CN113237424A - Wheel position measuring method for urban rail vehicle bogie - Google Patents
Wheel position measuring method for urban rail vehicle bogie Download PDFInfo
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- CN113237424A CN113237424A CN202110469817.3A CN202110469817A CN113237424A CN 113237424 A CN113237424 A CN 113237424A CN 202110469817 A CN202110469817 A CN 202110469817A CN 113237424 A CN113237424 A CN 113237424A
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention provides a wheel position measuring method for an urban rail vehicle bogie, wherein a measuring system has X, Y, Z axial direction moving freedom degrees, 2 horizontal laser ranging sensors are arranged on one outward side of each wheel on the measuring system, 1 vertical laser ranging sensor is arranged above the wheels, 2 horizontal laser ranging sensors measure the mounting gap between a wheel pair and a frame by detecting the distance between the inner edge of the wheel and a reference surface, a method for measuring the diagonal length by measuring the absolute position of the circle center of the wheel in a coordinate is adopted for measuring the distance between two wheels and the diagonal, and the measuring precision can be improved compared with a measuring scheme of the highest point of a tread of the wheel.
Description
Technical Field
The invention relates to the technical field of urban rail vehicle measurement, in particular to a wheel position measuring method for an urban rail vehicle bogie.
Background
The existing circle profile measurement methods include a rotation axis method, a three-point method, a two-point method, a projection method, a coordinate method and the like, wherein the rotation axis method is to compare a circle track (an ideal circle) formed by one rotation of a shaft in a precision axis system with a measured circle, and the method is commonly used in a metering unit. The two-point method is mainly used for detecting the outer diameter of a part on site, but is difficult to measure the coordinate position of the circle center of the part. The projection method is usually used for measuring on a projector, compares the outline image of the measured circle with the concentric circle drawn on the projection screen, and is mostly used for detecting small parts. The coordinate method is generally measured on a three-coordinate measuring machine with an electronic computer. And measuring coordinate values x and y of a plurality of points on the measured circle according to a preselected rectangular coordinate system, and calculating according to a preset program through an electronic computer. The three-point method usually places the workpiece to be measured in a V-block for measurement.
In order to ensure the overall performance of the bogie, after the framework and the wheel set are formed, the gap between the framework assembly and the wheel set axle box assembly of the bogie of the urban rail vehicle needs to be detected, the diagonal line of the bogie needs to be detected, and the relative position between the framework assembly and the wheel set axle box assembly needs to be adjusted. Due to the fact that the bogie is large in size, the measuring space is small, the measuring reference is a virtual point and the like, manual measurement and adjustment are very difficult at present. Therefore, the automatic measurement and adjustment technology of the bogie size is a technical difficulty which needs to be overcome.
In the field of urban rail vehicles, the positions of wheels need to be measured, and the positions of the wheels need to be manually adjusted according to measured data, but the measurement precision is not high at present, so that a measurement method needs to be provided to improve the measurement precision.
Disclosure of Invention
Aiming at the existing problems, the invention provides a wheel position measuring method for an urban rail vehicle bogie, which can improve the measurement precision. Aiming at the characteristics that the size of the bogie is large and the measured size is the distance between spatial point positions, the measuring system adopts the principle of indirect measurement, the method needs to solve the measured value according to a certain mathematical model and then obtain the numerical value of the distance to be measured, and the system develops an algorithm library so as to realize data processing such as interference signal filtering, coordinate transformation, shape fitting, mathematical operation and the like of the spatial point position coordinates.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a wheel position measuring method for an urban rail vehicle bogie is characterized in that four groups of sensors are arranged on a measuring system and respectively correspond to four wheels, each group of sensors comprises a sensor S1, a sensor S2 and a sensor S3, the sensor S1 is a vertical laser ranging sensor, the sensor S2 and the sensor S3 are both horizontal laser ranging sensors, a sensor S1 is arranged above each wheel, a sensor S2 and a sensor S3 are arranged on the outward side of each wheel, a sensor S2 is arranged right above the sensor S3, a sensor S1 measures the x value and the z value of a wheel measuring point, the sensor S3 measures the y value of the wheel measuring point, namely coordinate values (x, y and z) of the measuring point can be measured, after each wheel measures three points, the circle center of each wheel is fitted, and circle center coordinates (x1, y1, z1), (x2, y2, z2), (x 39 3, y3, z3), (x4, y4, z4), sensor S2 and sensor S3 measure the distance of the inner edge of the wheel from the reference plane;
two diagonals are formed between the four wheels, namely a diagonal 1 and a diagonal 2, and the length of the diagonal 1 is as follows:
the length of diagonal 2 is:
the horizontal laser ranging sensor and the vertical laser ranging sensor transmit detection data and display the detection data on a screen, and the position of the wheel is manually adjusted according to the measured position data until the screen displays that the measurement data enter an acceptable range.
Further, the sensor S1 is connected to the measurement system through a sliding mechanism, the sensor S1 is at an intermediate position at the initial position of the sliding mechanism, that is, measures coordinates of point B, the sensor S1 moves one position to the left along the moving direction of the wheel pair through the sliding mechanism to measure coordinates of point a, and moves one position to the right to measure coordinates of point C, the sensor S1 measures vertical distances from the sensor S1 to the outer wheel arc points of each wheel at three points A, B, C, and the three-point method is used for fitting the circle center.
Compared with the prior art, the wheel position measuring method for the urban rail vehicle bogie has the following advantages: the measurement precision is improved, and the system algorithm realizes data processing of interference signal filtering, coordinate transformation, shape fitting, mathematical operation and the like of the space point location coordinates.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall construction of a bogie;
FIG. 2 is a schematic layout of laser ranging sensors within a bogie;
FIG. 3 is a schematic view of a distance measurement between an inner edge of a wheel and a reference plane;
FIG. 4 is a schematic view of a three-point center fit;
FIG. 5 is a schematic view of a bogie and measured coordinate attitude;
FIG. 6 is a flow chart of adjusting the position of the bogie wheel set;
FIG. 7 is a laser measurement flow chart of a laser range sensor;
description of reference numerals:
s1-vertical laser ranging sensor; s2-horizontal laser ranging sensor; s3-horizontal laser ranging sensor; w-wheel; h-the spacing of two wheel pairs; l-the distance between the two wheels in a single wheel pair.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1-7, a wheel position measuring method for urban rail vehicle bogie, the measuring system is installed with four sets of sensors, each set of sensors corresponds to four wheels, each set of sensors includes sensor S1, sensor S2 and sensor S3, sensor S1 is a vertical laser distance measuring sensor, sensor S2 and sensor S3 are both horizontal laser distance measuring sensors, sensor S1 is disposed above each wheel, sensor S2 and sensor S3 are disposed on the outward side of each wheel, sensor S2 is disposed right above sensor S3, sensor S1 measures the x value and the z value of a wheel measuring point, sensor S3 measures the y value of the wheel measuring point, that is, the coordinate values (x, y, z) of the measuring point can be measured, after each wheel measures three points, the circle center of each wheel can be fitted, and the circle center coordinates (x1, y1, z1) of the four wheels can be obtained, (x2, y2, z2), (x3, y3, z3), (x4, y4, z4), sensor S2 and sensor S3 measure the distance of the inner edge of the wheel from the reference plane;
two diagonals are formed between the four wheels, namely a diagonal 1 and a diagonal 2, and the length of the diagonal 1 is as follows:
the length of diagonal 2 is:
the horizontal laser ranging sensor and the vertical laser ranging sensor transmit detection data and display the detection data on a screen, and the position of the wheel is manually adjusted according to the measured error data until the screen displays that the measurement data enter an acceptable range.
The sensor S1 is connected to the measuring system through a sliding mechanism, the sensor S1 is at the middle position of the initial position of the sliding mechanism, namely, the coordinate of a point B is measured, the sensor S1 moves to the left by one position along the moving direction of the wheel pair through the sliding mechanism to measure the coordinate of a point A and moves to the right by one position to measure the coordinate of a point C, the sensor S1 respectively measures the vertical distance from the sensor S1 to the outer wheel arc point of each wheel at three points A, B, C, and the three-point method is utilized to fit the circle center. In actual measurement, the measurement order set by the sensor S1 at the three points A, B, C may not be limited to this one, but the measurement order of each subsequent time may not be changed as long as one of the measurement orders is set.
Distance between wheel inner edge and reference plane: as shown in fig. 2 and 3, the sensor S2 and the sensor S3 measure the spatial positions of the point E and the point G, i.e., the lengths of K1 and K2, respectively, and then the distance between the inner edge of the wheel and the reference plane can be obtained when K1-K2 is the distance of EG along the Y-axis direction of the coordinate system. The sensor S3 has two functions, one is to measure the distance between the inner edge of the wheel and the reference surface by matching with the sensor S2, and the other is to measure the arc surface of the wheel pair wheel by matching with the sensor S1, in order to obtain the coordinate value of three points ABC by the circle center O.
The distance between the two wheels on the diagonal is measured by measuring the absolute position of the circle center in coordinates, and compared with a scheme of measuring the highest point of the wheel tread, the method can improve the measurement precision.
The horizontal laser ranging sensor and the vertical laser ranging sensor transmit detection data and display the detection data on a screen, and the position of the wheel is manually adjusted according to the measured error data until the screen displays that the measurement data enter an acceptable range.
The wheel center detection in the system adopts a three-point normal circle fitting scheme based on a non-contact laser sensor, the basic principle is that the coordinate of the center of a circle can be obtained by measuring the coordinate positions of three points on the wheel tread and substituting the coordinate positions into a circular equation, the mathematical basis of the algorithm is that three points which are not on the same straight line uniquely determine a circle, namely, the algorithm has uniqueness on the mathematical calculation data, and the result value is determined.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (2)
1. A wheel position measuring method for an urban rail vehicle bogie is characterized by comprising the following steps: four groups of sensors are arranged on the measuring system and respectively correspond to four wheels, each group of sensors comprises a sensor S1, a sensor S2 and a sensor S3, the sensor S1 is a vertical laser ranging sensor, the sensor S2 and the sensor S3 are both horizontal laser ranging sensors, the sensor S1 is arranged above each wheel, the sensor S2 and the sensor S3 are arranged on the outward side of each wheel, the sensor S2 is positioned right above the sensor S3, the sensor S1 measures the x value and the z value of a wheel measuring point, the sensor S3 measures the y value of the wheel measuring point, coordinate values (x, y and z) of the measuring points can be measured, after three points are measured by each wheel, the center of each wheel is fitted, and the center coordinates (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4) of the four wheels are respectively obtained, and the distance between the inner edge of each wheel and a reference plane is measured by the sensor S2 and the sensor S3;
two diagonals are formed between the four wheels, namely a diagonal 1 and a diagonal 2, and the length of the diagonal 1 is as follows:
the length of diagonal 2 is:
the horizontal laser ranging sensor and the vertical laser ranging sensor transmit detection data and display the detection data on a screen, and the position of the wheel is manually adjusted according to the measured error data until the screen displays that the measurement data enter an acceptable range.
2. The wheel position measuring method for an urban rail vehicle bogie according to claim 1, characterized in that: the sensor S1 is connected to the measuring system through a sliding mechanism, the sensor S1 is at the middle position of the initial position of the sliding mechanism, namely, the coordinate of a point B is measured, the sensor S1 moves to the left by one position along the moving direction of the wheel pair through the sliding mechanism to measure the coordinate of a point A and moves to the right by one position to measure the coordinate of a point C, the sensor S1 respectively measures the vertical distance from the sensor S1 to the outer wheel arc point of each wheel at three points A, B, C, and the three-point method is utilized to fit the circle center.
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| CN202110469817.3A CN113237424A (en) | 2021-04-28 | 2021-04-28 | Wheel position measuring method for urban rail vehicle bogie |
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| CN202110469817.3A CN113237424A (en) | 2021-04-28 | 2021-04-28 | Wheel position measuring method for urban rail vehicle bogie |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114964073A (en) * | 2022-07-18 | 2022-08-30 | 北京阿帕科蓝科技有限公司 | Wheel coplanarity testing method and system based on two-wheeled vehicle and storage medium |
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2021
- 2021-04-28 CN CN202110469817.3A patent/CN113237424A/en active Pending
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| CN106769116A (en) * | 2016-12-03 | 2017-05-31 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of high ferro bogie on-line automatic detection device |
| CN107117188A (en) * | 2017-04-21 | 2017-09-01 | 南京理工大学 | The vertically arranged tramcar wheel footpath on-line measuring device of linear sensor and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114964073A (en) * | 2022-07-18 | 2022-08-30 | 北京阿帕科蓝科技有限公司 | Wheel coplanarity testing method and system based on two-wheeled vehicle and storage medium |
| CN114964073B (en) * | 2022-07-18 | 2022-11-11 | 北京阿帕科蓝科技有限公司 | Wheel coplanarity testing method and system based on two-wheeled vehicle and storage medium |
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