Self-adaptive calibration detection system for abrasion of rail transit carbon contact strip

Abstract

The invention discloses a self-adaptive calibration detection system for abrasion of a rail transit carbon slide plate, which comprises a walking mechanism arranged right above the carbon slide plate, a plurality of pairs of calibration mechanisms uniformly arranged on two sides of the carbon slide plate at intervals, and a processor, and is characterized in that a laser acquisition module is arranged on the walking mechanism; the driving module is used for driving the laser acquisition module to walk along the length direction of the carbon contact strip; each calibration mechanism is used for promoting the own calibration block to extend so as to be in self-adaptive contact with the bottom surface of the carbon contact strip or retract to the original position; the laser acquisition module is used for acquiring three-dimensional data of the top surface of the carbon slide plate and three-dimensional data of the exposed part of each calibration block; and the processor simulates the deformation condition of the bottom surface of the carbon slide plate in the length direction through a curve and simulates the deformation condition of the bottom surface of the carbon slide plate in the width direction through a straight line according to the three-dimensional data of the exposed part of each calibration block, and performs calibration compensation on the three-dimensional data of the top surface of the carbon slide plate to obtain the accurate abrasion condition of the carbon slide plate.

Description

Technical Field

[0001] The invention belongs to the technical field of rail transit detection, and in particular relates to an adaptive calibration detection system for wear of a rail transit carbon slide plate. Background Art

[0002] When a rail transit train is running, the pantograph and the contact network rely on carbon slide plates to obtain electricity. The locomotive is in contact with the contact network during operation, so the carbon slide plate and the contact network are in a state of friction for a long time. In the existing system, the carbon slide plate and the contact network adopt a Z-shaped operation mode, and the working surface is about 550mm. The carbon slide plate is evenly worn in an ideal state, but in reality, there is abnormal wear at one point in the working surface, which will limit the use of the entire carbon slide plate and face replacement. Therefore, abnormal wear is the culprit for resource waste. However, as the main component of subway operation, carbon slide plates have always lacked effective and scientific management methods.

[0003] At present, the wear detection of carbon skateboards is mainly non-contact detection, such as obtaining three-dimensional data of the carbon skateboard surface through laser scanning, and comparing it with the standard carbon skateboard data to obtain the wear situation. However, the long-term use of carbon skateboards will not only cause the carbon material on the top surface to wear, but also cause abnormal damage such as deformation and warping on the bottom surface or the overall shape, resulting in the wear measurement benchmark, that is, the deformation data of the bottom surface of the carbon skateboard, to change. Usually, calibration sheets are posted on the bottom surface of the carbon skateboard, and the collected calibration sheet data are linearly fitted to simulate the bottom surface deformation. However, there is still a large difference from the actual deformation situation, which will still affect the accuracy of wear detection. At the same time, the calibration sheet is easy to fall off or lose, which may affect the safe operation of the train. In addition, posting the calibration sheet on the carbon skateboard on the top of the train has high requirements on the posting position and is inconvenient to operate. Summary of the invention

[0004] The present invention provides an adaptive calibration detection system for the wear of rail transit carbon slide plates, which solves the technical problems that the existing method simulates the bottom surface deformation by linear fitting, which still affects the accuracy of wear detection, and the detached or lost calibration piece will cause hidden dangers to the safe operation of the train.

[0005] The present invention can be achieved through the following technical solutions:

[0006] An adaptive calibration detection system for wear of a rail transit carbon slide, comprising a walking mechanism arranged directly above the carbon slide, multiple pairs of calibration mechanisms evenly spaced on both sides of the carbon slide, and a processor, wherein a laser collection module is arranged on the walking mechanism to drive the laser collection module to travel along the length direction of the carbon slide;

[0007] Each calibration mechanism is used to cause its own calibration block to extend to adaptively contact with the bottom surface of the carbon slide plate or to retract to its original position;

[0008] The laser acquisition module is used to collect the three-dimensional data of the top surface of the carbon slide plate and the three-dimensional data of the exposed parts of each calibration block;

[0009] The processor calibrates and compensates the three-dimensional data of the top surface of the carbon skateboard based on the three-dimensional data of the exposed parts of each calibration block, simulates the deformation of the bottom surface of the carbon skateboard in the length direction with a curve, and simulates the deformation of the bottom surface of the carbon skateboard in the width direction with a straight line, and obtains the accurate wear condition of the carbon skateboard.

[0010] Further, the calibration mechanism includes an elastic telescopic rod arranged perpendicular to the top surface of the carbon slide, a gap is left between the elastic telescopic rod and the side surface of the carbon slide, and a bearing block is connected to the free end thereof, a groove capable of accommodating the calibration block is opened on the top surface of the bearing block, and the calibration block is rotatably arranged inside the groove through a rotating shaft,

[0011] Hold the bearing block and pull it downward to extend the elastic telescopic rod until the bearing block passes over the bottom surface of the carbon slide, then rotate the bearing block 90 degrees forward to make the calibration block on the bearing block perpendicular to the bottom surface of the carbon slide, release the bearing block, and under the rebound force of the elastic telescopic rod, the calibration block moves upward until it contacts the bottom surface of the carbon slide, and rotates adaptively to make the top surface of the calibration block close to the bottom surface of the carbon slide;

[0012] Hold the bearing block and pull it downward again to extend the elastic telescopic rod again until the bearing block is separated from the bottom surface of the carbon slide board, rotate the bearing block 90 degrees in the opposite direction, release the bearing block, and driven by the rebound force of the elastic telescopic rod, the bearing block moves upward until it retracts to its original position.

[0013] Further, after the bearing block is rotated 90 degrees in the forward direction, the axial direction of the rotating shaft is consistent with the length direction of the carbon slide plate, and for the carbon slide plate with a single-plate structure, the axial center line of the rotating shaft coincides with the center line of the length direction of the carbon slide plate;

[0014] For the carbon slide plate with a double-plate structure, the axial center line of the rotation axis coincides with the center line of the length direction of the single plate in the carbon slide plate close to the elastic telescopic rod.

[0015] Furthermore, the rotating shafts are provided with two ends, one end of which is symmetrically arranged on the inner walls of both sides of the groove, and the other end of which extends toward the center of the groove and cooperates with the channels extending toward the inside of the calibration block on both sides;

[0016] The bottom surface of the groove is provided with two symmetrical openings, and the bottom surface of the calibration block on the side close to the rotating shaft is provided with a protrusion, and the protrusion is matched with one of the openings.

[0017] Furthermore, the elastic telescopic rod comprises a nested sleeve and a calibration rod, the free end of the calibration rod is connected to the bearing block, and a limit block is provided at the end of the non-free end, and the limit block moves inside the L-shaped opening on the side wall of the sleeve.

[0018] Rotate the bearing block 90 degrees in the forward direction, driving the limit block to enter the transverse channel from the vertical channel of the L-shaped opening and abut against the edge of the transverse channel to limit the rotation angle of the bearing block;

[0019] Rotate the bearing block 90 degrees in the opposite direction to drive the limit block to enter the vertical channel from the horizontal channel of the L-shaped opening.

[0020] Furthermore, the calibration mechanism also includes a fixed column, a recess cooperating with the supporting block is arranged on the bottom surface of the fixed column, a magnet is arranged on the inner surface of the recess, and a magnet is arranged at one end of the top surface of the calibration block. When the supporting block moves upward until it retracts to its original position, the magnet on the calibration block and the magnet inside the recess generate a magnetic attraction effect, so that the supporting block is matched and fixed with the fixed column.

[0021] Further, perform calibration test according to the following steps,

[0022] Step 1: manually operate the calibration mechanism so that each calibration block on both sides of the carbon slide plate can adaptively contact the bottom surface of the carbon slide plate;

[0023] Step 2: The walking mechanism drives the laser acquisition module to move along the length direction of the carbon slide to collect the three-dimensional data of the top surface of the carbon slide and the three-dimensional data of the exposed parts of each calibration block;

[0024] Step 3: According to the three-dimensional data of the exposed parts of each calibration block, the deformation of the bottom surface of the carbon slide in the length direction is simulated by a curve, and the deformation of the bottom surface of the carbon slide in the width direction is simulated by a straight line, and the three-dimensional data of the top surface of the carbon slide is calibrated and compensated to obtain the accurate wear condition of the carbon slide;

[0025] Step 4: Manually operate the calibration mechanism to retract the calibration blocks on both sides of the carbon slide board back to their original positions.

[0026] Furthermore, a three-dimensional coordinate system is constructed with the center point of the carbon slide plate as the origin, the length direction as the X-axis direction, the width direction as the Y-axis direction, and the direction perpendicular to the XOY plane as the Z-axis direction;

[0027] Constructing in advance a standard curve corresponding to the center line of the bottom surface of the carbon slide plate to be tested in the length direction;

[0028] The standard curve is calibrated with the coordinates (x, z) of the corresponding points of all calibration sheets to obtain the calibration curve, and then the coordinate x value in the three-dimensional data of the carbon slide board is used to query the corresponding coordinate z value on the calibration curve, so as to compensate the corresponding coordinate z value in the three-dimensional data of the carbon slide board;

[0029] The coordinates (y, z) of all the corresponding points on the calibration sheet are fitted to obtain the straight line corresponding to the carbon skateboard in the width direction, and then the coordinate y value in the three-dimensional data of the carbon skateboard is used to query the corresponding coordinate z value on the straight line, so as to compensate the corresponding coordinate z value in the three-dimensional data of the carbon skateboard again.

[0030] Further, if the maximum difference of the Z-axis coordinates of the corresponding points of the calibration sheet along the length direction of the carbon slide plate is greater than the first threshold, it is necessary to perform curve calibration;

[0031] If the maximum difference of the Z-axis coordinates of the corresponding points of the calibration sheet along the width direction of the carbon slide plate is greater than the second threshold, it is necessary to perform straight line fitting.

[0032] Further, a pair of calibration mechanisms are respectively provided at the central position O of the carbon slide plate and at positions A and B spaced at the same distance from the central position O on both sides thereof, and their exposed parts are respectively denoted as O1, O2, A1, A2 and B1, B2;

[0033] The standard curve is set as a segmented curve with the central position O as the dividing point, which is respectively recorded as curve OA and curve OB, and is represented by z = (x) and z = (-x) respectively.

[0034] Calculate the average value of the coordinates (x,z) of the corresponding points at the O1A1 / O2A2 positions Coordinates of the mean Query curve OA, obtain the corresponding coordinate z′, and calculate the transformation coefficient The curve OA is calibrated in this way to obtain the calibration curve OA, which is expressed as sz=(x), and the coordinates of the points on the calibration curve OA are used to compensate the Z-axis coordinates of the left part of the X-axis of the carbon slide board;

[0035] Calculate the average value of the coordinates (x,z) of the corresponding points at the O1B1 / O2B2 positions The coordinates of the average Query curve OB, obtain the corresponding coordinate z″, and calculate the transformation coefficient The curve OB is calibrated in this way to obtain the calibration curve OB, which is expressed as sz=(-x). The coordinates of the points on the calibration curve OB are used to compensate the Z-axis coordinates of the right side of the X-axis of the carbon slide board;

[0036] The straight line OO′ is obtained by fitting the coordinates (y, z) of the points corresponding to the positions of O1O2 / A1A2 / B1B2, and the Z-axis coordinates of the Y-axis side of the carbon slide board are compensated again by the coordinates of the points where the straight line OO′ is located.

[0037] The beneficial technical effects of the present invention are as follows:

[0038] 1. Add multiple pairs of calibration mechanisms on both sides of the carbon slide board. According to the three-dimensional data of the calibration piece on the calibration mechanism, in addition to using straight lines, curves are also used to reflect the actual deformation of the bottom surface of the carbon slide board to compensate for the three-dimensional data of the carbon slide board surface. This makes the three-dimensional data of the carbon slide board surface more realistically reflect the wear of the carbon slide board surface, improves the accuracy of detection, provides an effective data basis for the replacement of the carbon slide board, and is more conducive to promotion and application.

[0039] 2. The calibration block is brought into contact with the bottom surface of the carbon slide plate by means of the calibration mechanism, without the need to manually post the calibration sheet, which can greatly reduce the convenience of operation and avoid the loss of the calibration block, thereby reducing the hidden dangers to the safe operation of the train.

[0040] 3. When the adaptive calibration detection system of the present invention is used for calibration detection, the standard curve of the carbon slide board length direction, i.e., the X-axis direction, which is obtained in advance, is calibrated using the transformation coefficient to simulate the actual deformation of the bottom surface of the carbon slide board in the length direction, thereby performing Z-axis coordinate compensation from the length direction of the carbon slide board. The actual deformation of the carbon slide board width direction, i.e., the Y-axis direction, is obtained using a fitting method, thereby performing Z-axis coordinate compensation from the width direction of the carbon slide board, thereby obtaining more accurate wear detection data.

[0041] 4. Considering that the deformation of the bottom surface of the carbon skateboard is mainly concentrated in the length direction and the deformation in the width direction is less, the present invention uses a straight line to simulate the width direction and a curve to simulate the length direction, thereby reducing the calculation complexity, improving the detection efficiency, and having strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0043] Figure 2 It is a structural schematic diagram of the calibration mechanism of the present invention;

[0044] Figure 3 It is a schematic diagram of the matching structure of the calibration rod, the calibration block and the bearing block of the present invention;

[0045] Figure 4 It is a schematic diagram of the upper structure of the calibration rod of the present invention;

[0046] Figure 5 It is a schematic diagram of the lower structure of the calibration rod of the present invention;

[0047] Figure 6 It is a schematic diagram comparing the results of wear detection using the adaptive calibration system of the present invention, the existing wear detection device with a calibration sheet attached, and the existing wear detection device without a calibration sheet attached, wherein the horizontal axis represents the length of the carbon slide plate, and the vertical axis represents the height information to the bottom surface of the carbon slide plate;

[0048] Among them, 1-walking mechanism, 2-calibration mechanism, 201-calibration block, 202-elastic telescopic rod, 203-bearing block, 204-L-shaped opening, 205-limiting block, 206-rotating axis, 207-fixed column, 208-magnet, 3-laser sampling module. DETAILED DESCRIPTION

[0049] The specific implementation of the present invention is described in detail below with reference to the accompanying drawings and preferred embodiments.

[0050] like Figure 1 As shown, the present invention provides an adaptive calibration detection system for the wear of a rail transit carbon slide board, comprising a traveling mechanism 1 arranged directly above the carbon slide board, a plurality of pairs of calibration mechanisms 2 evenly spaced on both sides of the carbon slide board, and a processor, wherein a laser acquisition module 3 is arranged on the traveling mechanism 1, for driving the laser acquisition module 3 to travel along the length direction of the carbon slide board; each calibration mechanism 2 is used to cause its own calibration block 201 to extend so as to adaptively contact with the bottom surface of the carbon slide board or retract to its original position; the laser acquisition module 3 is used to collect the three-dimensional data of the top surface of the carbon slide board and the three-dimensional data of the exposed external parts of each calibration block 201; the processor simulates the deformation of the bottom surface of the carbon slide board in the length direction with a curve and simulates the deformation of the bottom surface of the carbon slide board in the width direction with a straight line according to the three-dimensional data of the exposed external parts of each calibration block 201, and calibrates and compensates the three-dimensional data of the top surface of the carbon slide board to obtain accurate wear conditions of the carbon slide board. In this way, the calibration mechanism is used to make the calibration block contact with the bottom surface of the carbon slide board without the need to manually post the calibration sheet, which can greatly reduce the convenience of operation. At the same time, it can avoid the loss of the calibration block and reduce the hidden dangers to the safe operation of the train. In addition to using straight lines, curves are also used to simulate the deformation of the bottom surface of the carbon slide board, and the three-dimensional data of the top surface of the carbon slide board is calibrated and compensated, thereby improving the accuracy of wear detection, providing an effective data basis for the replacement of the carbon slide board, and being more conducive to promotion and application.

[0051] The details are as follows:

[0052] like Figure 2-5As shown, each pair of calibration mechanisms 2 are arranged on both sides of the length direction of the carbon slide board, and there is a gap between them and the side of the carbon slide board, so that the laser acquisition module 3 can obtain the three-dimensional data on the calibration block 201, and provide data for constructing the bottom deformation of the carbon slide board. Each calibration mechanism 2 includes an elastic telescopic rod 202 arranged perpendicular to the top surface of the carbon slide board, and there is a gap between the elastic telescopic rod 202 and the side of the carbon slide board. Its free end is connected to a bearing block 203, and a groove capable of accommodating the calibration block 201 is opened on the top surface of the bearing block 203. The calibration block 201 is rotatably arranged inside the groove through a rotating axis. The elastic telescopic rod 202 can adopt a conventional nested structure, including a nested sleeve and a calibration rod. The free end of the calibration rod is connected to the bearing block 203, and a spring is arranged between its non-free end and the port sealing plate of the sleeve. The spring is sleeved on the calibration rod to facilitate the automatic retraction of the calibration rod. At the same time, since the sleeve and the calibration rod can rotate relative to each other, the bearing block can rotate.

[0053] When performing calibration, hold the bearing block 203 and pull it downward to extend the elastic telescopic rod 202 until the bearing block 203 passes over the bottom surface of the carbon slide board, then rotate the bearing block 90 degrees in the positive direction to make the calibration block 201 on the bearing block 203 perpendicular to the bottom surface of the carbon slide board, then release the bearing block 203, and driven by the rebound force of the elastic telescopic rod 202, the calibration block 201 moves upward until it contacts the bottom surface of the carbon slide board. Since the calibration block 201 can rotate, it can adaptively rotate with the deformation of the bottom surface of the carbon slide board so that the top surface of the calibration block 201 is in close contact with the bottom surface of the carbon slide board.

[0054] After the calibration is completed, hold the supporting block 203 and pull it downward again, so that the elastic telescopic rod 202 extends again until the supporting block 203 is separated from the bottom surface of the carbon slide board. At this time, the supporting block can be rotated 90 degrees in the opposite direction to avoid subsequent retraction interference, and then the supporting block 203 is released. Driven by the rebound force of the elastic telescopic rod 202, the supporting block 203 moves upward until it retracts to its original position, preparing for the next calibration.

[0055] In order to locate the rotation angle of the bearing block 203, we set an L-shaped opening 204 on the side wall of the sleeve of the elastic telescopic rod 202, and set a limit block 205 at the non-free end of the calibration rod, so that the bearing block can be rotated 90 degrees in the forward direction, which can drive the limit block 205 from the vertical channel of the L-shaped opening 204 into the transverse channel and abut against the edge of the transverse channel. Therefore, according to the vertical relationship between the calibration block 201 and the carbon slide plate, the position of the sleeve at the edge can be set to limit the rotation angle of the bearing block and ensure that the calibration block is rotated in place;

[0056] Similarly, by rotating the bearing block 90 degrees in the opposite direction, the limiting block 205 can be driven to enter the vertical channel from the horizontal channel of the L-shaped opening 204, so that the bearing block 203 and the calibration block are retracted to their original positions.

[0057] In addition, considering that the overall length will vary depending on the model of the carbon skateboard, we can symmetrically set four calibration mechanisms or adjust the rotation direction of the two supporting blocks near the ends of the carbon skateboard so that they all rotate from the ends of the carbon skateboard to the center, minimize the end space occupied, avoid interference with the components that fix the carbon skateboard in the system of the present invention, and reduce the volume of the entire system.

[0058] In order to enable the calibration block to better fit the bottom surface of the carbon slide plate, the setting position of the rotating shaft 206 on the calibration block 201 is as follows:

[0059] After the bearing block is rotated 90 degrees in the positive direction, the axial direction of the rotating shaft 206 is consistent with the length direction of the carbon slide board, and for the carbon slide board with a single-board structure, the axial center line of the rotating shaft 206 coincides with the center line of the length direction of the carbon slide board, and the detection surface of the laser acquisition module 3 can cover the entire transverse cross-section of the carbon slide board. Therefore, the calibration mechanism 2 can be set only on one side of the carbon slide board, and the length of the calibration block 201 is appropriately lengthened to cover the width direction of the entire carbon slide board and leak out at the end;

[0060] For the carbon skateboard with a double-plate structure, the axial center line of the rotating shaft 206 coincides with the center line of the length direction of the single plate in the carbon skateboard close to the side of the elastic telescopic rod. The detection surface of the laser acquisition module 3 cannot cover the entire transverse cross-section of the carbon skateboard. Therefore, the calibration mechanism 2 needs to be set on both sides of the carbon skateboard. First, laser scan one side of the carbon skateboard and then laser scan the other side.

[0061] The rotating shaft 206 may be provided with two ends, one end of which is symmetrically arranged on the inner wall of both sides of the groove, and the other end extends toward the center of the groove, and cooperates with the channels extending toward the inside of the calibration block 201 on both sides, so as to realize the engineering assembly of the rotating shaft;

[0062] In addition, two symmetrical openings are provided on the bottom surface of the groove of the supporting block 203, and a protrusion is provided on the bottom surface of the calibration block close to the rotating axis. The protrusion cooperates with one of the openings, and the channel can be set inside the protrusion according to actual conditions. The setting of the two openings can not only reduce weight, but also avoid interference during the rotation of the calibration block.

[0063] Since the supporting block 203 can rotate relatively, there are potential safety hazards in the transportation and movement of the adaptive calibration detection device of the present invention. Therefore, the calibration mechanism 2 also includes a fixed column 207. A recess cooperating with the supporting block 203 is arranged on the bottom surface of the fixed column 207. The top surface thereof can be arranged on the fixed frame of the adaptive calibration detection device of the present invention. A magnet 208 is arranged on the inner surface of the recess. A magnet 208 is arranged at one end of the top surface of the calibration block 201. When the supporting block 203 moves upward until it retracts to its original position, the magnet on the calibration block 201 and the magnet inside the recess generate a magnetic attraction effect, so that the supporting block 203 is fixed in cooperation with the fixed column 207.

[0064] When the adaptive calibration detection system of the present invention performs calibration detection, the specific execution steps are as follows:

[0065] Step 1: manually operate the calibration mechanism so that each calibration block on both sides of the carbon slide plate can adaptively contact the bottom surface of the carbon slide plate;

[0066] At present, there are two basic structures of carbon skateboards, namely double-board structure and single-board structure. For the double-board structure, its width is larger, and the detection surface of the laser acquisition module cannot cover the entire top surface of the carbon skateboard. Therefore, we can first manually operate the calibration blocks on one side of the carbon skateboard to make them contact the bottom surface of the carbon skateboard, and then perform steps 2 to 4 to complete the wear detection. The same operation is performed on the other side of the carbon skateboard for wear detection;

[0067] For a single-board structure, the calibration blocks on both sides of the carbon slide board can be simultaneously forced to adaptively contact the bottom surface of the carbon slide board, and then steps two to four are executed to complete the wear detection. Of course, we can also lengthen the length of the calibration block so that it covers the entire width of the carbon slide board, and then only the calibration mechanism on one side of the carbon slide board is needed.

[0068] Step 2: The walking mechanism drives the laser acquisition module to move along the length direction of the carbon slide to collect the three-dimensional data of the top surface of the carbon slide and the three-dimensional data of the exposed parts of each calibration block;

[0069] Step 3: According to the three-dimensional data of the exposed parts of each calibration block, the deformation of the bottom surface of the carbon slide in the length direction is simulated by a curve, and the deformation of the bottom surface of the carbon slide in the width direction is simulated by a straight line, and the three-dimensional data of the top surface of the carbon slide is calibrated and compensated to obtain the accurate wear condition of the carbon slide;

[0070] Specifically, a three-dimensional coordinate system is constructed with the center point of the carbon skateboard as the origin, the length direction as the X-axis direction, the width direction as the Y-axis direction, and the direction perpendicular to the XOY plane as the Z-axis direction;

[0071] A standard curve corresponding to the center line of the bottom surface of the carbon slide to be tested in the length direction is constructed in advance. The bottom surface of each type of standard carbon slide can be scanned by means of three-dimensional scanning technology to obtain corresponding data and construct the corresponding standard curve;

[0072] Then, the standard is calibrated with the coordinates (x, z) of the corresponding points of all calibration sheets to obtain a calibration curve, and then the corresponding coordinate z value on the calibration curve is queried with the coordinate x value in the three-dimensional data of the carbon slide board to compensate for the corresponding coordinate z value in the three-dimensional data of the carbon slide board;

[0073] The coordinates (y, z) of all the corresponding points on the calibration sheet are fitted to obtain the straight line corresponding to the carbon skateboard in the width direction, and then the coordinate y value in the three-dimensional data of the carbon skateboard is used to query the corresponding coordinate z value on the straight line, so as to compensate the corresponding coordinate z value in the three-dimensional data of the carbon skateboard again.

[0074] We can set a pair of calibration mechanisms at the central position O of the carbon slide plate and at positions A and B at the same distance on both sides of the central position O, and their exposed parts are respectively recorded as O1, O2, A1, A2 and B1, B2; the standard curve is set as a segmented curve with the central position O as the dividing point, respectively recorded as curve OA and curve OB, and expressed as z = f(x) and z = f(-x) respectively;

[0075] Before calibration compensation, we also need to determine whether the bottom surface of the carbon slide plate is deformed. If so, the above compensation needs to be performed. If not, no compensation is required.

[0076] If the maximum difference of the Z-axis coordinates of the corresponding points of the calibration sheet along the length direction of the carbon slide plate is greater than the first threshold, curve calibration needs to be performed;

[0077] If the maximum difference of the Z-axis coordinates of the corresponding points of the calibration sheet along the width direction of the carbon slide plate is greater than the second threshold, it is necessary to perform straight line fitting;

[0078] Compensation of the left part of the X-axis:

[0079] First, if the maximum difference of the Z-axis coordinates of the corresponding points of the O1A1 / O1B1 position is greater than the first threshold, curve calibration needs to be performed;

[0080] Secondly, calculate the average value of the coordinates (x, z) of the corresponding points of the O1A1 / O2A2 position The specific number of collection points depends on the actual situation. It can be one or more points. Query curve OA, obtain the corresponding coordinate z′, and calculate the transformation coefficient The curve OA is calibrated in this way to obtain the calibration curve OA, which is expressed as sz=f(x), and the coordinates of the points on the calibration curve OA are used to compensate the Z-axis coordinates of the left part of the X-axis of the carbon slide board;

[0081] Compensation of the right part of the X-axis

[0082] First, if the maximum difference of the Z-axis coordinates of the corresponding points of the O2A2 / O2B2 positions is greater than the first threshold, curve fitting needs to be performed;

[0083] Secondly, calculate the average value of the coordinates (x, z) of the corresponding points at the O1B1 / O2B2 positions The coordinates of the average Query curve OB, obtain the corresponding coordinate z″, and calculate the transformation coefficient The curve OB is calibrated in this way to obtain the calibration curve OB, which is expressed as sz=f(-x), and the Z-axis coordinate of the right side of the X-axis of the carbon slide board is compensated with the coordinate of the point where the calibration curve OB is located;

[0084] Y-axis side compensation

[0085] First, if at least one of the maximum difference between the Z-axis coordinates of the points corresponding to position O1 and position O2, the maximum difference between the Z-axis coordinates of the points corresponding to position A1 and position A2, and the maximum difference between the Z-axis coordinates of the points corresponding to position B1 and position B2 is greater than the second threshold, it is necessary to perform straight line fitting;

[0086] Secondly, the coordinates (y, z) of the corresponding points at the positions of O1O2 / A1A2 / B1B2 are used to fit the straight line OO′, and the Z-axis coordinates of the Y-axis side of the carbon slide board are compensated again with the coordinates of the points where the straight line OO′ is located.

[0087] Step 4: Manually operate the calibration mechanism to retract the calibration blocks on both sides of the carbon slide board back to their original positions.

[0088] In order to verify the feasibility of the adaptive calibration detection system of the present invention, we used the adaptive calibration system of the present invention, the existing wear detection device with a calibration sheet posted on the bottom of the carbon slide, and the existing wear detection device without a calibration sheet to perform wear detection on the carbon slide. The test results are as follows: Figure 6 As shown, the detection results corresponding to the calibration sheet and the calibration system of the present invention are not much different, but are quite different from the wear detection device without the calibration sheet, especially near the end of the carbon slide board. Therefore, the adaptive detection system of the present invention can effectively improve the accuracy of wear detection, and at the same time will not cause safety hazards caused by the accidental falling of the calibration sheet, and is more practical.

[0089] Although specific embodiments of the present invention are described above, those skilled in the art should understand that these are merely examples and that various changes or modifications may be made to these embodiments without departing from the principles and essence of the present invention. Therefore, the scope of protection of the present invention is limited by the appended claims.

Claims

1. An adaptive calibration detection system for rail transit carbon slide wear, characterized by: A walking mechanism is arranged directly above the carbon slide, a plurality of pairs of calibration mechanisms and a processor are evenly spaced and arranged on both sides of the carbon slide, and a laser collection module is arranged on the walking mechanism to drive the laser collection module to walk along the length direction of the carbon slide; Each calibration mechanism is used to cause its own calibration block to extend to adaptively contact with the bottom surface of the carbon slide plate or to retract to its original position; The laser acquisition module is used to collect the three-dimensional data of the top surface of the carbon slide plate and the three-dimensional data of the exposed parts of each calibration block; The processor calibrates and compensates the three-dimensional data of the top surface of the carbon skateboard based on the three-dimensional data of the exposed parts of each calibration block, simulates the deformation of the bottom surface of the carbon skateboard in the length direction with a curve, and simulates the deformation of the bottom surface of the carbon skateboard in the width direction with a straight line, and obtains the accurate wear condition of the carbon skateboard.

2. The adaptive calibration detection system for rail transit carbon slide wear according to claim 1 is characterized in that: The calibration mechanism comprises an elastic telescopic rod arranged perpendicular to the top surface of the carbon slide, a gap is left between the elastic telescopic rod and the side surface of the carbon slide, a free end of the elastic telescopic rod is connected to a bearing block, a groove capable of accommodating the calibration block is provided on the top surface of the bearing block, and the calibration block is rotatably arranged inside the groove through a rotating shaft, Hold the bearing block and pull it downward to extend the elastic telescopic rod until the bearing block passes over the bottom surface of the carbon slide, then rotate the bearing block 90 degrees forward to make the calibration block on the bearing block perpendicular to the bottom surface of the carbon slide, release the bearing block, and under the rebound force of the elastic telescopic rod, the calibration block moves upward until it contacts the bottom surface of the carbon slide, and rotates adaptively to make the top surface of the calibration block close to the bottom surface of the carbon slide; Hold the bearing block and pull it downward again to extend the elastic telescopic rod again until the bearing block is separated from the bottom surface of the carbon slide board, rotate the bearing block 90 degrees in the opposite direction, release the bearing block, and driven by the rebound force of the elastic telescopic rod, the bearing block moves upward until it retracts to its original position.

3. The adaptive calibration detection system for rail transit carbon slide wear according to claim 2 is characterized in that: After the bearing block is rotated 90 degrees in the positive direction, the axial direction of the rotating shaft is consistent with the length direction of the carbon slide plate, and for the carbon slide plate with a single-plate structure, the axial center line of the rotating shaft coincides with the center line of the length direction of the carbon slide plate; For the carbon slide plate with a double-plate structure, the axial center line of the rotation axis coincides with the center line of the length direction of the single plate in the carbon slide plate close to the elastic telescopic rod.

4. The adaptive calibration detection system for rail transit carbon slide wear according to claim 3 is characterized in that: The rotating shafts are provided with two ends, one end of which is symmetrically arranged on the inner walls of both sides of the groove, and the other end of which extends toward the center of the groove and cooperates with the channels extending toward the inside of the calibration block on both sides; The bottom surface of the groove is provided with two symmetrical openings, and the bottom surface of the calibration block on the side close to the rotating shaft is provided with a protrusion, and the protrusion is matched with one of the openings.

5. The adaptive calibration detection system for rail transit carbon slide wear according to claim 2 is characterized in that: The elastic telescopic rod comprises a nested sleeve and a calibration rod, the free end of the calibration rod is connected to the bearing block, and a limit block is arranged at the end of the non-free end, and the limit block moves inside the L-shaped opening on the side wall of the sleeve. Rotate the bearing block 90 degrees in the forward direction, driving the limit block to enter the transverse channel from the vertical channel of the L-shaped opening and abut against the edge of the transverse channel to limit the rotation angle of the bearing block; Rotate the bearing block 90 degrees in the opposite direction to drive the limit block to enter the vertical channel from the horizontal channel of the L-shaped opening.

6. The adaptive calibration detection system for rail transit carbon slide wear according to claim 2 is characterized in that: The calibration mechanism also includes a fixed column, a recess that cooperates with the supporting block is arranged on the bottom surface of the fixed column, a magnet is arranged on the inner surface of the recess, and a magnet is arranged at one end of the top surface of the calibration block. When the supporting block moves upward until it retracts to its original position, the magnet on the calibration block and the magnet inside the recess produce a magnetic attraction effect, so that the supporting block cooperates and is fixed with the fixed column.

7. The adaptive calibration detection system for rail transit carbon slide wear according to claim 1 is characterized in that: Follow the steps below to perform the calibration test. Step 1: manually operate the calibration mechanism so that each calibration block on both sides of the carbon slide plate can adaptively contact the bottom surface of the carbon slide plate; Step 2: The walking mechanism drives the laser acquisition module to move along the length direction of the carbon slide to collect the three-dimensional data of the top surface of the carbon slide and the three-dimensional data of the exposed parts of each calibration block; Step 3: According to the three-dimensional data of the exposed parts of each calibration block, the deformation of the bottom surface of the carbon slide in the length direction is simulated by a curve, and the deformation of the bottom surface of the carbon slide in the width direction is simulated by a straight line, and the three-dimensional data of the top surface of the carbon slide is calibrated and compensated to obtain the accurate wear condition of the carbon slide; Step 4: Manually operate the calibration mechanism to retract the calibration blocks on both sides of the carbon slide board back to their original positions.

8. The adaptive calibration detection system for rail transit carbon slide wear according to claim 7 is characterized in that: A three-dimensional coordinate system is constructed with the center point of the carbon skateboard as the origin, the length direction as the X-axis direction, the width direction as the Y-axis direction, and the direction perpendicular to the XOY plane as the Z-axis direction; Constructing in advance a standard curve corresponding to the center line of the bottom surface of the carbon slide plate to be tested in the length direction; The standard curve is calibrated with the coordinates (x, z) of the corresponding points of all calibration sheets to obtain the calibration curve, and then the coordinate x value in the three-dimensional data of the carbon slide board is used to query the corresponding coordinate z value on the calibration curve, so as to compensate the corresponding coordinate z value in the three-dimensional data of the carbon slide board; The coordinates (y, z) of all the corresponding points on the calibration sheet are fitted to obtain the straight line corresponding to the carbon skateboard in the width direction, and then the coordinate y value in the three-dimensional data of the carbon skateboard is used to query the corresponding coordinate z value on the straight line, so as to compensate the corresponding coordinate z value in the three-dimensional data of the carbon skateboard again.

9. The adaptive calibration detection system for rail transit carbon slide wear according to claim 8 is characterized in that: If the maximum difference of the Z-axis coordinates of the corresponding points of the calibration sheet along the length direction of the carbon slide plate is greater than the first threshold, curve calibration needs to be performed; If the maximum difference of the Z-axis coordinates of the corresponding points of the calibration sheet along the width direction of the carbon slide plate is greater than the second threshold, it is necessary to perform straight line fitting.

10. The adaptive calibration detection system for rail transit carbon slide wear according to claim 8, characterized in that: A pair of calibration mechanisms are respectively arranged at the central position O of the carbon slide plate and at positions A and B spaced at the same distance from the central position O on both sides thereof, and their exposed parts are respectively marked as O1, O2, A1, A2 and B1, B2; The standard curve is set as a segmented curve with the central position O as the dividing point, which is respectively recorded as curve OA and curve OB, and is represented by z = (x) and z = (-x) respectively. Calculate the average value of the coordinates (x,z) of the corresponding points at the O1A1 / O2A2 positions Coordinates of the mean Query curve OA, obtain the corresponding coordinate z′, and calculate the transformation coefficient The curve OA is calibrated in this way to obtain the calibration curve OA, which is expressed as sz=(x), and the coordinates of the points on the calibration curve OA are used to compensate the Z-axis coordinates of the left part of the X-axis of the carbon slide board; Calculate the average value of the coordinates (x,z) of the corresponding points at the O1B1 / O2B2 positions The coordinates of the average Query curve OB, obtain the corresponding coordinate z″, and calculate the transformation coefficient The curve OB is calibrated in this way to obtain the calibration curve OB, which is expressed as sz=(-x). The coordinates of the points on the calibration curve OB are used to compensate the Z-axis coordinates of the right side of the X-axis of the carbon slide board; The straight line OO′ is obtained by fitting the coordinates (y, z) of the points corresponding to the positions of O1O2 / A1A2 / B1B2, and the Z-axis coordinates of the Y-axis side of the carbon slide board are compensated again by the coordinates of the points where the straight line OO′ is located.

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