CN114264491B - Rail vehicle wheel set parameter detection system - Google Patents
Rail vehicle wheel set parameter detection system Download PDFInfo
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Abstract
The invention provides a wheel set parameter detection system of a railway vehicle, wherein a trackside detection unit comprises a three-dimensional area array unit, a line scanning unit, an area array positioning unit and a line scanning positioning unit; the linear scanning unit is used for collecting wheel point cloud data; when a vehicle passes through, the three-dimensional area array unit and the three-dimensional line scanning module are not contacted with wheels; the area array positioning unit and the line scanning positioning unit are respectively used for controlling the operation of the starting area array unit and the line scanning unit; the control unit acquires three-dimensional imaging data acquired by the line scanning unit, performs wheel set full circumference three-dimensional data reconstruction, and analyzes wheel tread scratch and outer contour curve information based on the reconstructed data; and analyzing the size of the wheel set based on the data acquired by the three-dimensional area array unit. The system is an integrated system, and is compatible with the functions of the existing wheel set size detection module, the wheel set tread defect dynamic image detection module, the wheel set out-of-roundness scratch detection module monitoring and the like. The number of required cameras can be reduced, and the requirements on the installation site area and the distance between straight lines can be reduced.
Description
Technical Field
The invention relates to the technical field of railway vehicles, in particular to a parameter detection system for a wheel set of a railway vehicle.
Background
The current wheel set dynamic detection system mainly comprises three sets of detection modules, namely a wheel set size detection module, a wheel set tread defect dynamic image detection module and a wheel set out-of-roundness scratch detection module, and also comprises a train number identification module, a control acquisition module and other general modules.
In the prior art, the three sets of detection modules are realized based on three independent detection mechanisms.
The wheel set size detection module mainly adopts 8 CCD collection boxes, and 1 CCD camera is fixedly arranged in each CCD collection box through a mounting bracket and used for collecting the curve of the tread of the wheel. And 1 group of laser line light sources are fixedly arranged in each LD laser line light source box through a mounting bracket and used for intercepting the profile curve of the wheel so that the CCD can complete acquisition. The main principle is that a laser line light source projects to a wheel tread along a certain angle by utilizing a light screenshot image measuring technology to form a light cutoff curve containing the information of the outline dimension of the wheel, and a high-resolution area array CCD camera shoots the outline light cutoff curve of the wheel to obtain the outline profile and the key outline geometric dimension of the wheel through image acquisition and processing.
The dynamic image detection module for the wheel set tread defect mainly comprises 16 area array cameras and 16 light supplementing lamps, and the main principle is that the image shooting without dead angles for 360 degrees of one circle of the wheel set tread is realized by adopting a multi-angle shooting and high-precision control technology of a high-definition industrial camera, and the system adopts an image processing algorithm to convert a curved surface image into a plane image.
The wheel set out-of-roundness scratch detection module adopts at least 4 unilateral track contact scratch bars, and through reasonable layout, the whole circumference coverage of the wheels is ensured. The scratch detection mechanism adopts a parallelogram translational mode and is positioned on the inner side of the steel rail.
The three sets of modules independently execute respective detection functions, and the combination of the three sets of modules can realize the measurement of the critical parameters of the wheel set size (the wheel rim height, the tread abrasion, the wheel rim thickness, the QR value, the wheel set diameter, the wheel set inner side distance, the tread scratch image, the out-of-roundness scratch, the scratch depth and the like).
The disadvantages of the prior art wheel set detection system are as follows: the required detection equipment is more, and the equipment construction and installation are complex; the installation area is large; the installation site is required to be constructed with a detection shed or a light blocking wall; the equipment adopts an area array camera, so that the interference to the ambient light cannot be completely avoided; the wheel set size detection module needs to be calibrated regularly; the detection precision is not high, and the actual application effect is not obvious; the out-of-roundness detection adopts a contact mode, and has precision loss, potential safety hazard and the like.
Disclosure of Invention
The invention aims to solve one of the technical problems and provide a comprehensive railway vehicle wheel set detection system which is high in integration, few in used equipment and small in occupied area.
The technical solution adopted by the present invention is that in some embodiments of the present invention:
the rail vehicle wheel set parameter detection system comprises a rail side detection unit, a control unit, rail side communication equipment and a remote terminal, wherein the rail side communication equipment acquires detection data of the rail side detection unit and transmits the detection data to the remote terminal, and the control unit is used for controlling the rail side detection unit to work; the trackside detection unit includes:
three-dimensional area array unit: the three-dimensional area array unit comprises a plurality of area array modules, wherein each area array module comprises a laser and an area array camera, and when a vehicle passes through the area array modules, the laser and the area array camera are not contacted with wheels;
line sweep unit: the device is arranged at the front side of the three-dimensional area array unit along the advancing direction of the vehicle, comprises two groups, is symmetrically arranged at the outer sides of the tracks at two sides and is used for collecting wheel point cloud data; each group of line scanning units comprises a plurality of three-dimensional line scanning modules, the three-dimensional line scanning modules in each group are arranged at equal intervals, and the interval between the first three-dimensional line scanning module and the last three-dimensional line scanning module in each group is not smaller than the outer circumference of a single wheel, so that the line scanning units can obtain full-coverage three-dimensional imaging of the wheel set tread; when a vehicle passes through, the three-dimensional line scanning module is not contacted with the wheels;
an area array positioning unit: the device is arranged close to the three-dimensional area array unit and comprises an area array positioning device, and when the area array positioning device is detected to generate an induction signal, the area array module is controlled to start working;
line sweep positioning unit: the wire scanning device is arranged close to the wire scanning unit and comprises wire scanning positioning devices, the number of which is the same as that of single-group wire scanning modules, a plurality of wire scanning positioning devices are arranged on the same side, and each wire scanning positioning device sequentially corresponds to one three-dimensional wire scanning module; when the line scanning positioning device is sequentially detected to generate an induction signal along the running direction of the vehicle, the three-dimensional line scanning module is controlled to sequentially start to work;
the control unit is configured to: three-dimensional imaging data acquired by a line scanning unit are acquired, full circumference three-dimensional data reconstruction of wheel sets is carried out, and tread scratch and outline curve information of the wheels are analyzed based on the reconstructed data; and analyzing the size of the wheel set based on the data acquired by the three-dimensional area array unit.
In some embodiments of the present invention, each group of three-dimensional area array units includes two area array modules, and the image acquisition directions of the two area array modules are opposite to each other.
In some embodiments of the present invention, the number of the area array positioning sensors is one, and the area array positioning sensors are arranged between two area array sensors on one side.
In some embodiments of the invention, the distance between adjacent line scanning positioning devices is equal to the distance between three-dimensional line scanning modules; the first line scanning positioning device which is close to the driving direction of the vehicle is closer to the driving vehicle than the first three-dimensional line scanning module.
In some embodiments of the present invention, the line scanning positioning device and the area array positioning device each include:
wheel sensor: the device comprises two signal output lines, wherein when a wheel passes through a wheel sensor, the signal output lines output sine signal waves;
a signal processing device: is connected with the signal output line and transmits the signal to the control unit.
In some embodiments of the present invention, each three-dimensional line sweep module includes: the bracket, and the laser light source and the image collector which are arranged on the bracket at intervals; the light emitting end of the laser light source is oriented to the collecting end of the image collector, and the heights of the light emitting end and the collecting end of the laser light source are all above the sleeper.
In some embodiments of the invention, each bracket is disposed obliquely to the rail edge and the sleeper; the plurality of brackets in the same group of positioning units are arranged in parallel.
In some embodiments of the present invention, the image collector is located at an end closer to the track than the laser light source, and the light exit point of the laser light source is located above the lens of the image collector.
In some embodiments of the invention, the vehicle number detection device further comprises a vehicle number identification module which is arranged beside the rail and comprises a stand column and a vehicle number acquisition camera arranged on the stand column; the control unit acquires the car number information acquired by the car number identification module, and matches the analysis information of the three-dimensional area array unit and the line scanning unit with the car number.
In some embodiments of the present invention, the system further comprises a speed measuring radar module, which is arranged beside the track and is used for measuring the instantaneous speed and the acceleration of the vehicle.
Compared with the prior art, the wheel set parameter detection system provided by the invention has the beneficial effects that:
1. the wheel set parameter detection system for the integrated railway vehicle is compatible with the functions of the existing wheel set size detection module, the wheel set tread defect dynamic image detection module, the wheel set out-of-roundness scratch detection module monitoring and the like. The number of required cameras is reduced, and meanwhile, the requirements on the installation site area and the distance between straight lines are reduced.
2. The device for detecting key parameters of the wheel set of the railway vehicle is realized by adopting an ultra-high speed three-dimensional detection technology, a high-spectrum high-speed non-contact laser triangulation three-dimensional imaging technology is adopted, high-density cross section three-dimensional imaging of the wheel set of the railway vehicle is realized by utilizing high-spectrum laser light source detection, and important information such as the dimension out-of-tolerance fault of the tread of the wheel set passing through the vehicle, automatic calculation of the inner side distance, wheel diameter, out-of-roundness and the like of the wheel set is automatically judged by adopting an image processing technology.
3. By adopting the three-dimensional imaging technology, 360-degree full coverage of a full wheel surface of one line per millimeter can be achieved, and the data reliability is obviously improved. Realizing three-dimensional reconstruction of tread images and solving the problem of specular reflection of the tread.
4. In the whole system data acquisition process, non-contact acquisition is adopted, so that the reliability is high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall architecture of the wheel set parameter detection system of the present invention;
FIG. 2a is a schematic diagram of a first view angle structure of a trackside basic detection unit;
FIG. 2b is a schematic diagram of a second view angle structure of the trackside basic detection unit;
FIG. 3 is a schematic diagram of a locating unit trigger signal;
FIG. 4a is a schematic diagram of a three-dimensional line sweep module structure;
FIG. 4b is a schematic diagram of a three-dimensional line sweep module;
FIG. 5 is a schematic diagram of a three-dimensional detection camera distortion image;
FIG. 6 is a flow chart of a method for detecting wheel set parameters.
Wherein, each reference sign in the figure:
1 to 5: a first group of line scanning unit structure schematic diagrams;
6-10: a second group of line scanning unit structure schematic diagrams;
11-15: a line scanning positioning unit structure schematic diagram;
16. 18: a first group of three-dimensional area array unit structure schematic diagrams;
17: an area array positioning unit structure schematic diagram;
19. 20: and a second group of three-dimensional area array unit structure schematic diagrams.
21-a bracket;
22-a laser light source;
23-an image collector;
24-crossties;
25-rail edge.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the particular embodiments described herein are illustrative only and are not limiting upon the invention.
It will be understood that when an element is referred to as being "disposed" or "mounted" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship based on that shown in the drawings, merely to facilitate describing the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
It should be noted that the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not intended to imply relative importance.
The invention provides a wheel set parameter detection system of a railway vehicle, and the structure is shown in FIG. 1. The system comprises a trackside detection unit, a control unit, trackside communication equipment and a remote terminal, and is used for detecting wheel set data of a railway vehicle, including but not limited to: wheel set size, tread size, wheel set inside distance, wheel diameter, out-of-roundness, etc. The track bypass communication equipment acquires detection data of the track bypass detection unit and transmits the detection data to the remote terminal, the control unit is used for controlling the track bypass detection unit to work, and the control unit can be arranged at the remote terminal.
The track side detection unit is a core functional structure for executing a detection function and comprises a three-dimensional area array unit, a line scanning unit, a positioning unit and the like, wherein the positioning unit can be divided into an area array positioning unit and a line scanning positioning unit.
Three-dimensional area array unit: the three-dimensional area array unit comprises a plurality of area array modules, each area array module comprises a laser and an area array camera, and when a vehicle passes through the area array modules, the laser and the area array cameras are not contacted with wheels.
Furthermore, in order to timely start the work of the three-dimensional area array unit, the system further comprises an area array positioning unit, wherein the area array positioning unit is arranged close to the three-dimensional area array unit and comprises an area array positioning device, and when the area array positioning device is detected to generate an induction signal, the area array module is controlled to start the work.
Referring to fig. 3, a schematic diagram of the start-up of the area array positioning unit is shown. Each area array positioning unit comprises: wheel sensor and signal processing device. The wheel sensor comprises two signal output lines, and when the wheel passes through the wheel sensor, the signal output lines output sine signal waves; the signal processing device is connected with the signal output line and transmits signals to the control unit.
Specifically, when the wheel is pressed against the vehicle receiving sensor, a sine-wave-like signal is generated between the two lines, the faster the vehicle passes, the higher the peak value of the signal is, and conversely, the lower the peak value is, when no wheel passes, the vehicle receiving sensor can generate some interference signals, but the amplitude of the interference signals is generally low, or the amplitude of the interference signals is high but the period is short, so that the possibility of filtering interference is provided for people. The magnetic steel plate in the control unit is used for transmitting signals when the actual wheels are pressed to the control machine after the signals of the sensors of the docking car are processed.
The control unit is configured with wheel sensor parameter adjustment software, and the working principle is as follows:
the software provides 3 parameters for modification, namely "amplitude", "pulse width 1", "pulse width 2", respectively. The three parts are restricted together, so that the effects of filtering interference and preventing shaft loss are achieved. The principle of filtering is: the filtering amplitude is lower, and the peak is filtered. Therefore, when we adjust the parameters, the three parameters are properly adjusted according to the actual situation.
In this embodiment, each group of three-dimensional area array units includes two area array modules, and the image acquisition directions of the two area array modules are opposite; the number of the area array positioning sensors is one, and the area array positioning sensors are arranged between two area array sensors at one side. Referring to fig. 2a and 2b, each of the area array modules is installed in a gap between two sleepers, two area array modules in each group of three-dimensional area array units are arranged at intervals of two sleepers, and an area array positioning unit is arranged between two area array modules of one-sided three-dimensional area array unit.
Line sweep unit: the vehicle is arranged on the front side of the three-dimensional area array unit along the traveling direction of the vehicle, and the direction from left to right is the traveling direction of the vehicle in the direction shown in fig. 2a, and the front side refers to the direction relatively located in the forward traveling direction of the vehicle. The line scanning unit comprises two groups, which are symmetrically arranged at the outer sides of the tracks at two sides and are used for collecting wheel point cloud data; each group of line scanning units comprises a plurality of three-dimensional line scanning modules, the three-dimensional line scanning modules in each group are arranged at equal intervals, and the interval between the first three-dimensional line scanning module and the last three-dimensional line scanning module in each group is not smaller than the outer circumference of a single wheel, so that the line scanning units can obtain full-coverage three-dimensional imaging of the wheel set tread; when the vehicle runs through, the three-dimensional line scanning module is not contacted with the wheels.
Further, in order to timely start the operation of the line scanning unit, the system further comprises a line scanning positioning unit: the wire scanning device is arranged close to the wire scanning unit and comprises wire scanning positioning devices, the number of which is the same as that of single-group wire scanning modules, a plurality of wire scanning positioning devices are arranged on the same side, and each wire scanning positioning device sequentially corresponds to one three-dimensional wire scanning module; along the vehicle driving direction, when the line scanning positioning device is detected in sequence to generate an induction signal, the three-dimensional line scanning module is controlled to start working in sequence.
The working principle of the linear scanning positioning device is the same as that of the area array positioning device, and the working principle is not repeated here.
In this embodiment, each group of line scanning units includes 5 three-dimensional line scanning modules, and correspondingly includes 5 line scanning positioning devices. The distance between adjacent line scanning positioning devices is equal to the distance between three-dimensional line scanning modules; the first line scanning positioning device close to the driving direction of the vehicle is closer to the driving vehicle than the first three-dimensional line scanning module. When the first line scanning positioning device detects a vehicle signal, the control unit starts the first three-dimensional line scanning module to start working; as the vehicle moves forward, each linear sweep positioning module detects the vehicle signal one by one, and each three-dimensional linear sweep module is started one by one. Because the image acquisition range of each three-dimensional line scanning module is limited, a single three-dimensional line scanning module cannot acquire complete wheel image data. When the vehicle runs out of the three-dimensional line scanning module image acquisition area, the line scanning unit can acquire complete wheel data.
Referring to fig. 4a and 4b, a schematic structure of a single three-dimensional line scanning module is shown.
In some embodiments of the present invention, each three-dimensional line sweep module includes: a bracket 21, and a laser light source 22 and an image collector 23 which are installed on the bracket 21 at intervals; the light emitting end of the laser light source 22 and the collecting end of the image collector 23 face in the same direction, and the heights of the laser light source and the collecting end are all above the sleeper 24.
In some embodiments of the invention, each bracket 21 is disposed obliquely to the rail edge 25 and the sleepers 24; the plurality of brackets 21 in the same group of positioning units are arranged in parallel.
In some embodiments of the present invention, the image collector 23 is located at an end closer to the track than the laser light source 22, and the light exit point of the laser light source 22 is located above the lens of the image collector 23.
The rail side equipment room consists of a power supply, 1 control industrial personal computer, 3 acquisition identification industrial personal computers, 1 data storage server, 1 gigabit switch, 1 power box, 1 IO trigger box, 1 KVM, 1 UPS uninterrupted power supply and 2 PDU in an equipment cabinet. The method is used for completing the tasks of equipment power supply, automatic operation control of a system, data (image) acquisition, data (image) analysis, data (image) storage, data storage application and the like. This part belongs to the conventional function and will not be described in detail.
In the specific embodiment, 4 wheel set external three-dimensional area array detection modules and 10 tread external contour high-density three-dimensional line scanning modules are adopted, and high-density laser lines (the distance between the laser lines is 1 mm) can be realized by utilizing a three-dimensional technology, so that the detection precision of each key parameter is improved; the 808nm laser light source is adopted, so that the interference of ambient light can be effectively reduced; compared with the prior equipment scheme, the number of cameras is greatly reduced, and the requirement on the installation site is reduced; the three-dimensional self-calibration technology is adopted, and the wheel set size does not need to be calibrated regularly; by adopting a three-dimensional reconstruction technology, a three-dimensional image of the tread surface (the cross section contacted with the steel rail) of the wheel set is output, the out-of-roundness detection can be realized by a non-contact mode, and the potential safety hazard of contact measurement is reduced.
The control unit is configured to: three-dimensional imaging data acquired by a line scanning unit are acquired, full circumference three-dimensional data reconstruction of wheel sets is carried out, and tread scratch and outline curve information of the wheels are analyzed based on the reconstructed data; and analyzing the size of the wheel set based on the data acquired by the three-dimensional area array unit. The control unit can be arranged in a remote control room and consists of a data storage server, an operation terminal, a switch and other devices, and is shared by all subsystems. The system is used for controlling the dynamic detection of the wheel set and the start and stop of a roof monitoring system, monitoring the running condition of equipment and managing the final detection result.
In some embodiments of the invention, the vehicle number detection device further comprises a vehicle number identification module which is arranged beside the rail and comprises a stand column and a vehicle number acquisition camera arranged on the stand column; the control unit acquires the car number information acquired by the car number identification module, and matches the analysis information of the three-dimensional area array unit and the line scanning unit with the car number.
The vehicle number identification module is used for identifying vehicle number information and binding the wheel set size with the vehicle information. And the image train number recognition module is used for shooting the train number image and automatically and intelligently recognizing and outputting the train number and end position information. The detection machine controls the collection of the train number recognition camera and the triggering of the light supplementing lamp according to the information collected by the parking space triggering device, when a train passes through the train number recognition camera, the train number recognition camera rapidly shoots train number images in an image mode, algorithms such as a license plate positioning algorithm and a license plate character segmentation algorithm are integrated in the train number recognition camera, the train number information of each train is recognized under the condition that the train is not stopped, and train number data, images and video information are uploaded to the server in time, so that automatic statistics is carried out on the incoming and outgoing vehicles, and the data are stored. Each subsystem can correspondingly record measured data according to the read vehicle number information.
The image car number is based on an embedded technology, the color area array camera and the anti-dazzling compensation light source are utilized to intelligently identify the car number and the end position on the passing train side wall, and the system stability and the car number identification accuracy are improved.
In some embodiments of the present invention, the system further comprises a speed measuring radar module, which is arranged beside the track and is used for measuring the instantaneous speed and the acceleration of the vehicle.
The speed measuring radar collects real-time speed information of the train when the train passes through the equipment by utilizing the Doppler effect principle. The speed measuring radar adopts a T.CL-2 AIII anti-interference hump speed measuring radar, adopts a (8 mm) Ka wave band, utilizes the Doppler effect to measure the instantaneous speed and the acceleration of the running car group, and simultaneously adopts a new generation microwave technology and devices thereof, thereby reducing the energy consumption of a power supply; the FPGA digital signal processing technology is applied to accurately measure, position and track the running state of the train set in the section of the speed reducer; the structural design adopts a mode of installation in the center of a track, and the speed range of a hump rolling vehicle is 1 km/h-30 km/h (the speed can be increased to 1 km/h-350 km/h according to the field use requirement).
The control calculation function of the control unit is described in detail below.
The process of three-dimensional data reconstruction is as follows.
In the three-dimensional reconstruction process, a point p in a world coordinate system is required to be calculated w Into the pixel coordinate system.
First, point p in the world coordinate system is to be found w ＝(x w ,y w ,z w ) T Using homogeneous transformation matrices c H w Conversion into camera coordinate system using p c ＝(x c ,y c ,z c ) T The representation is:
p c ＝ c H w ·p w (4-1)
namely:
in the homogeneous transformation matrix c H w Is determined by six elements, respectively the translational component t on the X, Y, Z axis x ,t y ,t z And the rotation angles α, β, γ, also called external parameters of the camera.
Then, three-dimensional point p in camera coordinate system c Conversion to a point p in the image plane coordinate system i ＝(u,v) T ：
Where f is the focal length of the camera lens.
Because of distortion of the lens, the point is offset, and the actual coordinates areAccording to the relational formula:
where k is a distortion coefficient, k is a negative number of drum distortion, and k is a positive number of pincushion distortion, as shown in fig. 5.
By transformation, it is possible to obtain:
finally, the P' point is converted from the image plane coordinate system into the pixel coordinate system:
r-the abscissa in the pixel coordinate system;
c-the ordinate in the pixel coordinate system;
S x -width of camera element;
S y -the height of the camera element;
C x -the abscissa of the image center point;
C y -the ordinate of the centre point of the image.
The parameters f, k, S obtained from the above x 、S y 、C x And C y Constitutes an internal parameter of the camera.
The calibration of the light plane can be performed using the internal and external parameters of the camera. In the method, a three-dimensional self-calibration technology is adopted, and the wheel set size does not need to be calibrated regularly; by adopting a three-dimensional reconstruction technology, a three-dimensional image of the tread surface (the cross section contacted with the steel rail) of the wheel set is output, the out-of-roundness detection can be realized by a non-contact mode, and the potential safety hazard of contact measurement is reduced.
Firstly, the calibration plate is moved, and the calibration plate and the laser line plane are respectively intersected twice to obtain two light bar images. The center of the light bar (u) is extracted by gray level center method i ,v i ) The calculation method is as follows:
where G (x, y) -the gray value of the (x, y) point.
By calibrating the calibration plates at two positions, the Z-axis coordinate Z of the calibration plates can be obtained w1 And Z w2 The low position is defined as the 0 plane.
From the relationship between the pixel coordinate system and the world coordinate system, a correspondence equation can be obtained:
n in the formula is an unknown parameter;
m, a projection matrix;
r is a rotation matrix with the size of 3 multiplied by 3;
t is a translation matrix with the size of 3 multiplied by 1;
X wi 、Y wi 、Z wi -coordinates in the laser plane.
By developing the above matrix equation, it is possible to obtain:
n is eliminated to obtain
Z is calculated by the previous calculation wi Is known, each element in M is also known, and the element is substituted into the center coordinate of the light bar to obtain (X wi ,Y wi ,Z wi ) A plane can be determined at three points that are not on the same straight line:
x, Y, Z in the formula, namely the normal vector of the light plane.
The parameter detection flow is referred to in fig. 5.
Front of the vehicle is connected:
when the train passes through the wheel sensor closest to the vehicle, the sensor generates sine wave micro signals and transmits the sine wave micro signals to the wheel sensor processing device, the wheel sensor processing device filters, shapes, lifts and presses the positive line wave signals and transmits the data to the 24-port switch through the 485 network port module, the industrial personal computer is controlled to analyze the data and judge whether the wheelbase characteristics accord with the vehicle type to be detected, and if the wheelbase characteristics accord with the vehicle type data to be detected, the system enters a vehicle receiving state.
In the vehicle receiving process:
(1) Car receiving device
The industrial personal computer is controlled to send a car receiving instruction through a UDP broadcast protocol, and cameras of the three-dimensional area array unit and the three-dimensional line scanning unit are in a standby state;
(2) Begin harvesting
The control industrial personal computer sends a start working instruction to the image car number acquisition device, the acquisition identification industrial personal computer and the data storage identification server through a UDP broadcast protocol, processes data by combining the wheel sensor processing device and the speed measurement data of the radar speed measurement device to calculate camera acquisition frequency, and transmits the camera acquisition frequency to the control box through UDP broadcast, and the control box outputs corresponding signals to trigger each acquisition module. Meanwhile, the image car number acquisition device acquires according to the highest frame rate and transmits the identified data to the car information acquisition computer through the network cable, and all the channel acquisition pictures are transmitted to the data storage server from the acquisition machine in real time.
After the vehicle is connected:
(1) Stop harvesting
After each wheel of the train passes through the positioning unit, the positioning unit can count and count. When the counting number of the axle counting statistics of the area array positioning unit 17 and the line scanning positioning units 11, 12 and 13 (the three line scanning positioning units closest to the area array positioning unit) is consistent, the system considers that the passing of the vehicle is finished, at the moment, the vehicle information acquisition computer stops sending instruction acquisition, and all the acquisition modules stop acquisition.
(2) Dormancy + dust removal of blowing
Then, the vehicle information acquisition computer sends an end instruction through UDP broadcasting, each acquisition module is in a dormant state, and meanwhile, the power box blowing dust removal interface outputs DC24V, and the blowing dust removal device carries out blowing dust removal treatment on the acquisition modules.
(3) Data processing
Meanwhile, the data storage identification server acquires and processes picture data of the passing vehicle from the acquisition machine through the 24-port switch.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. The parameter detection system for the wheel set of the railway vehicle is characterized by comprising a trackside detection unit, a control unit, trackside communication equipment and a remote terminal, wherein the trackside communication equipment acquires detection data of the trackside detection unit and transmits the detection data to the remote terminal, and the control unit is used for controlling the trackside detection unit to work; the trackside detection unit includes:
three-dimensional area array unit: the three-dimensional area array unit comprises a plurality of area array modules, wherein each area array module comprises a laser and an area array camera, and when a vehicle passes through the area array modules, the laser and the area array camera are not contacted with wheels;
line sweep unit: the vehicle-mounted three-dimensional area array unit is arranged at the front side of the three-dimensional area array unit along the travelling direction of the vehicle, comprises two groups, is symmetrically arranged at the outer sides of the tracks at the two sides and is used for collecting wheel point cloud data; each group of line scanning units comprises a plurality of three-dimensional line scanning modules, the three-dimensional line scanning modules in each group are arranged at equal intervals, and the interval between the first three-dimensional line scanning module and the last three-dimensional line scanning module in each group is not smaller than the outer circumference of a single wheel, so that the line scanning units can obtain full-coverage three-dimensional imaging of the wheel set tread; when a vehicle passes through, the three-dimensional line scanning module is not contacted with the wheels;
an area array positioning unit: the device is arranged close to the three-dimensional area array unit and comprises an area array positioning device, and when the area array positioning device is detected to generate an induction signal, the area array module is controlled to start working; each area array positioning unit comprises: a wheel sensor and a signal processing device;
line sweep positioning unit: the wire scanning device is arranged close to the wire scanning unit and comprises wire scanning positioning devices, the number of which is the same as that of single-group wire scanning modules, a plurality of wire scanning positioning devices are arranged on the same side, and each wire scanning positioning device sequentially corresponds to one three-dimensional wire scanning module; when the line scanning positioning device is sequentially detected to generate an induction signal along the running direction of the vehicle, the three-dimensional line scanning module is controlled to sequentially start to work; the distance between adjacent line scanning positioning devices is equal to the distance between three-dimensional line scanning modules; the first line scanning positioning device which is close to the driving direction of the vehicle is closer to the driving vehicle than the first three-dimensional line scanning module;
the control unit is configured to: three-dimensional imaging data acquired by a line scanning unit are acquired, full circumference three-dimensional data reconstruction of wheel sets is carried out, and tread scratch and outline curve information of the wheels are analyzed based on the reconstructed data; and analyzing the size of the wheel set based on the data acquired by the three-dimensional area array unit.
2. The railway vehicle wheel set parameter detection system of claim 1, wherein each group of three-dimensional area array units comprises two area array modules, and the image acquisition directions of the two area array modules are opposite.
3. The railway vehicle wheel set parameter detection system of claim 2, wherein the number of area array positioning sensors is one, and the area array positioning sensors are arranged between two area array sensors on one side.
4. The railway vehicle wheel set parameter detection system of claim 1, wherein the line sweep positioning device and the area array positioning device each comprise:
wheel sensor: the device comprises two signal output lines, wherein when a wheel passes through a wheel sensor, the signal output lines output sine signal waves;
a signal processing device: is connected with the signal output line and transmits the signal to the control unit.
5. The railway vehicle wheel set parameter detection system of claim 1, wherein each three-dimensional wire sweep module comprises: the device comprises a bracket, and a laser light source and an image collector which are arranged on the bracket at intervals; the light emitting end of the laser light source is oriented to the collecting end of the image collector, and the heights of the light emitting end and the collecting end of the laser light source are all above the sleeper.
6. The track vehicle wheel set parameter sensing system of claim 5, wherein each bracket is disposed obliquely with respect to the rail side line and the sleeper; the plurality of brackets in the same group of positioning units are arranged in parallel.
7. The track vehicle wheel set parameter detection system of claim 5 or 6, wherein the image collector is positioned at an end closer to the track than the laser light source, and wherein the exit point of the laser light source is positioned above the lens of the image collector.
8. The railway vehicle wheel set parameter detection system of claim 1, further comprising a car number identification module disposed beside the track, comprising a column and a car number acquisition camera disposed on the column; the control unit acquires the car number information acquired by the car number identification module, and matches the analysis information of the three-dimensional area array unit and the line scanning unit with the car number.
9. The railway vehicle wheel set parameter detection system of claim 1, further comprising a tachometer radar module disposed alongside the rail for measuring the instantaneous speed and acceleration of the vehicle.
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| CN117036441A (en) * | 2023-10-10 | 2023-11-10 | 天津哈威克科技有限公司 | Three-dimensional reconstruction system and method for wagon wheel set based on structured light |
| CN117990397B (en) * | 2024-01-09 | 2024-06-28 | 江苏安狮智能技术有限公司 | Train wheel detects auxiliary device |
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