CN111023998A

CN111023998A - Tread damage measuring device, method, apparatus and storage medium

Info

Publication number: CN111023998A
Application number: CN201911269796.XA
Authority: CN
Inventors: 王文刚; 李春林; 王蒙; 殷鸿鑫; 王萌; 刘洋
Original assignee: Shenhua Rail and Freight Wagons Transport Co Ltd
Current assignee: Shenhua Rail and Freight Wagons Transport Co Ltd
Priority date: 2019-12-11
Filing date: 2019-12-11
Publication date: 2020-04-17

Abstract

The present application relates to a tread damage measurement apparatus, method, device and storage medium. In the tread damage measuring equipment, a wheel to be measured at the moving end of a wheel driving unit rotates, and in the rotating process, a tread scanning laser sensor acquires tread linear data of the wheel to be measured and sends the tread linear data to a processing unit; the processing unit combines the acquired tread line type data to obtain a tread contour graph of the wheel to be measured, and further damage information can be rapidly identified on the tread contour graph. Based on the method, the tread damage measuring equipment has high automation degree, stability and reliability, and the detection result of the tread damage of the train wheels is reliable and has high efficiency; and moreover, a non-contact measurement mode is adopted, so that the device is not easy to be impacted by external force, the fixed spatial position can be kept for a long time, and the result accuracy of the detection equipment can be further kept in a longer time range.

Description

Tread damage measuring device, method, apparatus and storage medium

Technical Field

The application relates to the technical field of train maintenance, in particular to tread damage measuring equipment, method and device and a storage medium.

Background

With the high-speed development of railways, the business mileage of railways in China reaches 13.1 kilometers, and the business mileage of high-speed railways reaches 3 kilometers. In the running process of the railway vehicle, parts are gradually abraded, corroded and damaged, and in order to ensure good quality of the vehicle, ensure driving safety and prolong the service life of the vehicle, various inspection and repair work must be carried out on the railway vehicle.

In the implementation process, the inventor finds that at least the following problems exist in the conventional technology: the maintenance work of the railway freight car wheel pair is still manually completed by depending on detection personnel, and the outline dimension, the scratch depth and the like of the tread scratch are still manually measured by depending on a measuring tool. The maintenance process of manual measurement is long-consuming and poor in reliability.

Disclosure of Invention

Based on this, it is necessary to provide a tread damage measuring apparatus, method, device and storage medium for solving the problems of long time consumption and poor reliability of the conventional tread damage measuring method.

In order to achieve the above object, in one aspect, an embodiment of the present application provides a tread damage measuring apparatus, including:

and the wheel driving unit is used for driving the wheel to be measured to rotate.

The tread scanning laser sensor is used for acquiring tread line type data of the wheel to be measured in the rotation process of the wheel to be measured.

And the processing unit is used for merging the collected tread line type data to obtain a tread contour graph and detecting the tread contour graph to obtain damage information.

In one embodiment, during the rotation of the wheel to be measured, the tread surface scanning laser sensor is positioned obliquely above the tread surface of the wheel to be measured, and the laser plane of the tread surface scanning laser sensor is coincident with the axis of the wheel to be measured.

In one embodiment, the wheel driving unit comprises a driving wheel for contacting the wheel to be measured, driving the wheel to be measured to rotate, and a driving motor connected to the driving wheel.

In one embodiment, the wheel drive unit further comprises a telescopic mechanism. The driving motor is connected with the driving wheel through a telescopic mechanism.

The telescopic mechanism is used for jacking the driving wheel to be in contact with the wheel to be measured in a driving state.

The telescopic mechanism is also used for recovering the driving wheel in a releasing state so that the driving wheel and the wheel to be measured are arranged at intervals.

In one embodiment, the telescoping mechanism is a cylinder.

On the other hand, the embodiment of the application also provides a tread damage measuring method which is applied to tread damage measuring equipment. Tread damage measurement device includes:

the wheel driving unit is used for driving the wheel to be measured to rotate;

The tread damage measuring method comprises the following steps:

and acquiring linear data of each tread acquired by the tread scanning laser sensor.

And merging the linear data of each tread to obtain a tread contour graph.

And detecting the tread contour graph to obtain damage information.

In one embodiment, the step of detecting the tread contour pattern and obtaining damage information comprises:

and processing the linear data of each tread to obtain the surface smoothness of the wheel to be measured.

Slope detection is performed on the tread contour graph based on the surface smoothness, and a region with abnormal slope is determined as a damaged region.

In one embodiment, after the step of performing slope detection on the tread profile graph based on the surface smoothness and identifying the regions with abnormal slope as damaged regions, the method further comprises:

and integrating the linear data of each tread corresponding to the damaged area to obtain the damaged size.

In one embodiment, there is provided an apparatus based on the tread damage measuring method, including:

and the linear data acquisition module is used for acquiring linear data of each tread acquired by the tread scanning laser sensor.

And the tread contour acquisition module is used for merging the linear data of each tread to obtain a tread contour graph.

And the damage information detection module is used for detecting the tread contour graph to obtain damage information.

In one embodiment, a computer storage medium is provided having a computer program stored thereon which, when executed by a processor, implements a method of tread damage measurement as described above.

One of the above technical solutions has the following advantages and beneficial effects:

the wheel driving unit rotates the wheel to be measured at the moving end, and in the rotating process, the tread scanning laser sensor collects tread linear data of the wheel to be measured and sends the tread linear data to the processing unit; the processing unit combines the acquired tread line type data to obtain a tread contour graph of the wheel to be measured, and further damage information can be rapidly identified on the tread contour graph. Based on the method, the tread damage measuring equipment has high automation degree, stability and reliability, and the detection result of the tread damage of the train wheels is reliable and has high efficiency; and moreover, a non-contact measurement mode is adopted, so that the device is not easy to be impacted by external force, the fixed spatial position can be kept for a long time, and the result accuracy of the detection equipment can be further kept in a longer time range.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular description of preferred embodiments of the application, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intended to be drawn to scale in actual dimensions, emphasis instead being placed upon illustrating the subject matter of the present application.

FIG. 1 is a first schematic block diagram of a tread damage measurement device in one embodiment;

FIG. 2 is a schematic diagram of a laser displacement sensor in one embodiment;

FIG. 3 is a second schematic block diagram of a tread damage measurement device in one embodiment;

FIG. 4 is a schematic structural view of a wheel drive unit according to an embodiment;

FIG. 5 is a first schematic flow chart diagram of a method for tread damage measurement according to one embodiment;

FIG. 6 is a schematic representation of tread profile data in one embodiment;

FIG. 7 is a schematic representation of the results of a tread scan in one embodiment;

FIG. 8 is a second schematic flow chart diagram of a method of tread damage measurement according to one embodiment;

FIG. 9 is a schematic diagram of the structure of the device in one embodiment.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are shown in the drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element and be integral therewith, or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The traditional technology adopts a manual maintenance mode to detect tread damage, the maintenance process is long in time consumption, the labor intensity is high, the subjectivity of the maintenance process is strong, and the reliability of a detection result is low. Therefore, the embodiment of the application provides tread damage measuring equipment, which adopts a non-contact measuring mode to acquire continuous laser lines on the tread of a wheel, can measure the three-dimensional size of the tread of the wheel and further automatically identifies damage; the method can be applied to the tread damage detection process of the railway wagon wheels.

In one embodiment, there is provided a tread damage measurement device, as shown in FIG. 1, comprising:

Specifically, the tread damage measuring apparatus includes a wheel driving unit, a tread scanning laser sensor, and a processing unit. The wheel driving unit can be used for connecting the wheel to be measured and driving the wheel to be measured to rotate during measurement. Illustratively, the wheel driving unit can drive the wheel to be measured to rotate at a constant speed, or rotate in a stepping mode, and the like.

The tread scanning laser sensor can be used for scanning the tread of the wheel to be measured through a laser plane, wherein the tread of the wheel to be measured falls into the laser plane scanning range of the laser sensor; specifically, the tread scanning laser sensor can be matched with a wheel driving unit to collect tread linear data of the whole circumferential direction of the wheel to be measured; further, the tread scanning laser sensor is also used for sending the collected tread line type data to the processing unit. For example, the tread scanning laser sensor can acquire data according to a certain frequency according to the rotating speed of the wheel to be measured.

The processing unit is used for merging and splicing the acquired tread line type data to obtain a 3D tread contour graph, namely, drawing the surface contour of the tread, and further identifying the damage on the tread contour graph through a related algorithm or a detection means. For example, the processing unit may identify regions of abnormal slope as damaged regions by detecting slopes of the tread profile pattern; for another example, the processing unit may further identify the region with abnormal depth as a damaged region by detecting the depth of the tread profile pattern; therefore, the detection method of the tread contour pattern is not particularly limited here.

It should be noted that the wheel driving unit may be axially connected and driven from both sides of the wheel to be measured, or may be radially connected and driven from the top or bottom of the wheel to be measured. The driving source of the wheel driving unit may be implemented by a hydraulic motor, a pneumatic motor, or the like, and is not particularly limited herein.

The tread scanning laser sensor can be a laser displacement sensor, as shown in fig. 2, and can continuously collect the wheel tread contour in the rotation process of the wheel to be measured, and simultaneously upload the collected digital data to the processing unit. For example, the tread scanning laser sensor may be located above the tread when measuring. Specifically, the tread scanning laser sensor can be arranged on a beam of a measuring portal frame, and the measuring portal frame is provided with a target area for accommodating a wheel to be measured; for example, the laser sensor may project a laser line down to the highest point of the tread of the wheel to be measured. The tread scanning laser sensor may comprise at least one laser displacement sensor. Illustratively, the model of the laser displacement sensor may be an LD-S series, an LD-P series, or an LJ-V7000 series, etc., and is not particularly limited herein.

The Processing unit may be a single chip, a DSP (Digital Signal Processing), an FPGA (Field Programmable Gate Array), a computer device, or the like, and is not limited herein. In addition, the processing unit may be connected to the tread scanning laser sensor through an interface such as RJ45, RS232, or a serial port, which is not limited herein.

The embodiment of the application has the advantages that the result of the damage detection on the tread is accurate and reliable, and the efficiency is high; and non-contact measurement is adopted, the device can be used for a long time after being calibrated once, namely, the calibration period is long, and the working strength of workers can be reduced.

In one embodiment, as shown in fig. 3, during rotation of the wheel to be measured 200, the tread scanning laser sensor 320 is located obliquely above the tread of the wheel to be measured 200, and the laser plane 322 of the tread scanning laser sensor 320 coincides with the axis of the wheel to be measured 200.

Specifically, the tread scanning laser sensor 320 is disposed obliquely above the wheel 200 to be measured, for example, obliquely above the tread, and the laser plane 322 thereof coincides with the axis of the wheel 200 to be measured, that is, the laser line is vertically projected on the wheel tread, which facilitates the processing of tread line type data of the processing unit and improves the measurement efficiency.

In one embodiment, the wheel drive unit includes a drive wheel for contacting the wheel to be measured, driving the wheel to be measured in rotation, and a drive motor connected to the drive wheel.

Specifically, the wheel drive unit may include a drive wheel and a drive motor; the driving motor is in contact with the driving wheel to be measured through the driving wheel, and the driving wheel is used as a transmission mechanism to drive the wheel to be measured to rotate. Based on above-mentioned structure, this application embodiment can choose suitable drive wheel to match according to the size specification and the rotational speed demand of the wheel of awaiting measuring, improve equipment's suitability.

In one embodiment, as shown in fig. 4, the wheel drive unit further comprises a telescoping mechanism. The driving motor is connected with the driving wheel through a telescopic mechanism.

Specifically, the wheel drive unit may further include a telescopic mechanism connected between the drive motor and the drive wheel. The telescopic mechanism can be used for adjusting the position of the driving wheel, so that the wheel to be measured can be conveniently transported; meanwhile, based on the structure, the measuring device can be suitable for measuring wheels with different specifications. For example, the telescopic mechanism may be a mechanical telescopic mechanism, a hydraulic telescopic mechanism, or a compound telescopic mechanism, and is not limited herein.

In one embodiment, the telescopic mechanism is used for lifting the driving wheel to be in contact with the wheel to be measured in a driving state.

Specifically, the wheel drive unit may be provided below the wheel to be measured; after the wheel to be measured is transported to a measuring target area, the telescopic mechanism can lift the driving wheel until the driving wheel is in close contact with the wheel to be measured; at this time, the driving motor can drive the wheel to be measured to rotate through the driving wheel.

In one embodiment, the telescopic mechanism is further used for retracting the driving wheel in the released state so that the driving wheel is spaced apart from the wheel to be measured.

Particularly, under the release state, telescopic machanism can contract the return with the drive wheel, makes and keeps the clearance between drive wheel and the wheel of measurationing, guarantees that the wheel of measurationing can free movement, is convenient for the wheel of measurationing carries out other detections.

In one example, the wheel drive unit is located below the axle and drives the wheels for rotation using a hydraulic motor drive. The unit includes a drive state and a release state. In a release state, the cylinder is recovered, a gap is kept between the driving wheel and the wheel, and the wheel can move freely; under the driving state, the air cylinder jacks, the driving wheels are in close contact with the wheels, and the wheels rotate along with the driving wheels.

In one embodiment, the telescoping mechanism is a cylinder.

Based on this application embodiment, in the testing process, wheel drive unit rotates the wheel at the uniform velocity, and laser displacement sensor gathers the laser line type of wheel tread. The processing unit combines the continuously acquired data to form a 3D graph which can draw the surface contour of the tread, and then analyzes the obtained contour data through a related algorithm, and the position of the damage can be found out according to indexes such as the external dimension, the depth and the like of the fault.

In one example, after the contour data of the tread surface is collected and stitched, a 3D graph of the tread surface can be formed, and the location of the damage can be identified by comprehensive comparison with standard values, average values, and the like. Wherein, the standard value can be the height range or slope range of the corresponding position; the average value may be obtained by averaging all the line data, and if the average value is too large, it may be confirmed as a damaged area.

Illustratively, all profile line types are averaged to obtain a parameter that is representative of the smoothness of the wheel surface. For the part with unstable slope change in the line shape, a single attention can be paid, and the area and the volume of the area with unstable slope change can be obtained by integrating the area, so as to determine the size and the position of the damage.

In one embodiment, a tread damage measurement method is provided and applied to tread damage measurement equipment. Tread damage measurement device includes:

the wheel driving unit is used for driving the wheel to be measured to rotate;

As shown in fig. 5, the tread damage measurement method includes:

and step S110, obtaining each tread line type data collected by the tread scanning laser sensor.

And step S120, merging the tread line type data to obtain a tread contour graph.

And step S130, detecting the tread contour graph to obtain damage information.

Specifically, the tread damage measuring method may be implemented by a processing unit such as a computer device. Specifically, tread linear data acquired by a tread scanning laser sensor in the rotation process of the wheel to be measured are acquired, and the acquired tread linear data are combined and spliced to obtain a tread contour graph. The tread linear data can be linear data acquired by a tread scanning laser sensor according to a certain frequency; illustratively, the line type data are spliced according to the acquisition time, and the tread contour scanning result can be obtained. Furthermore, the damage information can be quickly obtained by detecting the tread contour graph; illustratively, the location, size, etc. of the lesion may be confirmed by linear slope, depth change, etc. parameters.

It should be noted that the tread line data can be as shown in fig. 6, and the laser line collected by the laser sensor on the vehicle tread is a continuous line. The tread surface line data are spliced, and the obtained tread surface scanning result can be shown in fig. 7. The damage information may include a damage location, a damage size, a damage type, and the like, and is not particularly limited herein.

According to the embodiment of the application, the laser displacement sensor can be used for continuously collecting the outline lines of the tread, the collected lines are integrated into a continuous graph through the algorithm, and then the graph is scanned and analyzed through the algorithm to detect the damage position.

In one embodiment, as shown in FIG. 8, the step of detecting the tread contour pattern and obtaining damage information comprises:

and step S132, processing the linear data of each tread to obtain the surface smoothness of the wheel to be measured.

In step S134, slope detection is performed on the tread surface contour graph based on the surface smoothness, and a region with an abnormal slope is determined as a damaged region.

Specifically, all tread surface profile data is averaged and the resulting average value can represent the surface smoothness of the wheel. The surface smoothness can be smoothness of the same position at different acquisition time or smoothness of the whole linearity at the same acquisition time.

The regions of the tread profile pattern with uneven slope variations are identified based on surface smoothness and identified as damaged regions. The identification process of the slope anomaly may be: and determining whether the difference between the slope and the corresponding surface smoothness exceeds a threshold, or whether the slope at the same position exceeds a corresponding threshold, and the like, which is not specifically limited herein.

According to the method and the device, the damage area and the position information of the damage area can be identified by a slope detection method, and the measurement efficiency of damage can be improved on the basis of tread line type data.

In one embodiment, as shown in FIG. 8, after the step of performing slope detection on the tread profile based on the surface smoothness and identifying the regions with abnormal slope as damaged regions, the method further comprises:

and step S136, integrating the linear data of each tread corresponding to the damage area to obtain the damage size.

Specifically, the tread line type data corresponding to the identified damage region is acquired, and the integration is performed on each tread line type data according to the specific damage position, so that the area or volume of the damage region can be obtained, and the size of the damage can be confirmed. Based on this, this application embodiment can adopt the mode of automatic identification, can obtain the position and the size of tread damage fast.

In one embodiment, before the step of obtaining each tread line type data collected by the tread scanning laser sensor, the method further comprises:

sending a driving command to a wheel driving unit; the driving instruction is used for instructing the wheel driving unit to drive the wheel to be measured to rotate.

In one embodiment, after the step of sending the driving command to the wheel driving unit, the method further comprises:

sending a release instruction to the wheel driving unit; the release command is used for instructing the wheel driving unit to keep a space with the wheel to be measured so that the wheel to be measured can move freely.

sending a configuration instruction to a tread scanning laser sensor; the configuration instructions are used for indicating the tread surface scanning laser sensor to configure acquisition parameters.

Further, the acquisition parameters at least include acquisition frequency, acquisition precision, acquisition duration, and the like, and are not limited herein.

It should be understood that although the steps in the flowcharts of fig. 5 and 8 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 5 and 8 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

In one embodiment, there is provided an apparatus based on the method for measuring tread damage, as shown in fig. 9, including:

In one embodiment, the impairment information detection module comprises:

and the surface smoothness acquisition unit is used for processing the linear data of each tread to obtain the surface smoothness of the wheel to be measured.

And a damaged region confirmation unit for detecting the slope of the tread contour graph based on the surface smoothness and confirming the region with abnormal slope as a damaged region.

In one embodiment, the damage information detection module further comprises:

and the damage size acquisition unit is used for integrating the linear data of each tread corresponding to the damage area to obtain the damage size.

For specific limitations of the device, reference may be made to the definition of the method for measuring tread damage described above, which is not described in detail here. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation. The various modules in the above-described apparatus may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

And merging the linear data of each tread to obtain a tread contour graph.

And detecting the tread contour graph to obtain damage information.

In one embodiment, the computer program is executed by the processor to detect the tread contour pattern and to obtain the damage information, and further performs the following steps:

In one embodiment, the computer program is further configured to, after the step of performing slope detection on the tread profile based on surface smoothness and identifying regions of slope anomaly as damaged regions, implement the steps of:

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus DRAM (RDRAM), and interface DRAM (DRDRAM).

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A tread damage measurement device, comprising:

the wheel driving unit is used for driving the wheel to be measured to rotate;

the tread scanning laser sensor is used for acquiring tread line type data of the wheel to be measured in the rotation process of the wheel to be measured;

2. Tread damage measurement apparatus according to claim 1,

and in the rotation process of the wheel to be measured, the tread scanning laser sensor is positioned obliquely above the tread of the wheel to be measured, and the laser plane of the tread scanning laser sensor is superposed with the axis of the wheel to be measured.

3. Tread damage measuring device according to claim 1 or 2, wherein the wheel drive unit comprises a drive wheel for contacting the wheel to be measured, driving the wheel to be measured in rotation, and a drive motor connected to the drive wheel.

4. The tread damage measurement device of claim 3, wherein the wheel drive unit further comprises a telescoping mechanism;

the driving motor is connected with the driving wheel through the telescopic mechanism;

the telescopic mechanism is used for jacking the driving wheel to be in contact with the wheel to be measured in a driving state;

the telescopic mechanism is also used for recovering the driving wheel under the releasing state so as to enable the driving wheel and the wheel to be measured to be arranged at intervals.

5. Tread damage measurement device according to claim 4,

the telescopic mechanism is a cylinder.

6. A tread damage measuring method is characterized by being applied to tread damage measuring equipment;

the tread damage measurement device comprises:

the wheel driving unit is used for driving the wheel to be measured to rotate;

the tread damage measuring method comprises the following steps:

obtaining each tread line type data acquired by the tread scanning laser sensor;

merging the tread line type data to obtain a tread contour graph;

and detecting the tread contour graph to obtain damage information.

7. The method of measuring tread damage according to claim 6 wherein said step of detecting said tread contour pattern to obtain damage information comprises:

processing each tread line type data to obtain the surface smoothness of the wheel to be measured;

and performing slope detection on the tread contour graph based on the surface smoothness, and determining a region with abnormal slope as a damaged region.

8. The method of tread damage measurement according to claim 7, wherein said step of slope detecting said tread profile pattern based on said surface smoothness and identifying regions of abnormal slope as damaged regions further comprises:

and integrating the linear data of each tread corresponding to the damage area to obtain the damage size.

9. An apparatus based on the tread damage measuring method according to any one of claims 6 to 8, comprising:

the linear data acquisition module is used for acquiring each tread linear data acquired by the tread scanning laser sensor;

the tread contour acquisition module is used for merging the tread linear data to obtain a tread contour graph;

10. A computer storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements a method of tread damage measurement according to any one of claims 6 to 8.