CN112097692B - Method and system for dynamically measuring wheel pair verticality - Google Patents

Method and system for dynamically measuring wheel pair verticality Download PDF

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CN112097692B
CN112097692B CN202010906160.8A CN202010906160A CN112097692B CN 112097692 B CN112097692 B CN 112097692B CN 202010906160 A CN202010906160 A CN 202010906160A CN 112097692 B CN112097692 B CN 112097692B
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coordinate system
axis
laser tracker
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张爽
陈儒
刘孝峰
韩伟峰
侯岱双
王善刚
王�华
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Changchun Institute of Applied Chemistry of CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract

The invention discloses a method and a system for dynamically measuring wheel pair verticality, wherein a point laser displacement sensor and a binocular stereoscopic vision camera are adopted in the method, the point laser displacement sensor and the binocular stereoscopic vision camera are fused in the same coordinate system to serve as a measuring mechanism, and then data acquired by a plurality of groups of measuring mechanisms are converted into the same laser tracker data; fixedly mounting a plurality of groups of calibrated measuring mechanisms on an inner shaft of the wheel set, and when the wheel set starts to be disassembled, acquiring data once every a period of time by the measuring mechanisms and carrying out real-time data processing; and registering the data acquired for the first time to obtain a three-dimensional coordinate, performing plane fitting on the coordinate to construct the inner side surface of the wheel set, taking the inner side surface constructed for the first time as a reference, and then comparing the data obtained by calculation with the reference to finish the dynamic measurement of the perpendicularity of the wheel set. The method has simple and convenient operation steps and higher measurement precision, and lays a technical foundation for actually solving and making the problems of prevention measures for the damage of the wheels to the contact surfaces of the high-speed train, evaluation of the repairability of the wheel sets and the like.

Description

Method and system for dynamically measuring wheel pair verticality
Technical Field
The invention relates to the field of machine vision three-dimensional measurement, in particular to a method and a system for dynamically measuring wheel pair verticality.
Background
At present, the wheel set is one of key parts of a high-speed train, and domestic high-speed train production enterprises such as Changchun railway passenger train companies and the like mainly adopt cold pressing assembly, high-pressure oil injection disassembly and other processes introduced from Germany to complete assembly and disassembly of the wheel set. After approximately 30% of wheel sets in the running process of the high-speed train are disassembled, the contact surfaces are damaged by characteristics of different shapes, sizes and the like due to interference fit; about 5% of high-speed rail wheel sets are scrapped due to the fact that the contact surfaces are seriously damaged in the disassembling process and cannot be repaired, and more than 8000 ten thousand yuan is lost by long passengers of middle-sized vehicles each year.
Therefore, how to reduce the damage to the contact surface in the wheel set disassembling process needs to be solved urgently.
Disclosure of Invention
The invention mainly aims to provide a method and a system for dynamically measuring wheel pair verticality, which at least partially solve the technical problems based on the requirement on the verticality in the wheel pair disassembling process.
In a first aspect, an embodiment of the present invention provides a method for dynamically measuring wheel pair perpendicularity, including:
s100, carrying out coordinate system fusion on the point laser displacement sensors and the binocular stereoscopic vision cameras in each group of measuring mechanisms, converting data collected by the point laser displacement sensors into the binocular stereoscopic vision cameras, and completing calibration;
s200, converting data coordinates acquired by a plurality of groups of measuring mechanisms into the same laser tracker coordinate system;
s300, when the wheel pair is disassembled, a plurality of groups of measuring mechanisms collect data at intervals of preset time and perform real-time data processing; the calibrated multiple groups of measuring mechanisms are arranged on a wheel pair axle to be disassembled in the wheel pair disassembling machine;
s400, registering the images acquired by the binocular stereoscopic vision camera to obtain three-dimensional coordinates of the binocular stereoscopic vision images, and performing primary plane fitting on the three-dimensional coordinates to complete inner side face reconstruction of the disassembled wheel pair;
s500, taking the first plane fitting as a reference, comparing all acquired and calculated data with the reference each time, and measuring the verticality position relation between the axle and the wheel of the wheel pair in the disassembling process in real time.
Further, the step S200, S100, performing coordinate system fusion on the point laser displacement sensor and the binocular stereoscopic vision camera in each group of measuring mechanisms, and converting data acquired by the point laser displacement sensor into the binocular stereoscopic vision camera to complete calibration;
s200, converting data coordinates acquired by a plurality of groups of measuring mechanisms into the same laser tracker coordinate system;
s300, when the wheel pair is disassembled, a plurality of groups of measuring mechanisms collect data at intervals of preset time and perform real-time data processing; the calibrated multiple groups of measuring mechanisms are arranged on a wheel pair axle to be disassembled in the wheel pair disassembling machine;
s400, registering the images acquired by the binocular stereoscopic vision camera to obtain three-dimensional coordinates of the binocular stereoscopic vision images, and performing primary plane fitting on the three-dimensional coordinates to complete inner side face reconstruction of the disassembled wheel pair;
s500, taking the first plane fitting as a reference, comparing all acquired and calculated data with the reference each time, and measuring the verticality position relation between the axle and the wheel of the wheel pair in the disassembling process in real time.
Further, each set of measuring mechanisms includes: a binocular stereo vision camera and a point laser displacement sensor; the relative positional relationship between the two cameras remains constant throughout.
Further, the step S203 includes:
a first transition coordinate system is constructed through coordinates of three points A, B and C acquired by a binocular stereoscopic vision camera:
Figure BDA0002661538900000031
Figure BDA0002661538900000032
Figure BDA0002661538900000033
the point AB is connected as the X axis, i.e.:
Figure BDA0002661538900000034
the perpendicular to the plane ABC is taken as the Z axis:
Figure BDA0002661538900000035
the perpendicular line of the plane formed by the X axis and the Z axis is taken as the Y axis:
Figure BDA0002661538900000036
wherein a is1,a2,a3Vector of the X axis, b1,b2,b3Vector of the Y axis, c1,c2,c3Is the vector of the Z axis;
the translation matrix between the coordinate system of the binocular stereoscopic vision camera and the first transition coordinate system is constructed as follows:
[t1 t2 t3 1]T；
wherein t is1The distance from the origin of the coordinate system of the binocular stereoscopic vision camera to the ZOY plane of the first transition coordinate system is obtained; t is t2The distance from the origin of the coordinate system of the binocular stereo vision camera to the ZOX plane of the first transition coordinate system; t is t3The distance from the origin of the coordinate system of the binocular stereoscopic vision camera to the XOY plane of the first transition coordinate system;
the calculation method comprises the following steps:
Figure BDA0002661538900000037
Figure BDA0002661538900000038
Figure BDA0002661538900000039
the rotation matrix is calculated as:
Figure BDA00026615389000000310
wherein alpha is1The direction cosine of the X axis of the coordinate system of the binocular stereo vision camera and the X axis of the first transition coordinate system; alpha is alpha2The direction cosine of the Y axis of the coordinate system of the binocular stereo vision camera and the X axis of the first transition coordinate system; alpha is alpha3The direction cosine of the Z axis of the coordinate system of the binocular stereo vision camera and the X axis of the first transition coordinate system;
β1,β2,β3,γ1,γ2,γ3respectively cosine of X-axis, Y-axis and Z-axis of a coordinate system of the binocular stereoscopic vision camera and cosine of Y-axis and Z-axis directions of a first transition coordinate system;
calculation mode of rotation matrix:
Figure BDA0002661538900000041
Figure BDA0002661538900000042
Figure BDA0002661538900000043
obtaining the relation between the coordinate system of the binocular stereo vision camera and the first transition coordinate system:
Figure BDA0002661538900000044
further, the step S204 includes:
and (3) constructing a second transition coordinate system through three-point coordinates A ', B ' and C ' under the coordinate system of the laser tracker:
Figure BDA0002661538900000045
Figure BDA0002661538900000046
Figure BDA0002661538900000047
the point a 'B' is connected as X axis, i.e.:
Figure BDA0002661538900000048
the perpendicular to the plane a ' B ' C ' is taken as the Z axis, i.e.:
Figure BDA0002661538900000049
the perpendicular of the plane formed by the X axis and the Z axis is taken as the Y axis, namely:
Figure BDA00026615389000000410
wherein a is1',a2',a3' vector of X-axis, b1',b2',b3' vector of Y-axis, c1',c2',c3' is the vector of the Z axis;
and constructing a translation matrix between the coordinate system of the laser tracker and the second transition coordinate system as follows:
[t1' t2' t3' 1]T
wherein (t)1' t2' t3') coordinates of the origin of the second transition coordinate system in the laser tracker;
the calculation method comprises the following steps:
t1'＝x1d
t2'＝y1d
t3'＝z1d
and (3) calculating a rotation matrix, wherein the required matrix is as follows:
Figure BDA0002661538900000051
wherein alpha is1' is the direction cosine of the X axis of the second transition coordinate system and the X axis of the laser tracker coordinate system; alpha is alpha2' is the direction cosine of the Y axis of the second transition coordinate system and the X axis of the coordinate system of the laser tracker coordinate system; alpha is alpha3' is the direction cosine of the Z axis of the second transition coordinate system and the X axis of the laser tracker coordinate system; beta is a1',β2',β3',γ1',γ2',γ3' are respectively the X axis and the Y axis of a second transition coordinate system, and the Y axis and Z axis direction cosines between the Z axis and the coordinate system of the laser tracker;
calculation mode of rotation matrix:
Figure BDA0002661538900000052
Figure BDA0002661538900000053
Figure BDA0002661538900000054
the rotation and translation matrix T between the second transition coordinate system and the laser tracker coordinate system can be obtained2：
Figure BDA0002661538900000055
Further, the step S205 includes:
calculating to obtain a rotation translation matrix between a coordinate system of the binocular stereoscopic vision camera and a coordinate system of the laser tracker;
Figure BDA0002661538900000061
wherein (x)Binocular，yBinocular，zBinocular) As the coordinates of any point in the coordinate system of binocular stereo vision, (x)Laser，yLaser，zLaser) The corresponding coordinates of the point in the laser tracker coordinate system.
Further, the step S400 includes:
s401, reconstructing by a binocular stereo vision camera, and calculating three-dimensional point cloud data (x) of the inner side surface of the wheel1,y1,z1)，(x2,y2,z2)，(x3,y3,z3)...(xi,yi,zi)
S402, according to the three-dimensional point cloud data and a plane fitting equation: ax + by + cz + d is 0, the distance between the point and the plane is calculated, and an objective function is constructed; wherein a, b, c and d are all unknown plane parameters;
the objective function is:
Figure BDA0002661538900000062
obtaining optimal solution of a, b, c and d and minimum value by bat algorithm
Figure BDA0002661538900000063
In a second aspect, an embodiment of the present invention further provides a system for dynamically measuring wheel pair verticality, including: the system comprises a laser tracker, a measuring mechanism, a fixing mechanism and a computing terminal;
the fixing mechanism is used for fixing the measuring mechanism on the wheel set axle;
the laser tracker is used for calibrating the measurement data of a plurality of groups of measurement mechanisms in the same laser tracker coordinate system;
the measuring mechanism and the laser tracker are respectively in communication connection with a computing terminal;
the computing terminal is used for executing the method for dynamically measuring the wheel pair verticality in the embodiment.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
according to the method for dynamically measuring the wheel pair verticality, provided by the embodiment of the invention, the verticality in the wheel pair disassembling process is measured and calculated in real time by using the measuring mechanism arranged on the axle of the wheel pair and the laser tracker as an auxiliary device in a relative measurement mode, so that the method is beneficial to exploring the generation reason of the damage of the interference fit contact surface of the wheel pair and revealing the influence rule of factors such as tool equipment and process parameters on the damage of the contact surface of the wheel pair;
in addition, the invention provides a judgment basis for researching and developing an online detection method and equipment for the damage of the interference fit surface of the wheel set, solving the technical problems of detection and judgment of the scratch damage of the interference fit contact surface of the wheel set in the production process and the like; the method lays a technical foundation for actually solving and making the prevention measures of the damage of the wheels to the contact surfaces of the high-speed train, evaluating the repairability of the wheel sets and the like.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a dynamic measurement method for wheel pair perpendicularity according to an embodiment of the invention;
fig. 2 is an overall measurement diagram of a pair of wheels to be measured according to an embodiment of the present invention;
fig. 3 is a structural diagram of a pair of wheels to be tested according to an embodiment of the present invention;
FIG. 4 is a partial measurement diagram of a wheel pair under test provided by an embodiment of the present invention;
FIG. 5 is a schematic view of a measuring mechanism and a fixing mechanism provided in an embodiment of the present invention;
FIG. 6 is a front view of a measurement mechanism provided by an embodiment of the present invention;
fig. 7 is a calibration diagram of a binocular camera and a laser tracker provided in an embodiment of the present invention;
FIG. 8 is a graph of laser tracker data compensation provided by an embodiment of the present invention;
FIG. 9 is a diagram of a coordinate system transformation provided by an embodiment of the present invention;
FIG. 10 is a system configuration diagram for dynamic measurement of wheel pair verticality according to an embodiment of the present invention;
in the drawings: 1-wheel set disassembling machine, 2-inner side surface of wheel, 3-wheel set axle, 4-measuring mechanism, 5-fixing mechanism, 6-calibration plate, 7-laser tracker and 8-computing terminal.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Example 1:
the embodiment of the invention provides a method for dynamically measuring wheel pair verticality, which comprises the following steps of referring to fig. 1:
s100, carrying out coordinate system fusion on the point laser displacement sensors and the binocular stereoscopic vision cameras in each group of measuring mechanisms, converting data collected by the point laser displacement sensors into the binocular stereoscopic vision cameras, and completing calibration;
s200, converting data coordinates acquired by a plurality of groups of measuring mechanisms into the same laser tracker coordinate system;
s300, when the wheel pair is disassembled, a plurality of groups of measuring mechanisms collect data at intervals of preset time and perform real-time data processing; the calibrated multiple groups of measuring mechanisms are arranged on a wheel pair axle to be disassembled in the wheel pair disassembling machine;
s400, registering the images acquired by the binocular stereoscopic vision camera to obtain three-dimensional coordinates of the binocular stereoscopic vision images, and performing primary plane fitting on the three-dimensional coordinates to complete inner side face reconstruction of the disassembled wheel pair;
s500, taking the first plane fitting as a reference, comparing all acquired and calculated data with the reference each time, and measuring the verticality position relation between the axle and the wheel of the wheel pair in the disassembling process in real time.
The method provided by the invention can measure the verticality of the wheel set in the axle disassembling process in real time, can prevent damage caused by interference fit in the wheel set disassembling process, and lays a technical foundation for actually solving and making the prevention measures of damage of the wheels of the high-speed train to the contact surface, evaluating the repairability of the wheel set and the like.
The method for dynamically measuring the perpendicularity of the wheel pair provided by the invention is illustrated by the following more detailed embodiment.
In specific implementation, referring to fig. 2-6, the measuring mechanism 4 mainly adopts four sets of sensors, and the measuring mechanism 4 is fixed on the wheel set axle 3, and the measured object is mainly the inner side surface 2 of the wheel. The wheel set is arranged on the axle center positioning device of the wheel set disassembling machine 1. Each group of sensors mainly comprises a point laser displacement sensor and two cameras (hereinafter referred to as double-sided cameras), the relative position relation between the two cameras is kept unchanged all the time, and the sensors mainly detect the inner side surfaces 2 of the wheels.
The binocular stereoscopic vision camera in the measuring mechanism 4 is calibrated by adopting a calibration plate 6, as shown in fig. 7, three perforated circles are arranged on the calibration plate 6, as shown in fig. 8, the diameter of the circle is d1, when the three perforated circles are calibrated within the visual range of the camera, the binocular stereoscopic vision camera firstly extracts three circle centers, and then a target ball with the radius of 19.05mm of a laser tracker replaces three holes to complete compensation, so that calibration is completed. And converting the three-dimensional data acquired by the final binocular stereoscopic vision camera into a laser tracker coordinate system.
The fixing mechanism 5 includes: the measuring mechanism 4 is combined with the fixing mechanism 5 when being arranged on the wheel pair axle 3 and is fastened by a bolt connection, so that the vibration in the moving process is prevented. The measuring mechanism 4 starts to work in the disassembling process of the wheel set withdrawal machine, collects data once every certain time, and carries out real-time processing to finish the verticality measurement.
Before detection, firstly, calibration is carried out, the point laser displacement sensor and the binocular stereoscopic vision camera are calibrated in the same coordinate system, then coordinate relation conversion between the 4 groups of measuring mechanisms and the laser tracker is completed, and data collected by the 4 groups of measuring mechanisms are displayed in the coordinate system of the laser tracker.
Before the wheel set disassembling process, the measuring mechanism 4 is fixedly installed on a wheel set axle 3, after the wheel set disassembling preparation process of workers is completed, measurement is started, when the wheels and the axle start to move, the measuring mechanism 4 starts to measure, a binocular stereo vision camera and a point laser displacement sensor start to operate, the data acquired for the first time are acquired once every certain time, plane fitting is carried out on the data acquired for the first time, a plane fitting equation is constructed, the data are used as verticality standards of dynamic measurement in the wheel set disassembling process, the acquired data are compared with the data, the verticality position relation between the axle and the wheels in the disassembling process of the wheel set is measured in real time, and the dynamic measurement of the verticality is completed.
The specific detection steps are as follows:
(1) firstly, the point laser displacement sensor and the binocular stereoscopic vision camera are fused in a coordinate system, and data collected by the point laser displacement sensor are converted into the coordinate system of the binocular stereoscopic vision camera.
(2) And converting the data collected in the binocular stereo vision camera into the laser tracker, so that the coordinates of the data points in the 4 groups of measuring mechanisms are all displayed under the coordinate system of the laser tracker.
Referring to fig. 7, the calibration board is placed under the field of view of the binocular camera, and three circle centers are extracted from the acquired image and recorded as (x)1x,y1x,z1x)，(x2x,y2x,z2x)，(x3x,y3x,z3x) (three points A, B and C);
referring to fig. 8, a target ball of the laser tracker is placed on a circular hole of a calibration plate, and 3 spatial coordinate positions of the target ball on the laser tracker are obtained. Three positions of the laser tracker were subjected to a planar configuration in SA software, and since the known target ball diameter d1 was 1.5 inches (R), i.e., the radius was 19.05mm, it was calculated that this was translated downward in the direction of the plane normal by d2 to obtain new coordinates of the three points, completing the coordinate calculation of the three points on the calibration plate in the coordinate system of the laser tracker.
Setting three coordinates calculated by a laser tracker: (x)1d,y1d,z1d)，(x2d,y2d,z2d)，(x3d,y3d,z3d) (three points A ', B ' and C ').
Firstly, a first transition coordinate system is constructed through coordinates of three points under a coordinate system of a binocular stereo vision camera, and the following steps are shown in a reference figure 9:
Figure BDA0002661538900000101
Figure BDA0002661538900000102
Figure BDA0002661538900000103
the point AB is connected as the X axis, i.e.:
Figure BDA0002661538900000104
the perpendicular to the plane ABC is taken as the Z axis:
Figure BDA0002661538900000105
the perpendicular line of the plane formed by the X axis and the Z axis is taken as the Y axis:
Figure BDA0002661538900000106
wherein a is1,a2,a3Vector of the X axis, b1,b2,b3Vector of the Y axis, c1,c2,c3Is the vector of the Z axis;
calculation of translation matrix:
the required matrix is:
[t1 t2 t3 1]T
wherein t is1The distance from the origin of the coordinate system of the binocular stereoscopic vision camera to the ZOY plane of the first transition coordinate system is obtained; t is t2The distance from the origin of the coordinate system of the binocular stereo vision camera to the ZOX plane of the first transition coordinate system; t is t3The distance from the origin of the coordinate system of the binocular stereo vision camera to the XOY plane of the first transition coordinate system. The calculation method comprises the following steps:
Figure BDA0002661538900000111
Figure BDA0002661538900000112
Figure BDA0002661538900000113
calculation of the rotation matrix:
the required matrix is:
Figure BDA0002661538900000114
wherein alpha is1The direction cosine of the X axis of the coordinate system of the binocular stereo vision camera and the X axis of the first transition coordinate system; alpha is alpha2The direction cosine of the Y axis of the coordinate system of the binocular stereo vision camera and the X axis of the first transition coordinate system; alpha is alpha3The direction cosine of the Z axis of the coordinate system of the binocular stereo vision camera and the X axis of the first transition coordinate system;
β1,β2,β3,γ1,γ2,γ3respectively cosine of X-axis, Y-axis and Z-axis of a coordinate system of the binocular stereoscopic vision camera and cosine of Y-axis and Z-axis directions of a first transition coordinate system;
the calculation method comprises the following steps:
Figure BDA0002661538900000115
Figure BDA0002661538900000116
Figure BDA0002661538900000117
and obtaining a rotation and translation matrix T between the coordinate system of the binocular stereoscopic vision camera and the first transition coordinate system:
Figure BDA0002661538900000121
secondly, constructing a second transition coordinate system through three-point coordinates under the coordinate system of the laser tracker:
Figure BDA0002661538900000127
Figure BDA0002661538900000122
Figure BDA0002661538900000123
as the X-axis, Y-axis, Z-axis:
the X axis is:
Figure BDA0002661538900000124
the Z axis is as follows:
Figure BDA0002661538900000125
the Y axis is:
Figure BDA0002661538900000126
wherein a is1',a2',a3' vector of X-axis, b1',b2',b3' vector of Y-axis, c1',c2',c3' is the vector of the Z axis.
Calculation of translation matrix:
the required matrix is:
[t1' t2' t3' 1]T
the calculation method comprises the following steps:
t1'＝x1d
t2'＝y1d
t3'＝z1d
wherein (t)1't2't3') coordinates of the origin of the second transition coordinate system in the laser tracker;
calculation of the rotation matrix:
the required matrix is:
Figure BDA0002661538900000131
wherein alpha is1' is the direction cosine of the X axis of the second transition coordinate system and the X axis of the laser tracker coordinate system; alpha is alpha2' is the direction cosine of the Y axis of the second transition coordinate system and the X axis of the coordinate system of the laser tracker coordinate system; alpha is alpha3' is the direction cosine of the Z axis of the second transition coordinate system and the X axis of the laser tracker coordinate system; beta is a1',β2',β3',γ1',γ2',γ3' are respectively the X-axis and Y-axis of the second transition coordinate system, and the cosine of the Y-axis and Z-axis directions between the Z-axis and the coordinate system of the laser tracker.
The calculation method comprises the following steps:
Figure BDA0002661538900000132
Figure BDA0002661538900000133
Figure BDA0002661538900000134
the rotation and translation matrix T between the second transition coordinate system and the laser tracker coordinate system can be obtained2：
Figure BDA0002661538900000135
The conversion relation between the coordinate system of the binocular camera and the coordinate system of the laser tracker can be obtained as follows:
Figure BDA0002661538900000136
wherein (x)Binocular，yBinocular，zBinocular) As the coordinates of any point in the coordinate system of binocular stereo vision, (x)Laser，yLaser，zLaser) The corresponding coordinates of the point in the laser tracker coordinate system.
(3) And (3) mounting the measuring mechanism 4 on the wheel set axle 2 needing to be disassembled in the withdrawal machine, and waiting for the wheel set to be disassembled.
(4) When the wheel set starts to be disassembled, 4 groups of binocular stereoscopic vision cameras and the point laser displacement sensor start to acquire data, and in the process of disassembling the wheel set, the measuring mechanism 4 acquires data once every certain time and carries out real-time data processing. For example, to ensure the calculation accuracy, the time interval of the acquisition may be 0.1S.
(5) And registering the binocular images, finding corresponding points and completing the conversion of the binocular images into three-dimensional coordinates.
(6) And carrying out plane fitting on the acquired data to complete reconstruction of the inner side surface of the coupling pair disassembling wheel.
Calculating three-dimensional point cloud data (x) of the inner side surface of the wheel through binocular reconstruction1,y1,z1)，(x2,y2,z2)，(x3,y3,z3)...(xi,yi,zi)
According to the plane equation: ax + by + cz + d is 0;
firstly, calculating the distance between a point and a plane, taking the sum of absolute values of the data as an objective function, wherein a, b, c and d are unknown plane parameters, and obtaining the optimal solution of a, b, c and d and the minimum value through a bat algorithm
Figure BDA0002661538900000141
Figure BDA0002661538900000142
Firstly, all bats in the population produce a group of initial solutions in a multidimensional space in a random flight mode, and initialization is carried out through a fitness function. Wherein the maximum pulse volume is set and the maximum pulse rate is R0Enhancement of search frequency A0Coefficient gamma, search pulse frequency range [ f min, f max]Where the attenuation coefficient of the volume is α, the search precision ∈ (or the number of iterations is iter _ max) is set.
② position x of individual batiAnd (4) performing movement position transformation in a given movement range, calculating a fitness function value according to the position, and comparing the quality of the solution to find the current best x.
And thirdly, the bats in the population are searched and updated by the target. Wherein the evolution process changes to:
fi＝f min+(f max-f min)*β (1)
vi^t＝vi^(t-1)+(xi^t-x')*fi (2)
xi^t＝xi^(t-1)+vi^(t) (3)
wherein in the formula, beta belongs to [0, 1 ]]Randomly generated discrete data in the region; f. ofiRepresenting the search frequency of the first bat in the population, (f)i∈[f min,f max])；vi^t,viThe value of ^ (t-1) is respectively representing the speed of the ith bat in the population at two different moments of t and t-1; and xi^t,xiThe ^ (t-1) respectively represents different spatial positions of the ith bat in the population at two continuous moments of t and t-1; and x is the optimal solution obtained by calculating and comparing all the individual bats in the current population by adopting a fitness function.
Comparing randomly generated numbers rand, if rand > r, transforming the position of the individual bat in the population to obtain a new fitness value (current optimal solution), and if the current solution is out of range (beyond the set range), processing the fitness value again.
Fifthly, the individual bat generates random number rand again, if the rand is generated at the moment<AiAnd f (x)i) If f (x), updating the position by the individual bats according to the step 4 to generate a new solution gradually approaching to the optimal solution, and updating according to the following formula:
Ai^(t+1)＝αAi^(t) (4)
ri^(t+1)＝R0[1-exp(-γt)] (5)
sixthly, sequencing the positions of all the individual bats through the optimal solution, and searching and recording the optimal fitness value (position) of the current bats.
And seventhly, repeating the step II, the step III, the step IV and the step V until the precision condition (or the set iteration times) is met and recording the optimal value at the moment.
And (6) obtaining an optimal fitness value (optimal solution) of the bats of the population through a fitness function, and recording and outputting the optimal fitness value.
It can be known from the formulas (3), (4) and (5) of the bat algorithm implementation process that two important parameters, namely the attenuation coefficient alpha of the volume and the enhancement coefficient of the search frequency, exist in the bat algorithm, and the two parameters have great influence on the algorithm performance. The key for improving the convergence speed and optimizing precision of the bat algorithm is how to reasonably set the values of the parameters alpha and gamma. Therefore, the parameters α and γ need to be adjusted repeatedly and continuously to obtain appropriate values.
(7) In the first fitting of the plane, assume that the plane is a1x+b1y+c1z+d 10, i.e. the normal vector (a) of the plane1,b1,c1) Considered as the direction vector of the axis.
(8) In the real-time processing process, plane reconstruction is carried out on the acquired data by using a bat algorithm, the data acquired for the first time is used as a reference, and then all the acquired and calculated data are compared with the reference, so that the verticality position relation between the axle and the wheel of the wheel pair in the unloading process can be measured in real time. And finishing the dynamic measurement of the verticality in the wheel set withdrawal process.
Example 2:
the embodiment of the invention also provides a system for dynamically measuring the wheel pair verticality, which comprises the following components with reference to fig. 10: the device comprises a measuring mechanism 4, a fixing mechanism 5, a laser tracker 7 and a computing terminal 8;
first, the measuring mechanism is calibrated by the calibration plate 6. The calibration plate is distributed with n known circular holes, the circle centers of which are as follows: h1、H2、H3......Hn(ii) a For the convenience of calculation, the calibration plate with 3 round holes is selected, wherein the 3 round holes are not on the same straight line. Then, the center coordinates of the 3 round holes are obtained through a binocular stereo vision camera and the laser tracker, the target ball of the laser tracker 7 is placed on the round hole of the calibration plate 6, and 3 space coordinate positions of the target ball on the laser tracker 7 are obtained.
The fixing mechanism 5 comprises a claw arm and a base, the fixing mechanism 5 is connected with the measuring mechanism 4 through the claw arm, and the measuring mechanism 4 is fixed at one end and/or two ends and/or the middle of the wheelset axle 3 through the base.
The measuring mechanism 4 includes: the system comprises a binocular stereoscopic vision camera and a point laser displacement sensor, wherein a measuring mechanism 4 and a laser tracker 7 are respectively in communication connection with a computing terminal 8; for example, the measuring device 4 and the laser tracker 7 may be communicatively connected to a computing terminal 8 via a router, respectively. The laser tracker 7 is used for calibrating the measurement data of a plurality of groups of measurement mechanisms 4 in the same laser tracker coordinate system.
The computing terminal 8 is configured to perform the following steps:
s100, carrying out coordinate system fusion on the point laser displacement sensors and the binocular stereoscopic vision cameras in each group of measuring mechanisms, converting data collected by the point laser displacement sensors into the binocular stereoscopic vision cameras, and completing calibration;
s200, converting data coordinates acquired by a plurality of groups of measuring mechanisms into the same laser tracker coordinate system;
s300, when the wheel pair is disassembled, a plurality of groups of measuring mechanisms collect data at intervals of preset time and perform real-time data processing; the calibrated multiple groups of measuring mechanisms are arranged on a wheel pair axle to be disassembled in the wheel pair disassembling machine;
s400, registering the images acquired by the binocular stereoscopic vision camera to obtain three-dimensional coordinates of the binocular stereoscopic vision images, and performing primary plane fitting on the three-dimensional coordinates to complete inner side face reconstruction of the disassembled wheel pair;
s500, taking the first plane fitting as a reference, comparing all acquired and calculated data with the reference each time, and measuring the verticality position relation between the axle and the wheel of the wheel pair in the disassembling process in real time.
In this embodiment, 4 sets of point laser displacement sensors and binocular cameras can be fixed on the axle of the wheel set, the laser tracker is used as an auxiliary device, the inner side surface plane of the wheel is continuously reconstructed by using a relative measurement mode, and the included angles between the axis of the first set of plane and all planes are calculated to complete the measurement of the verticality of the wheel set in the process of unloading.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (8)

1. A method for dynamically measuring wheel pair verticality, comprising:
s100, carrying out coordinate system fusion on the point laser displacement sensors and the binocular stereoscopic vision cameras in each group of measuring mechanisms, converting data collected by the point laser displacement sensors into the binocular stereoscopic vision cameras, and completing calibration;
s200, converting data coordinates acquired by a plurality of groups of measuring mechanisms into the same laser tracker coordinate system;
s300, when the wheel pair is disassembled, a plurality of groups of measuring mechanisms collect data at intervals of preset time and perform real-time data processing; the calibrated multiple groups of measuring mechanisms are arranged on a wheel pair axle to be disassembled in the wheel pair disassembling machine;
s400, registering the images acquired by the binocular stereoscopic vision camera to obtain three-dimensional coordinates of the binocular stereoscopic vision images, and performing primary plane fitting on the three-dimensional coordinates to complete inner side face reconstruction of the disassembled wheel pair;
s500, taking the first plane fitting as a reference, comparing all acquired and calculated data with the reference each time, and measuring the verticality position relation between the axle and the wheel of the wheel pair in the disassembling process in real time.
2. A method for dynamically measuring wheel pair verticality according to claim 1, wherein the step S200 comprises:
s201, placing the calibration plate in the visual field range of the binocular stereoscopic vision camera, extracting coordinates A, B and C of three central points of the acquired image, and recording the coordinates A, B and C as (x)1x,y1x,z1x)，(x2x,y2x,z2x)，(x3x,y3x,z3x)；
S202, placing a target ball of the laser tracker on circular holes of three points of a calibration plate to obtain the spatial coordinate position of the center of the target ball on the laser tracker, and translating downwards for a preset distance according to the diameter of the target ball to obtain coordinates A ', B ' and C ' of the three central points, and recording as (x)1d,y1d,z1d)，(x2d,y2d,z2d)，(x3d,y3d,z3d)；
S203, constructing a first transition coordinate system according to coordinates of three points A, B and C acquired by the binocular stereo vision camera;
s204, obtaining three-point coordinates A ', B ' and C ' of three central points according to the laser tracker, and constructing a second transition coordinate system;
and S205, obtaining a conversion relation between a coordinate system of the binocular stereo vision camera and a coordinate system of the laser tracker according to the conversion relation between the first transition coordinate system and the second transition coordinate system, and realizing the conversion of data coordinates acquired by a plurality of groups of measuring mechanisms into the same coordinate system of the laser tracker.
3. A method for dynamically measuring wheel pair verticality according to claim 1, wherein each set of measuring mechanisms comprises: a binocular stereo vision camera and a point laser displacement sensor; the relative positional relationship between the two cameras remains constant throughout.
4. A method for dynamically measuring wheel pair verticality according to claim 2, wherein the step S203 comprises:
a first transition coordinate system is constructed through coordinates of three points A, B and C acquired by a binocular stereoscopic vision camera:
Figure FDA0003188723530000021
Figure FDA0003188723530000022
Figure FDA0003188723530000023
the point AB is connected as the X axis, i.e.:
Figure FDA0003188723530000024
the perpendicular to the plane ABC is taken as the Z axis:
Figure FDA0003188723530000025
the perpendicular line of the plane formed by the X axis and the Z axis is taken as the Y axis:
Figure FDA0003188723530000026
wherein a is1,a2,a3Vector of the X axis, b1,b2,b3Vector of the Y axis, c1,c2,c3Is the vector of the Z axis;
the translation matrix between the coordinate system of the binocular stereoscopic vision camera and the first transition coordinate system is constructed as follows: [ t ] of1 t2 t3 1]T；
Wherein t is1The distance from the origin of the coordinate system of the binocular stereoscopic vision camera to the ZOY plane of the first transition coordinate system is obtained; t is t2The distance from the origin of the coordinate system of the binocular stereo vision camera to the ZOX plane of the first transition coordinate system; t is t3The distance from the origin of the coordinate system of the binocular stereoscopic vision camera to the XOY plane of the first transition coordinate system;
the calculation method comprises the following steps:
Figure FDA0003188723530000027
Figure FDA0003188723530000028
Figure FDA0003188723530000031
the transformation matrix is calculated as:
Figure FDA0003188723530000032
wherein alpha is1The direction cosine of the X axis of the coordinate system of the binocular stereo vision camera and the X axis of the first transition coordinate system; alpha is alpha2The direction cosine of the Y axis of the coordinate system of the binocular stereo vision camera and the X axis of the first transition coordinate system; alpha is alpha3The direction cosine of the Z axis of the coordinate system of the binocular stereo vision camera and the X axis of the first transition coordinate system;
β1,β2,β3,γ1,γ2,γ3the X axis, the Y axis, the Z axis and the fourth axis of the coordinate system of the binocular stereo vision camera respectivelyCosine in the directions of Y axis and Z axis of a transition coordinate system;
the calculation mode of the conversion matrix is as follows:
Figure FDA0003188723530000033
Figure FDA0003188723530000034
Figure FDA0003188723530000035
obtaining the relation between the coordinate system of the binocular stereo vision camera and the first transition coordinate system:
Figure FDA0003188723530000036
5. the method for dynamically measuring wheel pair verticality according to claim 4, wherein the step S204 comprises:
and (3) constructing a second transition coordinate system through three-point coordinates A ', B ' and C ' under the coordinate system of the laser tracker:
Figure FDA0003188723530000037
Figure FDA0003188723530000038
Figure FDA0003188723530000039
point A 'B' connecting lineAs the X-axis, namely:
Figure FDA0003188723530000041
the perpendicular to the plane a ' B ' C ' is taken as the Z axis, i.e.:
Figure FDA0003188723530000042
the perpendicular of the plane formed by the X axis and the Z axis is taken as the Y axis, namely:
Figure FDA0003188723530000043
wherein a is1',a2',a3' vector of X-axis, b1',b2',b3' vector of Y-axis, c1',c2',c3' is the vector of the Z axis;
and constructing a translation matrix between the coordinate system of the laser tracker and the second transition coordinate system as follows:
[t1't2't3'1]T
wherein (t)1't2't3') coordinates of the origin of the second transition coordinate system in the laser tracker;
the calculation method comprises the following steps:
t1'＝x1d
t2'＝x2d
t3'＝x3d
and (3) calculating a conversion matrix, wherein the required matrix is as follows:
Figure FDA0003188723530000044
wherein alpha is1' is the direction cosine of the X axis of the second transition coordinate system and the X axis of the laser tracker coordinate system; alpha is alpha2' is the direction cosine of the Y axis of the second transition coordinate system and the X axis of the coordinate system of the laser tracker coordinate system; alpha is alpha3' is the direction cosine of the Z axis of the second transition coordinate system and the X axis of the laser tracker coordinate system;β1',β2',β3',γ1',γ2',γ3' are respectively the X axis and the Y axis of a second transition coordinate system, and the Y axis and Z axis direction cosines between the Z axis and the coordinate system of the laser tracker;
the calculation mode of the conversion matrix is as follows:
Figure FDA0003188723530000045
Figure FDA0003188723530000046
Figure FDA0003188723530000051
the rotation and translation matrix T between the second transition coordinate system and the laser tracker coordinate system can be obtained2：
Figure FDA0003188723530000052
6. A method for dynamically measuring wheel pair verticality according to claim 5, wherein the step S205 comprises:
calculating to obtain a rotation translation matrix between a coordinate system of the binocular stereoscopic vision camera and a coordinate system of the laser tracker;
Figure FDA0003188723530000053
wherein (x)Binocular，yBinocular，zBinocular) As the coordinates of any point in the coordinate system of binocular stereo vision, (x)Laser，yLaser，zLaser) Then the point is in the laser tracker coordinate systemThe corresponding coordinates in (1).
7. A method for dynamically measuring wheel pair verticality according to claim 1, wherein the step S400 comprises:
s401, reconstructing by a binocular stereo vision camera, and calculating three-dimensional point cloud data (x) of the inner side surface of the wheel1,y1,z1)，(x2,y2,z2)，(x3,y3,z3)...(xi,yi,zi)
S402, according to the three-dimensional point cloud data and a plane fitting equation: ax + by + cz + d is 0, the distance between the point and the plane is calculated, and an objective function is constructed; wherein a, b, c and d are all unknown plane parameters;
the objective function is:
Figure FDA0003188723530000054
obtaining optimal solution of a, b, c and d and minimum value by bat algorithm
Figure FDA0003188723530000055
8. A system for dynamic measurement of wheel pair perpendicularity, comprising: the system comprises a laser tracker, a measuring mechanism, a fixing mechanism and a computing terminal;
the fixing mechanism is used for fixing the measuring mechanism on the wheel set axle;
the laser tracker is used for calibrating the measurement data of a plurality of groups of measurement mechanisms in the same laser tracker coordinate system;
the measuring mechanism and the laser tracker are respectively in communication connection with a computing terminal;
the computing terminal is used for executing the method for dynamically measuring the perpendicularity of the wheel pair according to claim 1.
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