the rail 4 on the side of the camera 2, o represents the optical center of the camera, the angle represents the angle formed by the boundary line of the camera field of view and the optical plane 5, and the angle θ represents the camera field of view.
Firstly, in order to ensure that the field of view of the camera completely covers the scanning line area on the tread and avoid the shielding caused by the rail 4, the lower line of the field of view of the camera is higher than the point D and lower than the point A, in order to ensure the efficient utilization of the field of view area and improve the proportion of the region of interest in the image, the straight line where the selected line segment AD is located is the lower edge line of the field of view of the camera, the upper line of the field of view of the camera is higher than the point C, and oC is selected as the upper edge line of the field of view for the same. Because the target graph is deformed and the error of three-dimensional coordinate point settlement is increased due to the fact that distances between different areas of the optical strip and the optical center are unequal, a line segment oB is formed by setting the optical axis to pass through the middle point of the wheel pair 3 at the scanning position, and the length of the line segment AB is equal to the length of the line segment BC.
From the above constraints, the angle of view of the camera can be obtained through a geometric settlement of the figures:
in the formula: theta is a sixth structural parameter 12; the angle of the connecting line of the inner edge point of the wheel pair 3 and the outer edge point of the upper surface of the rail 4 at the height of the light plane 5 relative to the light plane 5.
The object distance of the camera 2 is the length of the line segment oB, which is set as L, and the object distance L of the camera 2 is obtained by calculation:
in the formula: l is a seventh structural parameter 13; theta is a sixth structural parameter 12; d is the distance of the industrial camera 2 relative to the rail 4 in the direction perpendicular to the rail 4; the angle of the connecting line of the inner edge point of the wheel pair 3 and the outer edge point of the upper surface of the rail 4 at the height of the light plane 5 relative to the light plane 5.
So far, the optical center o, i.e. the position of the camera 2, can be uniquely determined according to the straight line AD and the object distance L.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A method for establishing a locomotive wheel set tread detection system for detecting the damage type and the damage size of a wheel set tread in direct contact with a rail comprises a computer control module for controlling the start and the end of the system and storing obtained image data, and is characterized by comprising the following steps of:
(1) establishing a locomotive wheel pair tread detection system comprising a line structured light generator, an industrial camera and a wheel pair;
the industrial camera is arranged on the outer side of the rail and used for collecting structural light image signals projected on the wheel set tread as detection data so as to facilitate later defect extraction and analysis;
the linear structure light generator is used for projecting laser light on the wheel set tread;
(2) and (3) optimizing the structural parameters of the system: the structural parameters include:
the ratio of the length of the projection of the structural light of the wheel pair on the tread at two different positions is a first structural parameter, and the first structural parameter is a constant so as to avoid the change of the detection tread form proportion at different scanning positions;
the included angle between the light plane of the linear structure light generator and the upper surface of the rail is a second structure parameter of the system, and the second structure parameter is equal to a constant 0 degree;
the angle of the optical axis of the linear structured light generator relative to the rail in the running direction of the wheel set is a third structural parameter, and the third structural parameter meets the following relational expression:
wherein is a third structural parameter; theta is the structural light generator divergence angle; d is the distance from the structured light generator to the rail; l is the distance between the side lines at the two sides of the structural light generator and the intersection point of the rail;
the height of the light plane of the line structure relative to the upper surface of the rail is a fourth structural parameter, and the fourth structural parameter is lower than the height of the bogie;
an included angle between the optical axis of the industrial camera and a structured light plane projected by the linear structured light generator in the direction parallel to the rail is a fifth structural parameter, and the fifth structural parameter is equal to 90 degrees;
the field angle of the camera is a sixth structural parameter, and the sixth structural parameter ensures that the industrial camera can completely shoot a detection image and avoids the shielding of a rail;
the distance between the industrial camera and the midpoint of the wheel pair at the height of the structured light plane is a seventh structural parameter, and the seventh parameter is used for ensuring that the industrial camera can completely shoot a detection image and avoiding the shielding of a rail.
2. The method for establishing a locomotive wheel set tread surface detection system according to claim 1, wherein said first structural parameter satisfies the following relationship:
in formula (1): k is a first structural parameter; l1、l2The projection distance of the structured light on the tread at different positions of the wheel pair is calculated; d1、d2The longitudinal distance of the projection position of the structured light at different positions of the wheel pair relative to the axle center of the wheel pair is determined; r is1、r2The tread radius and the rim radius of the wheel set.
3. The method of establishing a locomotive wheel set tread detection system according to claim 1, wherein the first structural parameter is equal to a constant 1.
4. Method for establishing a system for detecting the tread of a locomotive wheel set according to claim 1, characterized in that the fourth structural parameter satisfies the following relation:
wherein h is a fourth structural parameter; and r is the tread radius.
5. Method for establishing a system for detecting the tread of a locomotive wheel set according to claim 1, characterized in that the sixth structural parameter satisfies the following relation:
in the formula, theta is a sixth structural parameter; omega is the angle of the connecting line of the inner edge point of the wheel pair at the height of the light plane and the outer edge point of the upper surface of the rail relative to the light plane.
6. Method for establishing a system for detecting the tread of a locomotive wheel set according to claim 1, characterized in that the seventh structural parameter satisfies the following relation:
wherein L is a seventh structural parameter; theta is a sixth structural parameter; d is the distance of the industrial camera relative to the rail in the direction perpendicular to the rail; omega is the angle of the connecting line of the inner edge point of the wheel pair at the height of the light plane and the outer edge point of the upper surface of the rail relative to the light plane.
7. A locomotive wheel set tread detection system comprises a rail, and is characterized by comprising a line structure light generator, an industrial camera and a wheel set;
the line structure light generator is arranged on the outer side of the rail and is higher than the upper surface of the rail;
the plane of the structured light projected by the linear structured light generator is parallel to the upper surface of the rail, and the linear structured light generator is lower than the height of the circle center of the wheel pair;
the industrial camera is installed on the rail below the upper surface of the rail, and the optical axis of the industrial camera is perpendicular to the structured light plane of the line structured light generator in the direction parallel to the rail.
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 CN108802044A (en) | 2018-11-13 |
| CN108802044B true 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 |
|---|
| Geometric Parameters Measurement of Wheel Tread Based on Line Structured Light;Jiwu Wang 等;《Journal of Robotics, Networking and Artificial Life》;20160930;第3卷(第2期);第124-127页 * |
| 基于结构光视觉传感的轮对踏面擦伤快速检测;高向东 等;《铁道学报》;20080430;第 30 卷(第 2 期);第23-27页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108802044A (en) | 2018-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9340219B2 (en) | Wayside measurement of railcar wheel to rail geometry | |
| US6909514B2 (en) | Wheel profile inspection apparatus and method | |
| US5247338A (en) | Plant for track-based detection of the wheel profile of train wheels | |
| JP6206957B2 (en) | Trolley wire measuring device and trolley wire measuring method | |
| CN100494882C (en) | Aerial line wear detection device base on image processing | |
| US10589763B2 (en) | Method and measuring system for registering a fixed point adjacent a track | |
| CN110634121A (en) | Track fastener loosening detection method based on texture and depth images | |
| JP4078798B2 (en) | Pantograph obstacle detection device | |
| CN109855562A (en) | Measurement of rail wear method and device | |
| JP2019518209A (en) | Tread depth measurement | |
| CN108725511B (en) | Real-time position correction method for rail corrugation measuring point | |
| CN108797241B (en) | Track fastener nut looseness detection method based on height comparison | |
| AU2015261670B2 (en) | Wayside measurement of railcar wheel to rail geometry | |
| CN106813569A (en) | A kind of automobile tire 3-D positioning method based on line-structured light | |
| CN109341592B (en) | Road surface scanning device based on laser interference fringes | |
| CN108802044B (en) | Method and system for establishing locomotive wheel pair tread damage detection system | |
| ES2394902A1 (en) | System and method for measuring the thickness of collector shoes of a pantograph | |
| CN108020162B (en) | Rail gauge based on two-dimensional laser scanning and triangle principle and use method thereof | |
| WO2020179194A1 (en) | Pantograph displacement measuring device, and trolley-wire hard-spot detection method | |
| CN110525476A (en) | A kind of rolling stock wheelset profile dynamic detection system | |
| CN115451826B (en) | Photogrammetry method and device for geometric parameters of overhead contact system | |
| CN210625573U (en) | Three-dimensional high accuracy measurement system of train bottom surface | |
| JP6308681B2 (en) | Crossover equipment monitoring device and method | |
| CN211308598U (en) | Railway vehicle wheel set size dynamic detection system | |
| JP2016169979A (en) | Jumper wire relative position management device and method |
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 |
Granted publication date: 20200915 |