CN103587548A - Device and method for detecting wheel out-of-roundness of urban rail vehicle through sensor direct measurement - Google Patents

Abstract

The invention discloses a device and method for detecting wheel out-of-roundness of an urban rail vehicle through sensor direct measurement. The device comprises a central processing unit and a plurality of laser sensors connected with the central processing unit. A steel rail at a detection zone deviates outwards, and a protective rail is arranged on the inner side of the steel rail at the detection zone. The laser sensors are arranged between the area vacated by deviation of the steel rail and the protective rail, probes of the laser sensors are arranged in the direction of the steel rail and all located under wheels, and all laser sensors are coplanar with the circumferences of the wheels subjected to out-of-roundness measurement. According to the method, the laser sensors are used and are installed under the wheels according to a certain geometrical relationship, detection points of the wheels passing the inside of measurement scope of each sensor are selected, the measured diameter corresponding to each sensor can be obtained through the least square fit, and then the wheel out-of-roundness can be obtained in a manner that the maximum value subtracts the minimum value. According to the device and method, the advantages of high speed, high accuracy and big diameter measurement scope are achieved through on-line no-contact type measurement.

Description

City rail vehicle wheel out of round degree detecting device and method that sensor is directly measured

Technical field

The present invention relates to railway wheel detection field, city rail vehicle wheel out of round degree detecting device and method that particularly a kind of sensor is directly measured.

Background technology

City rail vehicle there will be abrasion in various degree in the process of operation, abrasion exert an influence to wheel safe operation meeting, and it is particularly important wherein to wear away the inhomogeneous wheel tread polygon causing, it constitutes a serious threat to the safety in operation of train, rolling stock is strengthened greatly to circuit and the dynamic action of self, also can bring additional vibration and impact simultaneously, reduce the critical speed of rolling stock, make stationarity and the traveling comfort variation of train.Therefore to the non-roundness measurement of wheel tread to safe train operation important in inhibiting.

The method of inspection of wheel circularity is mainly divided into Static Detection and dynamic monitoring, and Static Detection need to stop or wheel dismounting in the situation that is carried out at train, not only take the turn round time of train, and speed is slow, and labour intensity is large; Dynamic monitoring not only can realize taking turns right on-line monitoring, and degree of automation is high, does not take car cycle, is convenient to store information material, and the dynamic monitoring out of roundness method adopting at present has vibration acceleration detection method and contact measuring method:

The Vibration Condition of track when the permutation train that vibration acceleration detection method gathers by analysis passes through check point, the out of roundness information of extraction wheel, but the method is subject to the impact of installation of sensors fixture, sleeper vibration damping, and measuring accuracy is not high.Contact measuring method is typically parallelogram method, patent 1(lifting mode wheel tread is inserted and is injured the online device for dynamically detecting of out of roundness, application number: 200720082608.9, the applying date: 2007-12-20) insert wound and out of roundness on-line measuring device with patent 2(wheel tread, application number: 201210307496.8, the applying date: 2012-08-27) all disclose On-line Measuring Method and the improvement thereof of parallelogram sturcutre, in the method, displacement pickup is connected with the bearing being fixed on the rail that forms parallel-crank mechanism one side, sensor can directly be measured the variable quantity of the relative height of wheel tread and wheel rim, displacement pickup records the diameter situation of whole tread circumference, when tread not bowlder sensor be thereby that delivery curve draws out of roundness, but the method has adopted contact type measurement, be not suitable for the situation that train passes through at a high speed, and exist measurement speed of response slow, the physical construction life-span is low, the problems such as engineering construction difficulty.

Summary of the invention

The city rail vehicle wheel out of round degree detecting device that the object of the present invention is to provide a kind of high-precision sensor directly to measure, adopts non-contact measurement, and detection speed is fast, measurement range is large.

The technical solution that realizes the object of the invention is: the city rail vehicle wheel out of round degree detecting device that a kind of sensor is directly measured, comprise central processing unit and a plurality of laser sensor, and described laser sensor is all connected with central processing unit; The rail of detector segments is outwards offset, and the rail of this detector segments inner side arranges guard rail, tangent inside guard rail and wheel rim; Laser sensor is arranged at rail and is offset between the region and guard rail of vacating, the probe of laser sensor is arranged and is distributed on horizon along rail direction, upwards, all laser sensors are coplanar with the wheel circumference that carries out non-roundness measurement for the vertical rail of detecting light beam of each laser sensor.

A city rail vehicle wheel out of round degree method of inspection of directly measuring, comprises the following steps:

The 1st step, is installed on by each laser sensor the region that rail skew is vacated, and makes the probe of each laser sensor arrange and all be positioned at wheel below along rail direction, and all laser sensors are coplanar with the wheel circumference that carries out diameter measurement, and laser sensor is designated as P _i, along rail direction, i is followed successively by 1,2 ... n, the number that n is laser sensor;

The 2nd step, sets up two-dimensional coordinate system in the plane at the wheel circumference that carries out diameter measurement: along rail direction, be X-axis, through first laser sensor P ₁and perpendicular to rail, be upwards Y-axis, the coordinate of laser sensor is (x _i, y _i), each laser sensor probe is 90 ° with respect to the mounted angle of X-axis;

The 3rd step, gathers the output valve of all laser sensors, and selects the valid data group { S that has individual sensor output _i, S _ibe i sensor P _ioutput valve, i=1,2 ... n;

The 4th step: the speed of determining each sensor of train process P:

v _i＝d _i/t _i

D wherein _i=(x _i-x _i-1)/2+ (x _i+1-x _i)/2, t _i=(t _pi-t _pi-1)/2+ (t _pi+1-t _pi)/2, t _pibe i sensor P _ithe moment of output minimum value, t _pi+1be i+1 sensor P _i+1the moment of output minimum value, t _pi-1be i-1 sensor P _i-1the moment of output minimum value, and supposition in this sensor P interval at the uniform velocity;

The 5th step, according to sensor P _ioutput valve S _i, coordinate figure (x _i, y _i) determine respective sensor P on wheel _imeasurement point coordinate, and take t as time shaft, select this wheel through sensor P _imeasurement range

interior point coordinate (X _it, Y _it):

(X _it,Y _it)＝(x _i,y _i)+(tv _i/f,S _it) i＝1,2…n t＝1,2…

Wherein: i represents i sensor; T is sampling instant; F is the sampling period; v _ifor wheel is through sensor P _ispeed;

The 6th step, according to sequence of points (X _it, Y _it) carry out fitting circle, obtain sensor P _icorresponding wheel diameter D _i;

The 7th step, repeats 5th～6 steps, the valid data group S that each sensor is collected _icarry out the calculating of measurement point coordinate and obtain n wheel diameter with matching, the maxim in n the diameter obtaining after n sensor matching is deducted to minimum value, obtain the quantized value E of wheel out of round degree.

Compared with prior art, remarkable advantage of the present invention is:, based on laser detection system, by the algorithm of least square fitting, realize the online noncontact measurement of train wheel (1), and survey precision is high; (2) by any multiple spot coordinate of laser sensor automatic acquisition wheel, by corresponding data Processing Algorithm, obtain institute's measuring car wheel diameter instantly, the maxim in cut-off footpath deducts minimum value, obtains the quantizating index of out of roundness, simple, convenient quick; (3) automatic acquisition wheel is through out-of-date speed; (4) have advantages of that detection speed is fast, measurement range is large.

Accompanying drawing explanation

Fig. 1 is the postrun abrasion schematic diagram of wheel tread.

Fig. 2 is the directly constructional drawing of the city rail vehicle wheel out of round degree detecting device of measurement of sensor of the present invention.

Fig. 3 is the schematic diagram of rail switching place in city rail vehicle wheel out of round degree detecting device of the present invention.

Fig. 4 is the distance Q of rail skew of the present invention and the broken face schematic diagram of the size of guard rail.

Fig. 5 is that in embodiment, the vertically arranged wheel out of round degree of laser sensor straight line detects schematic diagram.

Fig. 6 is the observed reading S relation of t (ms) in time of 9 laser sensors in embodiment.

Fig. 7 is the output (X of certain sensor measurement point in embodiment _it, Y _it) and matching after circle.

Fig. 8 is 20 out of roundness acquired results schematic diagrams of duplicate measurements in embodiment.

The specific embodiment

Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.

Tread profile when having expressed certain wheel operation tread profile later in Fig. 1 and just having put into operation, can find out apart from the 70mm of place, wheel rim side and concentrate and locate for abrasion, this place is conventional measurement diameter position in engineering, and wheel diameter is often controlled between 770～840mm, therefore laser sensor sensing point is chosen for the wheel circumference at this place.

The city rail vehicle wheel out of round degree detecting device that the present invention is based on laser sensor, comprises central processing unit and a plurality of laser sensor, and described laser sensor is all connected with central processing unit; The rail of detector segments is outwards offset, and the rail of this detector segments inner side arranges guard rail, tangent inside guard rail and wheel rim; Laser sensor is arranged at rail and is offset between the region and guard rail of vacating, the probe of laser sensor is arranged and is distributed on horizon along rail direction, upwards, all laser sensors are coplanar with the wheel circumference that carries out non-roundness measurement for the vertical rail of detecting light beam of each laser sensor.

As shown in Figure 2, in detector segments, rail 6 is outer partially, vacate certain area, laser sensor probe 3 is arranged on to the measurement point below of wheel 1, in wheel rim inner side, guard rail 5 is set and causes derailing to prevent taking turns in S or end float misalignment, laser sensor probe 3 is fixing by clamp of sensor 4, and can adjust position and the inclination angle of laser sensor probe 3, and each laser sensor probe 3 laser beams that send 2 can detect the corresponding check point on wheel simultaneously.

As shown in Figure 3, rail outwards switching place of skew is arc, is conducive to train and enters and exit detecting area.Fig. 4 has illustrated the outwards concrete size Q of skew of rail, and for wheel tread and 60 rails, Q is controlled between 50～65mm, makes track centerline not exceed the outer rim of wheel.Guard rail exceeds the size P of wheel rim, is controlled between 30～50mm.The wheel circumference that carries out diameter measurement is 70mm apart from the distance of wheel rim side.

Due to wheel to be measured and track Long Term Contact, smooth surface roughness is low, therefore relates to and utilizes laser scanning testing head to carry out profile measurement to the very strong metal curved surface of mirror-reflection, and this measurand is a difficult point in current topography measurement field.Zhang Liang etc. have analyzed the measurement capability of existing several laser feeler to metal surface, shown that the holographic probe of cone light polarization and oblique fire formula triangle probe are applicable to measuring metal curved surface (Zhang Liang, Fei Zhigen, Guo Junjie. laser scanning testing head is measured research to metal curved surface, lathe and hydraulic pressure, the 39th the 9th phase of volume: in May, 2011).Therefore the laser sensor the present invention relates to, preferably bores the holographic probe of light polarization and oblique fire formula triangle probe, the quantity of laser sensor be 3～20 and the probe of all laser sensors by clamp of sensor, be fixed on wheel below.

The method that the city rail vehicle wheel out of round degree detecting device that uses the sensor directly to measure carries out the detection of wheel out of round degree, comprises the following steps:

The 1st step, is installed on by each laser sensor the region that rail skew is vacated, and makes the probe of each laser sensor arrange and all be positioned at wheel below along rail direction, and all laser sensors are coplanar with the wheel circumference that carries out diameter measurement, and laser sensor is designated as P _i, along rail direction, i is followed successively by 1,2 ... n, the number that n is laser sensor;

The 2nd step, sets up two-dimensional coordinate system in the plane at the wheel circumference that carries out diameter measurement: along rail direction, be X-axis, through first laser sensor P ₁and perpendicular to rail, be upwards Y-axis, the coordinate of laser sensor is (x _i, y _i), each laser sensor probe is 90 ° with respect to the mounted angle of X-axis;

The 3rd step, gathers the output valve of all laser sensors, and selects the valid data group { S that has individual sensor output _i, S _ibe i sensor P _ioutput valve, i=1,2 ... n;

The 4th step: the speed of determining each sensor of train process P:

v _i＝d _i/t _i

D wherein _i=(x _i-x _i-1)/2+ (x _i+1-x _i)/2, t _i=(t _pi-t _pi-1)/2+ (t _pi+1-t _pi)/2, t _pibe i sensor P _ithe moment of output minimum value, t _pi+1be i+1 sensor P _i+1the moment of output minimum value, t _pi-1be i-1 sensor P _i-1the moment of output minimum value, and supposition in this sensor P interval at the uniform velocity;

The 5th step, according to sensor P _ioutput valve S _i, coordinate figure (x _i, y _i) determine respective sensor P on wheel _imeasurement point coordinate, and take t as time shaft, select this wheel through sensor P _imeasurement range

interior point coordinate (X _it, Y _it):

(X _it,Y _it)＝(x _i,y _i)+(tv _i/f,S _it) i＝1,2…n t＝1,2…

Wherein: i represents i sensor; T is sampling instant; F is the sampling period; v _ifor wheel is through sensor P _ispeed;

The 6th step, according to sequence of points (X _it, Y _it) carry out fitting circle, obtain sensor P _icorresponding wheel diameter D _i; Adopt method of least square to carry out fitting circle, formula is as follows:

$D=\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="HDA0000411817170000041.png"\; state="\{\{state\}\}">b</figure-callout>}}^2+4\frac{\mathrm{\&Sigma;}({X_i}^2+{Y_i}^2)+\mathrm{a\&Sigma;}{X}_i+\mathrm{b\&Sigma;}{Y}_i}{n}},i=\mathrm{1,2}\&CenterDot;\&CenterDot;\&CenterDot;n$

Wherein, a is the center of circle abscissa x after matching ₀-2 times be a=-2x ₀, b is the center of circle ordinate y after matching ₀-2 times be b=-2y ₀, and

$a=\frac{\mathrm{HD}-\mathrm{EG}}{\mathrm{CG}-D^2}$ $b=\frac{\mathrm{HC}-\mathrm{ED}}{D^2-\mathrm{GC}}$

Wherein C, D, E, G, H are intermediate parameters, as follows respectively:

$\left.\begin{array}{c}C=\mathrm{n\&Sigma;}{X}_i^2-\mathrm{\&Sigma;}{X}_i\mathrm{\&Sigma;}{X}_i\\ D=\mathrm{n\&Sigma;}{X}_i{Y}_i-\mathrm{\&Sigma;}{X}_i\mathrm{\&Sigma;}{Y}_i\\ E=\mathrm{n\&Sigma;}{X}_i^3+\mathrm{n\&Sigma;}{X}_i{Y}_i^2-\mathrm{\&Sigma;}(X_i^2+Y_i^2)\mathrm{\&Sigma;}{X}_i\\ G=\mathrm{n\&Sigma;}{Y}_i^2-\mathrm{\&Sigma;}{Y}_i\mathrm{\&Sigma;}{Y}_i\\ H=\mathrm{n\&Sigma;}{X}_i^2{Y}_i+\mathrm{n\&Sigma;}{Y}_i^3-\mathrm{\&Sigma;}(X_i^2+Y_i^2)\mathrm{\&Sigma;}{Y}_i\end{array}\right\}i=\mathrm{1,2}...n$

The 7th step, repeats 5th～6 steps, the valid data group S that each sensor is collected _icarry out the calculating of measurement point coordinate and obtain n wheel diameter with matching, the maxim in n the diameter obtaining after n sensor matching is deducted to minimum value, obtain the quantized value E of wheel out of round degree.

Below in conjunction with specific embodiment, introduce respectively sensor and adopt that straight line is vertical, city rail vehicle wheel out of round degree detecting device and the method for straight line inclination mounting means, the present invention is described in further detail.

Embodiment

The present embodiment is the vertically arranged city rail vehicle wheel out of round of sensor straight line degree detecting device and method.

As shown in Figure 5, the probe of n laser sensor is arranged and is distributed on horizon along rail direction, and the vertical rail of detecting light beam of each laser sensor upwards.

The installation parameter of laser sensor meets the following conditions: the number n of laser sensor is 9, adjacent laser sensor interval 300mm, and the attachment point of laser sensor to the vertical distance of rail is | y ₁| be 100mm.6 of this mount schemes and the distance simultaneously measuring with upper sensor surpass 2800mm, covered the situation 840 * 3.14=2637.6mm of wheel diameter maximum, the whole circumference range of wheel tread can be detected, and make the measurement light of sensor and the pitch angle control of tested surface ± 20 ° between, avoid changing the sensor measurement error that inclination angle causes.Thereby obtain the coordinate (x of each sensor _i, y _i) (unit: mm):

x _i＝300(i-1) i＝1,2…9

Wherein i represents i sensor;

If the sampling period of laser sensor is 1kHz, measure random error 0.05mm, and suppose that train running speed is 1m/s, the tested vechicle wheel measurement data that are 800 by computer modeling generation diameter as shown in Figure 6, are exported out of roundness by take off data according to following steps:

(1.1) gather the output valve of all laser sensors, and select and have the valid data of 9 sensor output values group { S simultaneously _i, S _ibe i sensor P _ioutput valve, i=1,2 ... n;

(1.2) according to sensor P _ioutput valve S _i, coordinate figure (x _i, y _i) determine respective sensor P on wheel _imeasurement point coordinate (X _it, Y _it), Fig. 7 has drawn first sensor output S in (1.1) _idefinite sequence of points (X _it, Y _it) and this constantly matching after circle;

(1.3) according to sequence of points (X _it, Y _it) carry out fitting circle, obtaining the wheel diameter that this sensor is corresponding is 799.913mm.9 sensor measurement output S _ithe diameter error sequence obtaining after matching is:

ε＝[-0.0870 0.1606 -0.0820 0.0913 0.1481 -0.1556 -0.0681 0.0824 -0.2800]

(1.4) the diameter error sequence that 9 sensor measurements of step (1.3) being tried to achieve obtain, the maxim in cut-off footpath deducts minimum value, and obtaining out of roundness is 0.4406.Analogue measurement 20 times, obtains the result of a measurement shown in Fig. 8, and from this result of a measurement, this embodiment can be realized the high-acruracy survey of wheel out of round degree, and measured error is <0.8mm in the situation that not considering installation error.

In sum, the present invention is based on laser detection system, by the algorithm of least square fitting, realize the online noncontact measurement to train wheel out of roundness, survey precision is high, simple, convenient quick, and has advantages of that detection speed is fast, measurement range is large.

Claims (7)

1. the city rail vehicle wheel out of round degree detecting device that sensor is directly measured, is characterized in that, comprise central processing unit and a plurality of laser sensor, described laser sensor is all connected with central processing unit; The rail of detector segments is outwards offset, and the rail of this detector segments inner side arranges guard rail, tangent inside guard rail and wheel rim; Laser sensor is arranged at rail and is offset between the region and guard rail of vacating, the probe of laser sensor is arranged and is distributed on horizon along rail direction, upwards, all laser sensors are coplanar with the wheel circumference that carries out non-roundness measurement for the vertical rail of detecting light beam of each laser sensor.

2. the city rail vehicle wheel out of round degree detecting device that sensor according to claim 1 is directly measured, it is characterized in that, described detector segments is 2500～3000mm, and detector segments rail is skew 50～65mm outwards, and switching place that this rail is outwards offset is arc.

3. the city rail vehicle wheel out of round degree detecting device that sensor according to claim 1 is directly measured, is characterized in that, described in carry out non-roundness measurement wheel circumference apart from the distance of wheel rim side, be 70mm.

4. the city rail vehicle wheel out of round degree detecting device that sensor according to claim 1 is directly measured, is characterized in that, the quantity of described laser sensor is for being n and 3≤n≤20.

5. the city rail vehicle wheel out of round degree detecting device that sensor according to claim 1 is directly measured, it is characterized in that, the probe of described laser sensor is the holographic probe of cone light polarization or oblique fire formula triangle probe, and the probe of all laser sensors is fixed on wheel below by clamp of sensor.

6. the city rail vehicle wheel out of round degree method of inspection that sensor is directly measured, is characterized in that, comprises the following steps:

The 1st step, is installed on by each laser sensor the region that rail skew is vacated, and makes the probe of each laser sensor arrange and all be positioned at wheel below along rail direction, and all laser sensors are coplanar with the wheel circumference that carries out diameter measurement, and laser sensor is designated as P _i, along rail direction, i is followed successively by 1,2 ... n, the number that n is laser sensor;

The 2nd step, sets up two-dimensional coordinate system in the plane at the wheel circumference that carries out diameter measurement: along rail direction, be X-axis, through first laser sensor P ₁and perpendicular to rail, be upwards Y-axis, the coordinate of laser sensor is (x _i, y _i), each laser sensor probe is 90 ° with respect to the mounted angle of X-axis;

The 3rd step, gathers the output valve of all laser sensors, and selects the valid data group { S that has individual sensor output _i, S _ibe i sensor P _ioutput valve, i=1,2 ... n;

The 4th step: the speed of determining each sensor of train process P:

v _i＝d _i/t _i

D wherein _i=(x _i-x _i-1)/2+ (x _i+1-x _i)/2, t _i=(t _pi-t _pi-1)/2+ (t _pi+1-t _pi)/2, t _pibe i sensor P _ithe moment of output minimum value, t _pi+1be i+1 sensor P _i+1the moment of output minimum value, t _pi-1be i-1 sensor P _i-1the moment of output minimum value, and supposition in this sensor P interval at the uniform velocity;

The 5th step, according to sensor P _ioutput valve S _i, coordinate figure (x _i, y _i) determine respective sensor P on wheel _imeasurement point coordinate, and take t as time shaft, select this wheel through sensor P _imeasurement range

interior point coordinate (X _it, Y _it):

(X _it,Y _it)＝(x _i,y _i)+(tv _i/f,S _it) i＝1,2…n t＝1,2…

Wherein: i represents i sensor; T is sampling instant; F is the sampling period; v _ifor wheel is through sensor P _ispeed;

The 6th step, according to sequence of points (X _it, Y _it) carry out fitting circle, obtain sensor P _icorresponding wheel diameter D _i;

The 7th step, repeats 5th～6 steps, the valid data group S that each sensor is collected _icarry out the calculating of measurement point coordinate and obtain n wheel diameter with matching, the maxim in n the diameter obtaining after n sensor matching is deducted to minimum value, obtain the quantized value E of wheel out of round degree.

7. the city rail vehicle wheel out of round degree method of inspection that sensor according to claim 6 is directly measured, is characterized in that, described in the 6th step according to n on wheel measurement point coordinate (X _i, Y _i) carry out fitting circle, adopt method of least square, formula is as follows:

$D=\sqrt{a^2+b^2+4\frac{\mathrm{\&Sigma;}({X_i}^2+{Y_i}^2)+\mathrm{a\&Sigma;}{X}_i+\mathrm{b\&Sigma;}{Y}_i}{n}},i=\mathrm{1,2}\&CenterDot;\&CenterDot;\&CenterDot;n$

Wherein, a is the center of circle abscissa x after matching ₀-2 times be a=-2x ₀, b is the center of circle ordinate y after matching ₀-2 times be b=-2y ₀, and

$a=\frac{\mathrm{HD}-\mathrm{EG}}{\mathrm{CG}-D^2}$

$b=\frac{\mathrm{HC}-\mathrm{ED}}{D^2-\mathrm{GC}}$

Wherein C, D, E, G, H are intermediate parameters, as follows respectively:

$\left.\begin{array}{c}C=\mathrm{n\&Sigma;}{X}_i^2-\mathrm{\&Sigma;}{X}_i\mathrm{\&Sigma;}{X}_i\\ D=\mathrm{n\&Sigma;}{X}_i{Y}_i-\mathrm{\&Sigma;}{X}_i\mathrm{\&Sigma;}{Y}_i\\ E=\mathrm{n\&Sigma;}{X}_i^3+\mathrm{n\&Sigma;}{X}_i{Y}_i^2-\mathrm{\&Sigma;}(X_i^2+Y_i^2)\mathrm{\&Sigma;}{X}_i\\ G=\mathrm{n\&Sigma;}{Y}_i^2-\mathrm{\&Sigma;}{Y}_i\mathrm{\&Sigma;}{Y}_i\\ H=\mathrm{n\&Sigma;}{X}_i^2{Y}_i+\mathrm{n\&Sigma;}{Y}_i^3-\mathrm{\&Sigma;}(X_i^2+Y_i^2)\mathrm{\&Sigma;}{Y}_i\end{array}\right\}i=\mathrm{1,2}...n.$

Images