CN107117188A - The vertically arranged tramcar wheel footpath on-line measuring device of linear sensor and method - Google Patents
The vertically arranged tramcar wheel footpath on-line measuring device of linear sensor and method Download PDFInfo
- Publication number
- CN107117188A CN107117188A CN201710266736.7A CN201710266736A CN107117188A CN 107117188 A CN107117188 A CN 107117188A CN 201710266736 A CN201710266736 A CN 201710266736A CN 107117188 A CN107117188 A CN 107117188A
- Authority
- CN
- China
- Prior art keywords
- mrow
- msub
- laser displacement
- wheel
- displacement sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- B61K9/12—Measuring or surveying wheel-rims
-
- 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
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
- G01B11/10—Measuring arrangements characterised by the use of optical techniques for measuring diameters of objects while moving
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of vertically arranged tramcar wheel footpath on-line measuring device of linear sensor and method.The device includes groove-shape rail, processing center and multiple laser displacement sensors, wherein laser displacement sensor is connected with processing center, groove-shape rail is a rail for reservation groove part, laser displacement sensor is laid successively on the outside of groove-shape rail, sensing is evenly distributed in the same horizontal line, measured upwards along groove-shape rail, detection light beam reaches wheel and coplanar with circumference where wheel diameter simultaneously.Method is：Laser displacement sensor detecting wheel obtains measurement point, carry out data fusion, initial fitting diameter of a circle and the center of circle of multigroup wheel are obtained with least square fitting method afterwards, then genetic Optimization Algorithm is designed, the distance of measurement point to fitting circle is regard as evolution target with minimum, evolution draws optimal fitting diameter of a circle and the center of circle, finally gives the wheel diameter after optimization.Speed of the present invention is fast, precision is high, measurement diameter range is big, strong interference immunity.
Description
Technical field
The present invention relates to tramcar wheel detection technical field, particularly a kind of vertically arranged rail of linear sensor
Electric car wheel footpath on-line measuring device and method.
Background technology
Tramcar wheel is the important part that support vehicles are advanced, and the whole that carry tramcar is quiet, dynamic loading.
Wheel constantly rubs in long-term operation with track, can produce different degrees of abrasion, and then change the diameter parameters of wheel.
When electric car is run, if the same diameter of axle of wheel is poor, unit-frame footpath is poor, exceed certain limit with swing over compound rest difference, wheel wiping is easily caused
The phenomenons such as wound, flange wear, body oscillating exception, even result in the accidents such as electric car axle fracture, rollover, derailing.Therefore, in time
Effective detection goes out the poor abnormal conditions in wheel footpath, to ensureing that the safe operation of tramcar is significant.
Firstly, since there is the shelters such as pilot, blast tube magnetic rail brake device near tramcar wheel, next rail
Electric car wheel in operation wheel rim almost 100% ground connection and can be with load-bearing so that common diameter measuring method can not be fitted completely
For tramcar.The method of tramcar wheel diameter detection can be largely classified into Static Detection and dynamic detection.At present, have
The wheel diameter measurement of rail electric car uses static detection method substantially, and this method has the advantages that precision is high.But need to throw
Enter substantial amounts of manpower and use special detection device, have the shortcomings that cost height, turnaround time length, labor intensity are big.
Conventional dynamic detection mainly uses image processing techniques or laser sensing technology.(the online tramcar car of patent 1
Wheel diameter measuring method, application number：201510657099.7, the applying date：2015-10-13) disclose a kind of based on image procossing
The tramcar wheel diameter detection method of technology, this method obtains image using high speed camera, by setting imaging modules, directly
Connect measurement tramcar wheel diameter, but this method exist precision it is low, it is cumbersome the shortcomings of.At present, the country not yet discloses base
In laser sensing technology tramcar wheel diameter detection means or the patent of method.(linear sensor is vertically arranged for patent 2
Wheel diameter of urban rail vehicle detection means and method, application number：201310558085.0, the applying date：2013-11-11) disclose
It is a kind of that laser sensor is arranged between the vacated region of rail skew and guard rail, non-contact detecting wheel for metro vehicle diameter
Method, but this method is due to setting guard rail, if using this method, it is necessary to reset rail layout on lines of operation are stablized,
Almost it is difficult to realize, this method is not suitable for the wheel diameter measurement of tramcar.A kind of (the municipal rail train wheelset profile of patent 3
Online test method and device, application number：201410519742.5, the applying date：2014-09-30) disclose a kind of based on two dimension
The ground iron tyre of laser displacement sensor technology is fitted wheel rim apex circles to parameter detection method and device, this method by 3 points,
2 times of high methods of wheel rim are subtracted again, realize the detection of iron tyre diameter over the ground, but because tramcar wheel rim almost 100% is grounded
And can be with load-bearing, it is impossible to this characteristic point of wheel rim summit is extracted, this method can not also be applied to tramcar.
The content of the invention
It is an object of the invention to provide the linear sensor that a kind of speed is fast, precision is high, measurement diameter range is big is vertical
The tramcar wheel footpath on-line measuring device and method of installation, realize on line non contact measurement and enhancing antijamming capability.
The technical solution for realizing the object of the invention is：A kind of vertically arranged tramcar wheel footpath of linear sensor exists
Line detector, including groove-shape rail, processing center and multiple laser displacement sensors, wherein：Laser displacement sensor and place
Reason center is connected；Groove-shape rail is a rail for reservation groove part；Multiple laser displacements are sequentially arranged on the outside of groove-shape rail to pass
Sensor；The sensing head of each laser displacement sensor is evenly distributed in the same horizontal line along groove-shape rail direction, and each along groove
Shaped steel rail is measured upwards, and detection light beam is incident to wheel edge simultaneously, and detects plane and wheel diameter institute that light beam is formed
Circumference it is coplanar.
In a kind of vertically arranged tramcar wheel footpath online test method of linear sensor, including groove-shape rail, processing
The heart and multiple laser displacement sensors, wherein：Laser displacement sensor is connected with processing center；Groove-shape rail is only reservation groove
Partial rail；Multiple laser displacement sensors are sequentially arranged on the outside of groove-shape rail；The sensing head edge of each laser displacement sensor
Groove-shape rail direction is evenly distributed in the same horizontal line, and is measured upwards each along groove-shape rail, and detection light beam is simultaneously incident
To wheel edge, and the circumference where the plane that is formed of detection light beam and wheel diameter is coplanar, comprises the following steps that：
Step 1, laser displacement sensor is designated as Qi, being followed successively by 1,2,3 along rail direction i ..., n, wherein n are laser
The number of displacement transducer；
Step 2, two-dimensional coordinate system XOY is set up in the plane in the tramcar wheel circumference for carrying out diameter measurement：With
Outermost laser displacement sensor Q1It is X-axis along rail direction for origin, is Y-axis upwards perpendicular to groove-shape rail, outermost swashs
The coordinate of Optical displacement sensor is (0,0), and the coordinate of other laser displacement sensors is (Xi, 0), laser displacement sensor sensing
Head is 90 ° relative to X-axis mounted angle；
Step 3, it is each laser displacement sensor QiSet up two-dimensional coordinate system xioiyi, to be passed by respective laser displacement
Sensor QiSensing head is origin, is x-axis along rail direction, is y-axis upwards perpendicular to groove-shape rail, now laser displacement sensor
QiThe two-dimensional coordinate system x of foundationioiyiThe coordinate system set up for laser displacement sensor itself；Gather all laser displacement sensings
The output valve of device, and select while there is the valid data group (x of 10 and above laser displacement sensor output valveij,yij),
(xij,yij) it is i-th of laser displacement sensor QiJ-th of the virtual value returned, in laser displacement sensor QiTwo set up
Dimension coordinate system xioiyiUnder coordinate；Wherein, i=1,2 ... n, j=1,2 ... m, and m >=10；
Step 4, data fusion：According to laser displacement sensor QiMeasurement point in respective two-dimensional coordinate system xioiyiIt is lower to sit
Mark (xij,yij), laser displacement sensor QiPosition coordinate value (Xi, 0), determine correspondence laser displacement sensor Q on wheeliSurvey
Amount point coordinate (X under fusion coordinate system XOYij,Yij)：
(Xij,Yij)=(Xi,0)+(xij,yij)
Wherein, i=1,2 ... n, j=1,2 ... m and m >=10；
Step 5, according to all effective measurement point coordinates (X on wheelij,Yij), circle is fitted using least square method,
Obtain the wheel initial diameter D of the measurement position0With initial central coordinate of circle (Xa,Ya)；
Step 6, wheel initial diameter D step 5 obtained0With initial central coordinate of circle (Xa,Ya), in [Xa-0.1,Xa+
0.1]、[Ya-0.1,Ya+ 0.1] w groups combined value is taken in scope as initial population, with all effective measurement points to fitting circle
Apart from the minimum evolution target of sum, using genetic Optimization Algorithm, initial wheel wheel footpath parameter is optimized, optimized
Final wheel diameter D afterwards1With central coordinate of circle (Xb,Yb)；
Step 7,3 moment of selecting step t eve and the detection data at rear a moment, repeat step 3~6 calculates two
Group wheel footpath value D2、D3, three groups of wheel footpaths are averaged, the wheel footpath D of final wheel is obtainedf：
Compared with prior art, its remarkable advantage is the present invention：(1) the detection system based on two-dimensional laser displacement transducer
System, realizes tramcar wheel to non-contact measurement, with speed is fast, effective measurement point is more, laser displacement sensor mark
Easily, the big advantage of measurement diameter range；(2) the detection data processing method based on genetic Optimization Algorithm is employed, it is to avoid
Simple least square method produces the shortcoming of deviation because of noise spot to fitting circle, has the advantages that measurement accuracy is high, anti-interference strong；
(3) groove-shape rail is used, is easy to the installation and measurement of laser displacement sensor；
Brief description of the drawings
Fig. 1 is the flow chart of the vertically arranged tramcar wheel footpath online test method of inventive sensor straight line.
Fig. 2 is tramcar wheel tread schematic diagram.
Fig. 3 is the structural representation of groove-shape rail, wherein (a) is 60R groove-shape rail structure charts, (b) is treated
Groove-shape rail structure chart.
Fig. 4 is the device top view of the tramcar wheel diameter on-line checking of the present invention.
Fig. 5 is the device front view of the tramcar wheel diameter on-line checking of the present invention.
Fig. 6 is the device side view of the tramcar wheel diameter on-line checking of the present invention.
Fig. 7 is the device axonometric drawing of the tramcar wheel diameter on-line checking of the present invention.
Fig. 8 is each laser displacement sensor measurement point distribution situation in fitting circle for generating at random in embodiment.
Fig. 9 is each laser displacement sensor measurement point for generating at random in the fitting circle after genetic optimization point in embodiment
Cloth situation.
Figure 10 is the every optimum individual distribution map in generation during genetic Optimization Algorithm in embodiment.
Figure 11 is the Species structure figure in last generation during genetic Optimization Algorithm in embodiment.
Figure 12 is often to convert tendency chart for optimal solution during genetic Optimization Algorithm in embodiment.
Figure 13 is optimum diameter conversion tendency chart during genetic Optimization Algorithm in embodiment.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment is described in further detail to the present invention.
Fig. 1 is the overall flow figure of specific method of the present invention.
Tramcar wheel tread schematic diagram is indicated in Fig. 2, it can be seen that surveyed in wheel rim at reference plane 57mm
Point on tread, to wear away at concentration, is the measurement diameter position commonly used in engineering at this, and wheel diameter is often controlled
Between 520-600mm, therefore laser displacement sensor chooses the circumference at this to calculate wheel diameter when being detected.
The vertically arranged tramcar wheel footpath on-line measuring device of inventive sensor straight line, including groove-shape rail, processing
Center and multiple laser displacement sensors, wherein：Laser displacement sensor is connected with processing center；In the track of detection interval section
For the groove-shape rail Jing Guo specially treated, only retain the rail of groove part；In the outer of the groove-shape rail along train direction of advance
Side, is sequentially arranged multiple laser displacement sensors；The sensing head of each laser displacement sensor is evenly distributed along groove-shape rail direction
In the same horizontal line, the sensing head of each laser displacement sensor is measured upwards each along vertical rail direction, and detection light beam is same
When be incident to wheel edge, and the circumference where the plane that is formed of detection light beam and wheel diameter is coplanar.
Such as Fig. 3 (a), shown in Fig. 3 (b), detection interval section track is the groove-shape rail Jing Guo specially treated, groove-shape rail
Model 60R, and only retain groove part.
As shown in Fig. 2 the wheel circumference of progress diameter measurement is 57mm apart from the distance of wheel rim medial surface.Described
Laser displacement sensor is two-dimensional laser displacement transducer, and the quantity of laser displacement sensor is n, and 2≤n≤10；Detection zone
Between the horizontal line length of section be L, and n × 50mm≤L≤1200mm.
As shown in figure 4, laser displacement sensor is installed on the outside of groove-shape rail, and it is evenly arranged in same horizontal line
On, laser displacement sensor mount point is h, and 160mm≤h≤290mm along the vertical range of plane on groove-shape rail.Institute
The sensing head of laser displacement sensor is stated along groove-shape rail right angle setting, the detection light beam sent and circle where wheel diameter
It is week, i.e., coplanar away from the circumference where the point at reference plane 57mm on tread is surveyed in wheel rim, and the sense of all laser displacement sensors
Gauge head is fixed on below wheel by laser displacement sensor fixture.
With reference to Fig. 1, the vertically arranged tramcar wheel footpath online test method of inventive sensor straight line, including U-steel
Rail, processing center and multiple laser displacement sensors, wherein：Laser displacement sensor is connected with processing center；Groove-shape rail is
Only retain the rail of groove part；Multiple laser displacement sensors are sequentially arranged on the outside of groove-shape rail；Each laser displacement sensor
Sensing head it is evenly distributed in the same horizontal line along groove-shape rail direction, and measured upwards each along groove-shape rail, detect light
Beam is incident to wheel edge simultaneously, and the circumference where the plane that is formed of detection light beam and wheel diameter is coplanar, specific steps
It is as follows：
Step 1, each laser displacement sensor is installed on to the outside of the groove-shape rail by specially treated, makes each laser
The sensing head of displacement transducer is arranged along rail direction, all laser displacement sensors and the tramcar of progress diameter measurement
Wheel circumference it is coplanar, laser displacement sensor is designated as Qi, being followed successively by 1,2,3 along rail direction i ..., n, wherein n are sharp
The number of Optical displacement sensor；
Step 2, two-dimensional coordinate system XOY is set up in the plane in the tramcar wheel circumference for carrying out diameter measurement：With
Outermost laser displacement sensor Q1It is X-axis along rail direction for origin, is Y-axis upwards perpendicular to groove-shape rail, then outermost
The coordinate of laser displacement sensor is (0,0), and the coordinate of other laser displacement sensors is (Xi, 0), each laser displacement sensing
Device sensing head is upward perpendicular to rail, therefore laser displacement sensor sensing head is 90 ° relative to X-axis mounted angle；
Step 3, it is each laser displacement sensor QiSet up two-dimensional coordinate system xioiyi, to be passed by respective laser displacement
Sensor QiSensing head is origin, is x-axis along rail direction, is y-axis upwards perpendicular to groove-shape rail, now laser displacement sensor
QiSet up two-dimensional coordinate system xioiyiThe coordinate system set up for laser displacement sensor itself.Gather all laser displacement sensors
Output valve, and select while there is the valid data group (x of 10 and above laser displacement sensor output valveij,yij), (xij,
yij) it is i-th of laser displacement sensor QiJ-th of the virtual value returned, in laser displacement sensor QiThe two dimension seat set up
Mark system xioiyiUnder coordinate；Wherein, i=1,2 ... n, j=1,2 ... m, and m >=10；
Step 4, data fusion：According to laser displacement sensor QiMeasurement point in respective two-dimensional coordinate system xioiyiIt is lower to sit
Mark (xij,yij), laser displacement sensor QiPosition coordinate value (Xi, 0), determine correspondence laser displacement sensor Q on wheeliSurvey
Amount point coordinate (X under fusion coordinate system XOYij,Yij)：
(Xij,Yij)=(Xi,0)+(xij,yij)
Wherein, i=1,2 ... n, j=1,2 ... m and m >=10；
Step 5, according to all effective measurement point coordinates (X on wheelij,Yij), circle is fitted using least square method,
Obtain the wheel initial diameter D of the measurement position0With initial central coordinate of circle (Xa,Ya)；
It is described according to all effective measurement point coordinates (X on wheelij,Yij), circle is fitted using least square method, most
The formula of small square law is as follows：
Wherein, i=1,2 ... n, j=1,2 ... m and m >=10, a=-2Xa, XaFor the center of circle abscissa after fitting, b=-
2Yb, YbFor the center of circle ordinate after fitting；
Wherein C, D, E, G, H are intermediate parameters, as follows respectively：
D=λ ∑s XijYij-∑Xij∑Yij
Wherein, λ is the number of the effective measurement point of all the sensors, i=1,2 ..., n, j=1,2 ... m and m >=10..
Step 6, wheel initial diameter D step 5 obtained0With initial central coordinate of circle (Xa,Ya), in [Xa-0.1,Xa+
0.1]、[Ya-0.1,Ya+ 0.1] w groups combined value is taken in scope as initial population, with all effective measurement points to fitting circle
Apart from the minimum evolution target of sum, using genetic Optimization Algorithm, initial wheel wheel footpath parameter is optimized, optimized
Final wheel diameter D afterwards1With central coordinate of circle (Xb,Yb)；
Described genetic Optimization Algorithm, with all effective measurement points to fitting circle apart from the minimum evolution mesh of sum F
Mark, formula is as follows：
Wherein, i=1,2 ..., n, j=1,2 ... m and m >=10, k=1,2 ... w, w is Population Size, | XkYkDk| to plant
Group's individual, using binary coding, | XkYkDk| value is in wheel initial diameter D0With initial central coordinate of circle (X0,Y0) place [X0-
0.1,X0+0.1]、[Ya-0.1,Ya+ 0.1] value in scope；
The parameter setting of genetic algorithm is as follows：Population Size is w；Maximum legacy algebraically is MaxGen；Individual lengths are
ILength；Generation gap is Pg；Crossover probability is Px；Mutation probability is Pm。
Step 7,3 moment of selecting step t eve and the detection data at rear a moment, repeat step 3~6, are calculated another
Outer two groups of wheel footpath values D2、D3, three groups of wheel footpaths are averaged, the wheel footpath D of final wheel is obtainedf：
Embodiment 1
The present embodiment is examined online for one kind based on the vertically arranged tramcar wheel diameter of laser displacement sensor straight line
The device and method of survey.
As illustrated in figs. 5-7, the sensing head of n laser displacement sensor arranged along rail direction and it is uniform on a horizontal,
The installation parameter of laser displacement sensor meets following condition：Each laser displacement sensor senses head and hung down relative to X-axis straight line
It is straight to install.In this example, mounted angle is α=90 °, and the number n of laser displacement sensor is between 3, adjacent laser displacement transducer
Every 200mm, mount point to the vertical range of rail of laser displacement sensor is that h is 200mm.Passed so as to obtain each laser displacement
Coordinate (the X of sensori,Yi) (unit：mm)：
Xi=200* (i-1) i=1,2,3；
Yi=0i=1,2,3；
Wherein i represents i-th of laser displacement sensor；
If the sampling period of laser displacement sensor is 0.5kHz, a diameter of 544 quilt is randomly generated by computer simulation
Measuring car wheel measurement data (Xij,Yij)。
Final laser displacement sensor Q1Measurement point fusion coordinate system XOY under coordinate it is as follows：Abscissa matrix：X1=
[201.3489 186.7294 172.2681 158.0566 145.0149 131.6865 118.0375 107.2542
93.91244 82.52926 73.57641 62.56952 53.1939 45.26009 36.17635]；Ordinate matrix：Y1
=[208.4576 213.0904 217.8459 223.8979 230.5616 238.0279 246.7732 255.7271
265.6993 275.6047 286.8786 297.8265 310.0222 322.293 335.3163]。
Laser displacement sensor Q2Measurement point fusion coordinate system under coordinate it is as follows：Abscissa matrix：X2=
[328.1989 319.8163 310.3478 302.3568 293.6805 284.3252 276.383 266.7922
258.7333 249.8005 242.3622 233.0849 223.7151 215.2364 207.182 198.8118
189.7185 181.2543 174.6401 165.8067]；Ordinate matrix：Y2=[205.0539 203.4502
202.5435 201.0798 200.5266 199.7147 199.9562 199.6908 199.5697 200.6655
201.3891 202.602 203.6541 205.0088 207.7211 209.714 211.9953 214.9793
217.4789 221.4082]。
Laser displacement sensor Q3Measurement point fusion coordinate system under coordinate it is as follows：Abscissa matrix：X3=
[508.3231 498.812 487.7089 476.5518 464.4504 452.6425 439.4037 425.026
410.457 396.4184 378.9176 363.6095 347.7529 330.5451 312.1925 295.1408]；It is vertical to sit
Mark matrix：Y3=[335.5346 320.7867 306.8936 292.907 280.586 268.4782 256.9959
247.1184 237.5012 229.4443 222.0795 215.7121 210.0711 205.9629 203.0264
200.832]。
Above-mentioned all measurement points are fitted using least square method, obtain being fitted Circle Parameters：Initial diameter D0=
543.647 with initial central coordinate of circle (X0,Y0)=(272.844,471.356), wherein all measurement points to fitting circle distance and
F0=16.1641, each laser displacement sensor measurement point distribution situation in fitting circle generated at random is as shown in Figure 8.
Parameter is optimized to taking turns underneath with genetic Optimization Algorithm, the parameter setting of genetic algorithm is as follows：Population is big
Small is w=40；Maximum legacy algebraically is MaxGen=200；Individual lengths are ILength=60 (3 independents variable, Mei Gechang
20)；Generation gap is Pg=0.95；Crossover probability is Px=0.7；Mutation probability is Pm=0.01.
|XkYkDk| it is population at individual, using binary coding, its span is：D0±1.0、(X0±0.5,Y0±
0.5), the target of evolution is all measurement points to distance in fitting circle and minimum：
Fitting Circle Parameters after optimization are：
Diameter D1=543.379, central coordinate of circle (X1,Y1)=(271.689,471.176), wherein all measurement points to intend
Close the distance and F of circle0=15.8345, each laser displacement sensor measurement point generated at random is in genetic algorithm optimization fitting circle
Upper distribution situation is as shown in Figure 9.
The simulation result wherein optimized is shown in Figure 10-13.
Finally separately take two groups of data to be fitted and optimize, D can be obtained2=543.239, D3=543.451, to three groups of diameters
Average to obtain Df=543.356.
In summary, the vertically arranged tramcar wheel footpath on-line measuring device of inventive sensor straight line and method, lead to
The algorithm of least square fitting is crossed, and wheel wheel footpath parameter is optimized using genetic Optimization Algorithm, with speed is fast, precision
High, measurement diameter range is big, on line non contact measurement, anti-interference strong advantage.
Claims (9)
1. a kind of vertically arranged tramcar wheel footpath on-line measuring device of linear sensor, it is characterised in that including U-steel
Rail, processing center and multiple laser displacement sensors, wherein：Laser displacement sensor is connected with processing center；Groove-shape rail is
Only retain the rail of groove part；Multiple laser displacement sensors are sequentially arranged on the outside of groove-shape rail；Each laser displacement sensor
Sensing head it is evenly distributed in the same horizontal line along groove-shape rail direction, and measured upwards each along groove-shape rail, detect light
Beam is incident to wheel edge simultaneously, and the circumference where the plane that is formed of detection light beam and wheel diameter is coplanar.
2. the vertically arranged tramcar wheel footpath on-line measuring device of linear sensor according to claim 1, its feature
It is, the model 60R of the groove-shape rail, and only retains groove part.
3. the vertically arranged tramcar wheel footpath on-line measuring device of linear sensor according to claim 1, its feature
Be, carry out diameter measurement wheel circumference apart from wheel rim medial surface distance be 57mm.
4. the vertically arranged tramcar wheel footpath on-line measuring device of linear sensor according to claim 1, its feature
It is, described laser displacement sensor is two-dimensional laser displacement transducer, the quantity of laser displacement sensor is n, and 2≤n
≤10；The horizontal line length of detection interval section is L, and n × 50mm≤L≤1200mm.
5. the vertically arranged tramcar wheel footpath on-line measuring device of linear sensor according to claim 1, its feature
Be, the laser displacement sensor be arranged on groove-shape rail on the outside of, and it is evenly distributed in the same horizontal line, laser displacement pass
Sensor mount point is h, and 160mm≤h≤290mm along the vertical range of plane on groove-shape rail.
6. the vertically arranged tramcar wheel footpath on-line measuring device of linear sensor according to claim 1, its feature
It is, the sensing head of the laser displacement sensor is along groove-shape rail right angle setting, the detection light beam and wheel diameter sent
Place circumference, i.e., it is coplanar away from the circumference where the point at reference plane 57mm on tread is surveyed in wheel rim, and all laser displacements sensing
The sensing head of device is fixed on below wheel by laser displacement sensor fixture.
7. a kind of vertically arranged tramcar wheel footpath online test method of linear sensor, it is characterised in that including U-steel
Rail, processing center and multiple laser displacement sensors, wherein：Laser displacement sensor is connected with processing center；Groove-shape rail is
Only retain the rail of groove part；Multiple laser displacement sensors are sequentially arranged on the outside of groove-shape rail；Each laser displacement sensor
Sensing head it is evenly distributed in the same horizontal line along groove-shape rail direction, and measured upwards each along groove-shape rail, detect light
Beam is incident to wheel edge simultaneously, and the circumference where the plane that is formed of detection light beam and wheel diameter is coplanar, specific steps
It is as follows：
Step 1, laser displacement sensor is designated as Qi, being followed successively by 1,2,3 along rail direction i ..., n, wherein n are laser displacement
The number of sensor；
Step 2, two-dimensional coordinate system XOY is set up in the plane in the tramcar wheel circumference for carrying out diameter measurement：With outermost
Side laser displacement sensor Q1It is X-axis along rail direction for origin, is Y-axis, outermost laser position upwards perpendicular to groove-shape rail
The coordinate of displacement sensor is (0,0), and the coordinate of other laser displacement sensors is (Xi, 0), laser displacement sensor sensing head phase
It it is 90 ° for X-axis mounted angle；
Step 3, it is each laser displacement sensor QiSet up two-dimensional coordinate system xioiyi, to pass through respective laser displacement sensor Qi
Sensing head is origin, is x-axis along rail direction, is y-axis upwards perpendicular to groove-shape rail, now laser displacement sensor QiSet up
Two-dimensional coordinate system xioiyiThe coordinate system set up for laser displacement sensor itself；Gather the defeated of all laser displacement sensors
Go out value, and select while there is the valid data group (x of 10 and above laser displacement sensor output valveij,yij), (xij,yij) be
I-th of laser displacement sensor QiJ-th of the virtual value returned, in laser displacement sensor QiThe two-dimensional coordinate system set up
xioiyiUnder coordinate；Wherein, i=1,2 ... n, j=1,2 ... m, and m >=10；
Step 4, data fusion：According to laser displacement sensor QiMeasurement point in respective two-dimensional coordinate system xioiyiLower coordinate
(xij,yij), laser displacement sensor QiPosition coordinate value (Xi, 0), determine correspondence laser displacement sensor Q on wheeliMeasurement
Point coordinate (X under fusion coordinate system XOYij,Yij)：
(Xij,Yij)=(Xi,0)+(xij,yij)
Wherein, i=1,2 ... n, j=1,2 ... m and m >=10；
Step 5, according to all effective measurement point coordinates (X on wheelij,Yij), circle is fitted using least square method, is somebody's turn to do
The wheel initial diameter D of measurement position0With initial central coordinate of circle (Xa,Ya)；
Step 6, wheel initial diameter D step 5 obtained0With initial central coordinate of circle (Xa,Ya), in [Xa-0.1,Xa+0.1]、
[Ya-0.1,Ya+ 0.1] w groups combined value is taken in scope as initial population, with the distance of all effective measurement points to fitting circle
The minimum evolution target of sum, using genetic Optimization Algorithm, is optimized, after being optimized to initial wheel wheel footpath parameter
Final wheel diameter D1With central coordinate of circle (Xb,Yb)；
Step 7,3 moment of selecting step t eve and the detection data at rear a moment, repeat step 3~6, calculate two groups of wheels
Footpath value D2、D3, three groups of wheel footpaths are averaged, the wheel footpath D of final wheel is obtainedf：
<mrow>
<msub>
<mi>D</mi>
<mi>f</mi>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>D</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>D</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msub>
<mi>D</mi>
<mn>3</mn>
</msub>
</mrow>
<mn>3</mn>
</mfrac>
<mo>.</mo>
</mrow>
8. the vertically arranged tramcar wheel footpath online test method of linear sensor according to claim 7, its feature
It is, according to all effective measurement point coordinates (X on wheel described in step 5ij,Yij), circle is fitted using least square method,
Formula is as follows：
<mrow>
<msub>
<mi>D</mi>
<mn>0</mn>
</msub>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<mi>a</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mi>b</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<mn>4</mn>
<mfrac>
<mrow>
<mo>&Sigma;</mo>
<mrow>
<mo>(</mo>
<msup>
<msub>
<mi>X</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<msub>
<mi>Y</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mn>2</mn>
</msup>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mi>a</mi>
<mo>&Sigma;</mo>
<msub>
<mi>X</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>+</mo>
<mi>b</mi>
<mo>&Sigma;</mo>
<msub>
<mi>Y</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
</mrow>
<mi>n</mi>
</mfrac>
</mrow>
</msqrt>
</mrow>
Wherein, i=1,2 ... n, j=1,2 ... m and m >=10, a=-2Xa, XaFor the center of circle abscissa after fitting, b=-2Yb, YbFor
Center of circle ordinate after fitting；
<mrow>
<mi>a</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>H</mi>
<mi>D</mi>
<mo>-</mo>
<mi>E</mi>
<mi>G</mi>
</mrow>
<mrow>
<mi>C</mi>
<mi>G</mi>
<mo>-</mo>
<msup>
<mi>D</mi>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
</mrow>
<mrow>
<mi>b</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>H</mi>
<mi>C</mi>
<mo>-</mo>
<mi>E</mi>
<mi>D</mi>
</mrow>
<mrow>
<msup>
<mi>D</mi>
<mn>2</mn>
</msup>
<mo>-</mo>
<mi>G</mi>
<mi>C</mi>
</mrow>
</mfrac>
</mrow>
Wherein C, D, E, G, H are intermediate parameters, as follows respectively：
<mrow>
<mi>C</mi>
<mo>=</mo>
<mi>&lambda;</mi>
<mo>&Sigma;</mo>
<msubsup>
<mi>X</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<mo>&Sigma;</mo>
<msub>
<mi>X</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>&Sigma;</mo>
<msub>
<mi>X</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
</mrow>
D=λ ∑s XijYij-∑Xij∑Yij
<mrow>
<mi>E</mi>
<mo>=</mo>
<mi>&lambda;</mi>
<mo>&Sigma;</mo>
<msubsup>
<mi>X</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
<mn>3</mn>
</msubsup>
<mo>+</mo>
<mi>&lambda;</mi>
<mo>&Sigma;</mo>
<msub>
<mi>X</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<msubsup>
<mi>Y</mi>
<mi>j</mi>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<mo>&Sigma;</mo>
<mrow>
<mo>(</mo>
<msubsup>
<mi>X</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>Y</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
<mn>2</mn>
</msubsup>
<mo>)</mo>
</mrow>
<mo>&Sigma;</mo>
<msub>
<mi>X</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
</mrow>
<mrow>
<mi>G</mi>
<mo>=</mo>
<mi>&lambda;</mi>
<mo>&Sigma;</mo>
<msubsup>
<mi>Y</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<mo>&Sigma;</mo>
<msub>
<mi>Y</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>&Sigma;</mo>
<msub>
<mi>Y</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
</mrow>
<mrow>
<mi>H</mi>
<mo>=</mo>
<mi>&lambda;</mi>
<mo>&Sigma;</mo>
<msubsup>
<mi>X</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
<mn>2</mn>
</msubsup>
<msub>
<mi>Y</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>+</mo>
<mi>&lambda;</mi>
<mo>&Sigma;</mo>
<msubsup>
<mi>Y</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
<mn>3</mn>
</msubsup>
<mo>-</mo>
<mo>&Sigma;</mo>
<mrow>
<mo>(</mo>
<msubsup>
<mi>X</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>Y</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
<mn>2</mn>
</msubsup>
<mo>)</mo>
</mrow>
<mo>&Sigma;</mo>
<msub>
<mi>Y</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
</mrow>
Wherein, λ is the number of the effective measurement point of all the sensors, i=1,2 ..., n, j=1,2 ... m and m >=10.
9. the vertically arranged tramcar wheel footpath online test method of linear sensor according to claim 7, its feature
It is, the genetic Optimization Algorithm described in step 6, with all effective measurement points to fitting circle apart from the minimum evolution of sum F
Target, formula is as follows：
<mrow>
<mi>F</mi>
<mo>=</mo>
<mo>&Sigma;</mo>
<mrow>
<mo>|</mo>
<mrow>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>X</mi>
<mrow>
<mi>i</mi>
<mo>,</mo>
<mi>j</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>X</mi>
<mi>k</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>Y</mi>
<mrow>
<mi>i</mi>
<mo>,</mo>
<mi>j</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>Y</mi>
<mi>k</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mo>-</mo>
<mfrac>
<msub>
<mi>D</mi>
<mi>k</mi>
</msub>
<mn>2</mn>
</mfrac>
</mrow>
<mo>|</mo>
</mrow>
</mrow>
Wherein, i=1,2 ..., n, j=1,2 ... m and m >=10, k=1,2 ... w, w is Population Size, | XkYkDk| for population
Body, using binary coding, | XkYkDk| value is in wheel initial diameter D0With initial central coordinate of circle (X0,Y0) place [X0-0.1,X0+
0.1]、[Ya-0.1,Ya+ 0.1] value in scope；
The parameter setting of genetic algorithm is as follows：Population Size is w；Maximum legacy algebraically is MaxGen；Individual lengths are
ILength；Generation gap is Pg；Crossover probability is Px；Mutation probability is Pm。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710266736.7A CN107117188B (en) | 2017-04-21 | 2017-04-21 | The vertically arranged tramcar wheel footpath online test method of linear sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710266736.7A CN107117188B (en) | 2017-04-21 | 2017-04-21 | The vertically arranged tramcar wheel footpath online test method of linear sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107117188A true CN107117188A (en) | 2017-09-01 |
| CN107117188B CN107117188B (en) | 2019-05-07 |
Family
ID=59725925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710266736.7A Expired - Fee Related CN107117188B (en) | 2017-04-21 | 2017-04-21 | The vertically arranged tramcar wheel footpath online test method of linear sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107117188B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108819980A (en) * | 2018-06-27 | 2018-11-16 | 马鞍山市雷狮轨道交通装备有限公司 | A kind of device and method of train wheel geometric parameter on-line dynamic measurement |
| CN112129258A (en) * | 2020-08-24 | 2020-12-25 | 中车唐山机车车辆有限公司 | Scratch depth measuring device and method |
| CN113237424A (en) * | 2021-04-28 | 2021-08-10 | 中车长春轨道客车股份有限公司 | Wheel position measuring method for urban rail vehicle bogie |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108332688B (en) * | 2018-01-31 | 2020-04-17 | 闽台龙玛直线科技股份有限公司 | Online measuring method for straightness of auxiliary roller path of ball linear guide rail |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001098769A1 (en) * | 2000-06-20 | 2001-12-27 | Fraunhofer Gesellschaft Zur Förderung Der Angewandten Forschung E. V. | Device and method for testing a railway wheel |
| CN103587550A (en) * | 2013-11-11 | 2014-02-19 | 南京理工大学 | Device and method for detecting urban rail vehicle wheel diameters through arc vertical installation of sensors |
| CN203601294U (en) * | 2013-11-11 | 2014-05-21 | 南京理工大学 | Urban rail vehicle wheel diameter detecting device with sensors installed linearly and obliquely |
| CN105423934A (en) * | 2015-12-23 | 2016-03-23 | 东莞市诺丽电子科技有限公司 | Train wheel diameter detection method |
-
2017
- 2017-04-21 CN CN201710266736.7A patent/CN107117188B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001098769A1 (en) * | 2000-06-20 | 2001-12-27 | Fraunhofer Gesellschaft Zur Förderung Der Angewandten Forschung E. V. | Device and method for testing a railway wheel |
| CN103587550A (en) * | 2013-11-11 | 2014-02-19 | 南京理工大学 | Device and method for detecting urban rail vehicle wheel diameters through arc vertical installation of sensors |
| CN203601294U (en) * | 2013-11-11 | 2014-05-21 | 南京理工大学 | Urban rail vehicle wheel diameter detecting device with sensors installed linearly and obliquely |
| CN105423934A (en) * | 2015-12-23 | 2016-03-23 | 东莞市诺丽电子科技有限公司 | Train wheel diameter detection method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108819980A (en) * | 2018-06-27 | 2018-11-16 | 马鞍山市雷狮轨道交通装备有限公司 | A kind of device and method of train wheel geometric parameter on-line dynamic measurement |
| CN112129258A (en) * | 2020-08-24 | 2020-12-25 | 中车唐山机车车辆有限公司 | Scratch depth measuring device and method |
| CN112129258B (en) * | 2020-08-24 | 2022-07-26 | 中车唐山机车车辆有限公司 | Scratch depth measuring method |
| CN113237424A (en) * | 2021-04-28 | 2021-08-10 | 中车长春轨道客车股份有限公司 | Wheel position measuring method for urban rail vehicle bogie |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107117188B (en) | 2019-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107200041B (en) | Tramcar wheel out of round degree on-line measuring device and method based on array laser | |
| CN106091951B (en) | A kind of municipal rail train wheel rim parameter on-line detecting system and method | |
| CN107117188B (en) | The vertically arranged tramcar wheel footpath online test method of linear sensor | |
| CN107607044B (en) | A kind of hollow on worn tread detection method based on laser displacement sensor | |
| CN107200042B (en) | High-precision on-line detection method and detection device for diameter and roundness abrasion of train wheels | |
| CN105946898B (en) | A kind of municipal rail train wheel diameter detection method and system based on laser ranging | |
| CN103591899B (en) | The wheel diameter of urban rail vehicle pick-up unit that sensor circular arc normal is installed and method | |
| CN103587551B (en) | The vertically arranged wheel diameter of urban rail vehicle detecting device of linear sensor and method | |
| CN107139968A (en) | Wheel out of round degree detection means and method based on laser displacement sensor | |
| CN105292180A (en) | Non-contact wheel set dimension online detection method and device based on various sensors | |
| CN107128330B (en) | The vertically arranged tramcar wheel footpath on-line measuring device of sensor circular arc and method | |
| CN103587548A (en) | Device and method for detecting wheel out-of-roundness of urban rail vehicle through sensor direct measurement | |
| CN103587549A (en) | Laser-sensor-based device and method for detecting out-of-roundness of wheels of urban rail vehicles | |
| CN103591902B (en) | A kind of wheel diameter of urban rail vehicle detecting device based on laser sensor and method | |
| CN108819980B (en) | Device and method for online dynamic measurement of geometric parameters of train wheels | |
| CN104590314B (en) | Device and method for measuring diameter of urban rail vehicle wheel based on multiple sensors | |
| CN108839674B (en) | Online dynamic measurement device and measurement method for geometric parameters of train wheels | |
| CN103587550B (en) | The vertically arranged wheel diameter of urban rail vehicle detecting device of sensor circular arc and method | |
| CN107202543A (en) | The detection method of municipal rail train wheel diameter | |
| CN105835902A (en) | Method for detecting diameter of wheel based on laser displacement sensors | |
| CN107036541B (en) | The tramcar wheel footpath on-line measuring device and method of linear sensor inclination installation | |
| CN109353372A (en) | A kind of tramcar wheelset profile on-line monitoring system and method | |
| CN107084670B (en) | The tramcar wheel footpath on-line measuring device and method of sensor circular arc normal installation | |
| CN103587552B (en) | The wheel diameter of urban rail vehicle detecting device that linear sensor tilts to install and method | |
| CN106184284B (en) | Railway wheelset diameter automatic measurement method and system based on the scanning of line laser multi-section |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190507 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |