CN115107834A - Vehicle-mounted monitoring system for running track of wheel set of railway vehicle - Google Patents
Vehicle-mounted monitoring system for running track of wheel set of railway vehicle Download PDFInfo
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- CN115107834A CN115107834A CN202210839977.7A CN202210839977A CN115107834A CN 115107834 A CN115107834 A CN 115107834A CN 202210839977 A CN202210839977 A CN 202210839977A CN 115107834 A CN115107834 A CN 115107834A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/04—Control, warning, or like safety means along the route or between vehicles or vehicle trains for monitoring the mechanical state of the route
- B61L23/042—Track changes detection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
Abstract
The invention discloses a vehicle-mounted monitoring system for a running track of a wheel set of a railway vehicle, which comprises a high-definition camera, a vehicle body device, a grating laser light source, a grating laser sensor, a light supplementing lamp, a wheel track running contact track monitoring system host and a vehicle-mounted host, wherein the high-definition camera and the grating laser light source are both positioned on the vehicle body device, the grating laser sensor is installed on a vehicle body device, the light supplementing lamp is installed on a wheel of the vehicle body device, the wheel track running contact track monitoring system host is used for realizing the acquisition, storage and pretreatment of video signals and processing instability phenomenon diagnosis and frequency and wheel track contact information data in real time, the vehicle-mounted host integrates a remote data storage and remote data transmission module, an alarm system module, an original data rolling deletion module, an index data uploading module as required and a key alarm data real-time distribution module.
Description
Technical Field
The invention belongs to the technical field of rail transit, and particularly relates to a vehicle-mounted monitoring system for the running track of a wheel pair of a railway vehicle.
Background
In the current era of intelligent high-speed development of railways, the construction of the railway intelligent operation and maintenance system can further improve the core competitiveness of railway technology and reduce the railway operation and maintenance cost, and has profound influence on promoting the economic development of China. With the increasing number of railway lines, the construction center of gravity of the rail transit in China will be changed from the construction of a new line to the operation, maintenance and repair. The safety, the stability and the continuity of the operation of the heavy-duty train are particularly important, a set of wheel rail operation contact track monitoring device carried on the railway wagon is developed, and the fact that the wheel rail contact track of the heavy-duty railway wagon can be measured is particularly important.
With the rapid deterioration of the dynamic environment of train operation, the problems of abrasion, derailment and the like caused by interaction between wheel rails become more prominent, the train operation safety is one of the most critical problems of heavy-duty railway operation, the analysis of the wheel rail contact state is the main content of the dynamic monitoring research of the train, the relative position between the wheel rails is the most direct reaction of the wheel rail contact state, and the online and continuous monitoring of the relative position of the wheel rails is an important means for detecting the train operation stability and safety. The current safety evaluation mainly adopts safety indexes such as derailment coefficient, wheel load shedding rate, wheel-rail transverse force, wheel-axle transverse force and the like, and the basis of the indexes is wheel-rail force. And the wheel-rail force is generally obtained by a force measuring wheel pair or wheel-rail force indirect measurement method, so that the acquisition cost is relatively high.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide a wheel-rail running contact trajectory monitoring device mounted on a railway wagon, and an on-vehicle monitoring system for a railway vehicle wheel set running trajectory, which realizes dynamic monitoring of a railway line.
In order to solve the technical problems, the technical scheme of the invention is as follows: a vehicle-mounted monitoring system for a running track of a wheel set of a railway vehicle comprises a high-definition camera, a vehicle body device, a grating laser light source, a grating laser sensor, a light supplementing lamp, a wheel-rail running contact track monitoring system host and a vehicle-mounted host, wherein the high-definition camera and the grating laser light source are both positioned on the vehicle body device; data acquired by the high-definition camera are preprocessed through the wheel track running contact track monitoring system host, then processed through the vehicle-mounted host, and contact characteristics such as wheel track tracks of vehicles are analyzed.
Preferably, the wheel track operation contact track monitoring system host comprises a video acquisition and storage device, a fully-sealed industrial personal computer, a 5G router and a remote monitoring device which are integrated together.
Preferably, the vehicle body device comprises a vehicle body, a front bogie, a rear bogie and a vehicle-mounted monitoring device mounting box, wherein the front bogie, the rear bogie and the vehicle-mounted monitoring device mounting box are positioned at the bottom of the vehicle body, the vehicle-mounted monitoring device mounting box is close to the front bogie, and the high-definition camera, the grating laser light source, the wheel track operation contact track monitoring system host and the vehicle-mounted host are all mounted in the vehicle-mounted monitoring device mounting box.
Preferably, the length, width and height of the vehicle-mounted monitoring device mounting box are 1700mm 350mm 200mm, and the vehicle-mounted monitoring device mounting box is fixedly mounted on an underframe of the vehicle body.
Preferably, the trace generated by the grating laser light source and the light source of the fill-in light are both in the shooting range of the high-definition camera.
Preferably, the grating laser light source forms a grating trace on each of the wheels and the wheel sets, the high-definition camera records the two grating traces, and the light supplement lamp is used for supplementing light to the environment so as to ensure the camera shooting effect of the high-definition camera in order to avoid weak light caused by the environments such as tunnels, weather, night and the like.
Preferably, the step of collecting the video data by the high-definition camera and analyzing the wheel-track contact characteristics of the vehicle comprises the following steps:
s1, the grating laser light source leaves strip-shaped tracks at the determined positions of the steel rail and the wheel, the light supplementing lamp is used for supplementing light in the shooting range of the high-definition camera, the shooting effect of the high-definition camera is ensured, and the original profiles of the wheel and the steel rail are extracted from the shot steel rail and the strip-shaped track of the wheel through an image processing technology.
S2, transforming the original profiles of the wheels and the steel rails under the view of the camera to the front view of a track coordinate system through three-dimensional coordinate transformation to obtain the profiles of the wheels and the steel rails which can be used for wheel-rail contact calculation;
s3, analyzing the wheel set transverse displacement and the wheel set rolling angle according to the high-definition camera test results on the left side and the right side by combining an image recognition technology and an algorithm;
s4, determining the relative motion of the camera and the wheel set through a camera inverse calculation technology, and eliminating the influence of the vibration of the camera on the recognition result;
and S5, finally, calculating the dynamic change of the running contact point of the wheel track according to the profile of the wheel track and the motion attitude of the wheel pair, and realizing the monitoring of the contact track.
Preferably, the contents shot by the high-definition camera comprise a wheel-rail contact interface and a strip-shaped track on a steel rail and a wheel.
The invention has the beneficial effects that:
1. according to the vehicle-mounted monitoring system for the running track of the wheel set of the railway vehicle, provided by the invention, the LED light supplement lamp array which is closer to a sunlight spectrum is adopted to simulate natural light, and the grating laser light source with a specific color is added, so that the accuracy and the adaptability of image recognition are improved, and the image quality under complex ambient light is ensured.
2. The edge detection and straight line detection algorithms are used for detecting the edge line of the steel rail, the identified deformation is corrected through the intersection point of the laser auxiliary line and the edge line, the real edge line of the steel rail is finally determined, and the steel rail can be positioned after the edge line of the steel rail is determined.
3. The invention utilizes the extinction point of the steel rail extension line and the slope of the steel rail side line to carry out the self-calibration of the camera attitude.
Drawings
FIG. 1 is a schematic view of the installation location of an on-board monitoring system for the running track of a railway vehicle wheel set in accordance with the present invention;
FIG. 2 is a schematic view of the operation of the monitoring device of the present invention;
fig. 3 is a flow chart of the present invention.
Description of reference numerals: 1. a vehicle body; 2. a front bogie; 3. a rear bogie; 4. vehicle-mounted monitoring devices mounting box.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments:
as shown in fig. 1 to 3, the on-vehicle monitoring system for the running track of the wheel set of the railway vehicle provided by the invention comprises a high-definition camera, a vehicle body device, a grating laser light source, a grating laser sensor, a fill-in light, a wheel track running contact track monitoring system host and an on-vehicle host, wherein the high-definition camera and the grating laser light source are both positioned on the vehicle body device, the grating laser sensor is arranged on the vehicle body device, the fill-in light is arranged on the wheels of the vehicle body device, the wheel track running contact track monitoring system host is used for realizing the acquisition, storage and pretreatment of video signals, and the vehicle-mounted host integrates a remote data storage and remote data transmission module, an alarm system module, an original data rolling deletion module, an index data uploading module as required and a key alarm data real-time distribution module. Data acquired by the high-definition camera are preprocessed through the wheel track running contact track monitoring system host, then processed through the vehicle-mounted host, and contact characteristics such as wheel track tracks of vehicles are analyzed.
The wheel track operation contact track monitoring system host machine comprises a video acquisition and storage device, a fully sealed industrial personal computer, a 5G router and a remote monitoring device which are integrated together.
As shown in fig. 1, the vehicle body device comprises a vehicle body 1, a front bogie 2, a rear bogie 3 and a vehicle-mounted monitoring device mounting box 4, wherein the front bogie 2, the rear bogie 3 and the vehicle-mounted monitoring device mounting box 4 are positioned at the bottom of the vehicle body 1, the vehicle-mounted monitoring device mounting box 4 is close to the front bogie 2, and a high-definition camera, a grating laser light source, a wheel track operation contact track monitoring system host and a vehicle-mounted host are all mounted in the vehicle-mounted monitoring device mounting box 4.
In this embodiment, the number of the high definition cameras is two, and the high definition cameras are installed on the vehicle body 1 at specific positions: and correspondingly installing one high-definition camera for signal acquisition of the outline of the wheel track. The number of the grating laser light sources is four, and the specific positions are as follows: two grating laser sensors are respectively arranged on the vehicle body above the left side wheel and the right side wheel, one is used for irradiating laser on the wheels, and the other is used for irradiating laser on the steel rail and is used for assisting in identifying the contact position of the wheel rail. The quantity of light filling lamp is two, and the concrete installation does: the left wheel and the right wheel are respectively provided with one light supplementing device for supplementing light in complex weather, so that data acquisition of a camera is facilitated, and the light supplementing light source adopts an LED lamp with spectrum closer to sunlight. The wheel-carrying rail running contact track monitoring system host integrates a plurality of functional software and hardware together, and comprises a video acquisition and storage device, a fully-sealed industrial personal computer, a 5G router, remote monitoring and the like. The method realizes the acquisition, storage, preprocessing and the like of video signals, and processes instability phenomenon diagnosis and frequency, wheel-rail contact abnormity and other important indicators of wheel-rail contact in real time. The vehicle-mounted host integrates a remote data storage system, a remote data transmission system and an alarm system, original data are deleted in a rolling mode, index data are uploaded as required, and key alarm data are distributed in real time.
The length, width and height of the vehicle-mounted monitoring device mounting box 4 are 1700mm 350mm 200mm, and the vehicle-mounted monitoring device mounting box 4 is fixedly mounted on the underframe of the vehicle body 1.
The trace generated by the grating laser light source and the light source of the light supplement lamp are both in the shooting range of the high-definition camera. In this embodiment, the shooting angle of the high definition camera is aligned with the front bogie wheel track contact interface, as shown in fig. 2. The on-vehicle monitoring device 4 is mounted at the end of the vehicle body in front of the front bogie in the running direction, which is the best monitoring effect, and may be mounted at other positions of the vehicle body, but the effect is deteriorated.
The grating laser light source forms a grating trace on the wheel and the wheel pair respectively, and the high definition camera records two grating traces, and for avoiding the environment such as tunnel, weather, night and the like to cause weak light, the light filling lamp is used for environmental light filling, ensures the camera effect of high definition camera.
Fig. 2 is a front view of the operation track direction of the operation track monitoring device. Taking the detection of the left wheel as an example, the grating laser light source forms a grating trace on each of the wheel and the wheel pair, the high-definition camera records the two grating traces, and in order to avoid the weak light caused by the environments such as a tunnel, weather, night and the like, the light supplement lamp is used for supplementing light to the environment, so that the camera shooting effect of the high-definition camera is ensured. The left and right wheel sensing devices are identical and test for left wheel rail contact and right wheel rail contact, respectively.
As shown in fig. 3, the step of acquiring video data by the high-definition camera and analyzing the wheel-track contact characteristics of the vehicle comprises the following steps:
s1, the grating laser light source leaves strip-shaped tracks at the determined positions of the steel rail and the wheel, the light supplementing lamp is used for supplementing light in the shooting range of the high-definition camera, the shooting effect of the high-definition camera is ensured, and the original profiles of the wheel and the steel rail are extracted from the shot steel rail and the strip-shaped track of the wheel through an image processing technology.
The contents shot by the high-definition camera comprise a wheel-rail contact interface, and strip-shaped tracks on a steel rail and a wheel.
And S2, transforming the original profiles of the wheel and the steel rail under the view of the camera to the front view of the track coordinate system through three-dimensional coordinate transformation to obtain the wheel and steel rail profiles which can be used for wheel-rail contact calculation.
And according to the internal reference of the camera and the external reference of the automatically calibrated camera, carrying out three-dimensional coordinate transformation on the original profiles of the wheels and the steel rails to obtain a front view of the profiles under a track coordinate system, and obtaining the profiles of the wheels and the steel rails which can be used for the contact calculation of the profiles and the steel rails.
And S3, analyzing the wheel set transverse displacement and the wheel set rolling angle by combining an image recognition technology and an algorithm according to the high-definition camera test results of the left side and the right side.
Image recognition techniques and algorithms in this embodiment: the image recognition is the basis of the outline shape recognition, and the image recognition is carried out on the basis of the image collected by the camera by adopting algorithms such as image preprocessing, edge detection, straight line detection and the like. The profile identified from the image is a projection of the spatial profile onto the image plane, in pixels, which needs to be converted from pixel to actual size. Firstly, preprocessing an acquired image, comprising the following steps: cutting an irrelevant area, supplementing light, converting a color space, correcting self-adaptive brightness, processing gray scale, reducing noise and the like, then carrying out Canny edge detection algorithm processing on the preprocessed image, carrying out rough positioning processing on the steel rail, and then detecting the left edge and the right edge of the steel rail by utilizing a Hough linear detection algorithm to realize positioning of the steel rail.
And S4, determining the relative motion of the camera and the wheel pair through a camera inverse calculation technology, and eliminating the influence of the vibration of the camera on the recognition result.
The camera back calculation technology adopts a Zhang Zheng method, obtains the parameters of the camera through the calibration of the camera, then constructs a three-dimensional mapping relation to convert the pixel distance into an actual distance, and the three-dimensional space mapping needs to be constructed according to specific image characteristics.
And S5, finally, calculating the dynamic change of the running contact point of the wheel track according to the profile of the wheel track and the motion attitude of the wheel pair, and realizing the monitoring of the contact track.
Compared with the prior art, the vehicle-mounted monitoring system for the running track of the wheel pair of the railway vehicle has the advantages that the traditional safety evaluation through the derailment coefficient, the load shedding rate and the wheel pair force index belongs to indirect evaluation, and even if the derailment coefficient, the load shedding rate and the wheel pair force index exceed the standard, the contact state of the wheel pair is still unclear, and whether the derailment risk exists really is not clear. The invention can directly obtain the wheel set transverse displacement and the contact point position by directly adopting the running contact track of the wheel track, and can realize the snake-away instability identification and the derailment safety evaluation. The operation safety of the train is directly influenced by the snake-away instability, and whether the train is in the instability state or not can not be known because a heavy-duty railway wagon does not have an instability alarm device at present. The most direct judgment basis of the snake-out instability is the wheel set transverse displacement, and the periodic motion similar to sine waves occurs in the transverse displacement of the wheel set, so that the snake-out instability can be judged to occur. By the method, whether the hunting instability occurs or not, the information such as the instability frequency, the instability amplitude, the hunting wavelength and the like can be more accurately judged after the wheel pair transverse displacement is obtained, and the more accurate relation between the hunting instability frequency and the equivalent taper can be obtained through the equivalent taper calculation, so that the accuracy of vehicle operation safety evaluation is greatly improved.
1. And the image quality under the complex ambient light is ensured.
Because the invention adopts the image recognition technology, the image recognition object, namely the picture captured by the camera is very easily influenced by the ambient light. The ambient light around the vehicle is constantly changed in the running process, light and shade alternation can often occur, the situations of highlight overexposure or insufficient dark exposure and the like can be caused, and the complicated ambient light has great influence on the image quality. How to ensure the image quality and improve the adaptability of the system is one of the difficulties of project.
Therefore, in the scheme of the invention, the light supplement lamp is added, and the LED array and the like which are closer to the sunlight spectrum are adopted to simulate natural light. And a grating laser light source with a specific color is added for improving the accuracy and the adaptability of image recognition.
2. And positioning the steel rail.
The relative position of the wheel rail can be determined after the steel rail is positioned, but because the steel rail moves at a high speed relative to the camera, the edge of the steel rail generates blurring due to the high-speed relative motion, so that the determination of the edge line of the steel rail is difficult. Therefore, the edge lines of the steel rail are detected by using an edge detection algorithm and a straight line detection algorithm, the identified deformation is corrected through the intersection point of the laser auxiliary line and the edge lines, the real edge lines of the steel rail are finally determined, and the steel rail can be positioned after the edge lines of the steel rail are determined.
3. And carrying out camera attitude self-calibration.
The camera is arranged on the vehicle body, and is also displaced relative to the wheel track along with the vibration of the vehicle body, and particularly when the camera passes through a curve, the relative displacement and the angle of the camera and the wheel track are greatly changed. This directly affects the result of the coordinate transformation, and therefore requires automatic calibration of the camera pose in real time. At least 4 determined reference points are needed for the camera self-calibration, but in practice there is some difficulty in determining these 4 reference points. The invention utilizes the extinction point of the steel rail extension line and the slope of the steel rail side line to carry out the self-calibration of the camera attitude.
In this embodiment, the self-calibration verification of the camera pose specifically includes: in the distance conversion calculation model, attitude angles such as a camera pitch angle and a panning angle greatly affect the accuracy of the image conversion model, and in an actual situation, a complex and changeable train operation environment causes the camera to shake, so that a large error may be generated on a test result. Therefore, a camera attitude angle self-calibration algorithm is developed, and the camera automatically calculates angles such as an elevation angle, a pan shaking angle and the like and is used in a pixel and actual distance conversion model. The algorithm fully utilizes the parallel characteristic of the steel rail, calculates the position of the intersection point of the edge lines of the steel rail according to the identified edge lines of the steel rail, and calculates the elevation angle and the pan angle. Through experimental verification and empirical correction, the error can be controlled to be about 1 degree.
4. And establishing a corresponding relation between the wheel-rail contact track and the derailment safety index.
The safety evaluation using the wheel-rail contact trajectory has been very rarely studied, and there is no clear standard for judging safety at present. The idea of the invention is to establish the corresponding relation between the wheel-rail contact track and the derailment safety index through simulation and bench test. The corresponding relation is possibly complex, is difficult to describe by a simple mapping relation, and needs a large amount of simulation and bench test for research.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (8)
1. A vehicle-mounted monitoring system for the running track of a wheel pair of a railway vehicle is characterized in that: the system comprises a high-definition camera, a vehicle body device, a grating laser light source, a grating laser sensor, a light supplementing lamp, a wheel-rail running contact track monitoring system host and a vehicle-mounted host, wherein the high-definition camera and the grating laser light source are both positioned on the vehicle body device; data acquired by the high-definition camera are preprocessed through the wheel track running contact track monitoring system host, then processed through the vehicle-mounted host, and contact characteristics such as wheel track tracks of vehicles are analyzed.
2. A railway vehicle wheelset track on-board monitoring system as claimed in claim 1, wherein: the wheel track operation contact track monitoring system host comprises a video acquisition and storage device, a fully-sealed industrial personal computer, a 5G router and a remote monitoring device which are integrated together.
3. A railway vehicle wheelset track on-board monitoring system as claimed in claim 1, wherein: the vehicle body device comprises a vehicle body (1), a front bogie (2), a rear bogie (3) and a vehicle-mounted monitoring device mounting box (4), wherein the front bogie (2), the rear bogie (3) and the vehicle-mounted monitoring device mounting box (4) are located at the bottom of the vehicle body (1), the vehicle-mounted monitoring device mounting box (4) is close to the front bogie (2), and a high-definition camera, a grating laser light source, a wheel track operation contact track monitoring system host and a vehicle-mounted host are all mounted in the vehicle-mounted monitoring device mounting box (4).
4. A railway vehicle wheelset track on-board monitoring system as claimed in claim 1, wherein: the length, width and height of the vehicle-mounted monitoring device mounting box (4) are 1700mm 350mm 200mm, and the vehicle-mounted monitoring device mounting box (4) is fixedly mounted on the underframe of the vehicle body (1).
5. A railway vehicle wheelset track on-board monitoring system as claimed in claim 1, wherein: the traces generated by the grating laser light source and the light source of the light supplementing lamp are both in the shooting range of the high-definition camera.
6. A railway vehicle wheelset track on-board monitoring system as claimed in claim 1, wherein: the grating laser light source forms a grating trace on each of the wheels and the wheel sets, the high-definition camera records the two grating traces, and in order to avoid weak light caused by environments such as tunnels, weather and night, the light supplementing lamp is used for supplementing light to the environment and ensures the camera shooting effect of the high-definition camera.
7. A railway vehicle wheelset track on-board monitoring system as claimed in claim 1, wherein: the method for analyzing the wheel track contact characteristics of the vehicle by acquiring the video data through the high-definition camera comprises the following steps:
s1, the grating laser light source leaves strip-shaped tracks at the determined positions of the steel rail and the wheel, the light supplementing lamp is used for supplementing light in the shooting range of the high-definition camera, the shooting effect of the high-definition camera is ensured, and the original profiles of the wheel and the steel rail are extracted from the shot steel rail and the strip-shaped track of the wheel through an image processing technology.
S2, transforming the original profiles of the wheels and the steel rails under the view of the camera to the front view of a track coordinate system through three-dimensional coordinate transformation to obtain the profiles of the wheels and the steel rails which can be used for wheel-rail contact calculation;
s3, analyzing the wheel set transverse displacement and the wheel set rolling angle according to the high-definition camera test results on the left side and the right side by combining an image recognition technology and an algorithm;
s4, determining the relative motion of the camera and the wheel set through a camera inverse calculation technology, and eliminating the influence of the vibration of the camera on the recognition result;
and S5, finally, calculating the dynamic change of the running contact point of the wheel track according to the profile of the wheel track and the motion attitude of the wheel pair, and realizing the monitoring of the contact track.
8. A railway vehicle wheelset track on-board monitoring system as claimed in claim 7, wherein: the contents shot by the high-definition camera comprise a wheel-rail contact interface, and strip-shaped tracks on a steel rail and wheels.
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