Wheel diameter dimension detection system and method and storage medium

Abstract

The invention provides a wheel diameter dimension detection system and method and a storage medium, and belongs to the technical field of wheel diameter detection.The wheel diameter dimension detection system comprises an acquisition device and a processor, the acquisition device is used for acquiring light source rebound time, and the light source rebound time is the time when a light signal is blocked by a to-be-detected object to cause a rebound phenomenon; and the processor is used for importing the position coordinates of the laser emitter and a plurality of laser beam included angle groups, and performing point cloud coordinate analysis on the position coordinates of the laser emitter and the rebound time of the light source according to the laser beam included angle groups to obtain an original point cloud coordinate set. The device can be suitable for detecting the wheel diameters of various vehicle types, solves the problems that the manual measurement error is large, contact measurement has abrasion, and an existing non-contact measurement instrument is inconvenient to use and low in precision, improves the detection precision, saves manpower and material resources, achieves high-precision measurement, and improves the detection efficiency. And the requirement of locomotive wheel set measurement is also met.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of wheel diameter detection, and in particular to a wheel diameter size detection system, method and storage medium. Background Art

[0002] The wheel-rail relationship of locomotives and vehicles plays a decisive role in vehicle stability. Therefore, during the operation and maintenance of locomotives and vehicles, the wheelset size is a must-check item. Traditional inspection methods are divided into non-contact inspection and contact inspection.

[0003] The non-contact type is mainly based on vision and laser measurement technology, and mainly uses laser + grating ruler for measurement. The most critical thing in non-contact detection is to solve the wheel diameter size (that is, the rolling circle equation), and use this size to calculate and solve other size parameters. The existing method is to use fixed equipment, that is, install laser measuring devices on both sides of the wheel and rail, and pre-align key positions such as the wheel diameter position to collect the wheel diameter size. Because it has been fixed in advance, the measurement accuracy is different for different models, and there are many problems such as large size, high cost, and inconvenient measurement. Therefore, manual measurement is still required during the actual operation and maintenance process.

[0004] The contact type is mainly based on manual inspection with the fourth type of inspector, and the inspection cost is low (a ruler costs about 3,000 yuan). However, because it is a contact measurement, it needs to contact the wheelset surface during measurement. The measuring instrument is usually harder than the tread. Long-term use of this method will cause wear to the tread. In addition, manual measurement efficiency is low because there are large human errors in manual measurement. Multiple people are required to check each other during inspection, and the process becomes longer. Therefore, the measurement time is longer, about 10 times that of non-contact. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a wheel diameter size detection system, method and storage medium in view of the deficiencies in the prior art.

[0006] The technical solution of the present invention to solve the above technical problem is as follows: a wheel diameter size detection system, including a collection device and a processor,

[0007] The acquisition device is used to acquire the light source rebound time, and the light source rebound time is the time when the light signal is blocked by the object to be measured and thus rebounds;

[0008] The processor is used to import the laser emitter position coordinates and a plurality of laser beam angle groups, and analyze the point cloud coordinates of the laser emitter position coordinates and the light source rebound time according to all the laser beam angle groups to obtain an original point cloud coordinate set;

[0009] A fitting analysis is performed on the original point cloud coordinate set, and a rolling circle equation is obtained according to the analysis result, and the rolling circle equation is used as a detection result of the wheel diameter size.

[0010] Another technical solution of the present invention to solve the above technical problem is as follows: A wheel diameter size detection method comprises:

[0011] Collecting the light source rebound time, where the light source rebound time is the time it takes for the light signal to rebound due to being blocked by the object to be measured;

[0012] Importing the laser emitter position coordinates and a plurality of laser beam angle groups, and performing point cloud coordinate analysis on the laser emitter position coordinates and the light source rebound time according to all the laser beam angle groups to obtain an original point cloud coordinate set;

[0013] A fitting analysis is performed on the original point cloud coordinate set, and a rolling circle equation is obtained according to the analysis result, and the rolling circle equation is used as a detection result of the wheel diameter size.

[0014] Another technical solution of the present invention to solve the above technical problem is as follows: a wheel diameter size detection system includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the wheel diameter size detection method described above is implemented.

[0015] Another technical solution of the present invention to solve the above technical problem is as follows: a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the wheel diameter size detection method as described above is implemented.

[0016] The beneficial effects of the present invention are as follows: the point cloud coordinates of the laser emitter position coordinates and the light source rebound time are analyzed by the laser beam angle group to obtain the original point cloud coordinate set, the original point cloud coordinate set is fitted and analyzed, and the rolling circle equation is obtained according to the analysis result, and the rolling circle equation is used as the detection result of the wheel diameter size, which can be applicable to the detection of the wheel diameter size of various types of vehicles, solves the problems of large manual measurement errors, wear in contact measurement, and inconvenient use and low accuracy of existing non-contact measuring instruments, improves the detection accuracy, saves manpower and material resources, realizes high-precision measurement, and meets the requirements of locomotive vehicle wheelset measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A module block diagram of a wheel diameter size detection system provided by an embodiment of the present invention;

[0018] Figure 2 A hardware schematic diagram of a wheel diameter detection system provided by an embodiment of the present invention;

[0019] Figure 3 One of the detection principle diagrams of the wheel diameter detection system provided by one embodiment of the present invention;

[0020] Figure 4 A second detection principle diagram of a wheel diameter detection system provided by an embodiment of the present invention;

[0021] Figure 5 A schematic diagram of an original point cloud coordinate set of a wheel diameter detection system provided in one embodiment of the present invention;

[0022] Figure 6 A schematic diagram of main parameters of wheelset dimensions of a wheel diameter dimension detection system provided in one embodiment of the present invention;

[0023] Figure 7 A schematic diagram of wheel rim thickness measurement of a wheel diameter size detection system provided in one embodiment of the present invention;

[0024] Figure 8 A schematic diagram of tread wear measurement of a wheel diameter size detection system provided in one embodiment of the present invention;

[0025] Fig. 9 A schematic flow chart of a wheel diameter detection method provided in accordance with an embodiment of the present invention.

[0026] In the accompanying drawings, the names of the components represented by the various marks are as follows:

[0027] 1. Laser, 2. First beam splitter, 3. Second beam splitter, 4. First lens, 5. Second lens, 6. Detector, 7. Object to be measured. DETAILED DESCRIPTION

[0028] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0029] Figure 1 This is a module block diagram of a wheel diameter size detection system provided in an embodiment of the present invention.

[0030] like Figure 1 and 2 As shown, a wheel diameter size detection system includes a collection device and a processor.

[0031] The acquisition device is used to acquire the light source rebound time, and the light source rebound time is the time when the light signal is blocked by the object to be measured 7 and thus rebounds;

[0032] The processor is used to import the laser emitter position coordinates and a plurality of laser beam angle groups, and analyze the point cloud coordinates of the laser emitter position coordinates and the light source rebound time according to all the laser beam angle groups to obtain an original point cloud coordinate set;

[0033] A fitting analysis is performed on the original point cloud coordinate set, and a rolling circle equation is obtained according to the analysis result, and the rolling circle equation is used as a detection result of the wheel diameter size.

[0034] In the above embodiment, the point cloud coordinates of the laser emitter position coordinates and the light source rebound time are analyzed through the laser beam angle group to obtain the original point cloud coordinate set, the original point cloud coordinate set is fitted and analyzed, and the rolling circle equation is obtained according to the analysis result. The rolling circle equation is used as the detection result of the wheel diameter size, which can be applicable to the detection of wheel diameter sizes of various types of vehicles, solves the problems of large manual measurement errors, wear in contact measurement, and inconvenient use and low accuracy of existing non-contact measuring instruments, improves the detection accuracy, saves manpower and material resources, realizes high-precision measurement, and meets the requirements of locomotive vehicle wheelset measurement.

[0035] Optionally, as an embodiment of the present invention, the acquisition device includes a laser 1 for emitting a laser light source, a first beam splitter 2 and a second beam splitter 3 for splitting the laser light source, a first lens 4 and a second lens 5 for filtering the laser light source, and a detector 6 for collecting the rebound time of the light source.

[0036] The first beam splitter 2 is set on the ground, the first lens 4 and the detector 6 are respectively set at the two ends of the first beam splitter 2, the laser 1 is set on one side of the first beam splitter 2, and the second lens 5, the second beam splitter 3 and the object to be measured 7 are arranged in sequence from near to far on the other side of the first beam splitter 2 according to the laser propagation direction.

[0037] It should be understood that the laser 1, ie the swept frequency laser, is the light source of the present invention and provides a modulated laser signal.

[0038] Specifically, the first beam splitter 2 is a beam splitting device that splits the light source generated by the frequency-sweeping laser (ie, the laser 1) into two paths, one of which is given to the reference mirror (ie, the first lens 4) (for calibrating the coordinate system).

[0039] It should be understood that the detector (ie, the detector 6) is a device for collecting whether the light is returned, and is used to record the sending time and the returning time, so as to calculate the time interval t and obtain the output light frequency.

[0040] It should be understood that the lens (i.e., the second lens 5) has one function of outflowing the light emission port to ensure that the light can be emitted smoothly, and at the same time plays a filtering role to filter out the light that does not meet the required wavelength and reduce interference.

[0041] It should be understood that the second beam splitter (ie, the second beam splitter 3 ) is used to adjust the light emission angle to ensure that the light can be emitted onto the detected target.

[0042] In the above embodiment, through the laser, the first beam splitter, the second beam splitter, the first lens, the second lens and the detector, it is possible to detect the wheel diameters of various types of vehicles, thereby solving the problems of large manual measurement errors, wear in contact measurement, and inconvenience and low accuracy of existing non-contact measuring instruments.

[0043] Optionally, as an embodiment of the present invention, Figures 1 to 5 As shown, the laser beam angle group includes a first laser beam angle and a second laser beam angle,

[0044] In the processor, the process of analyzing the point cloud coordinates of the laser emitter position coordinates and the light source rebound time according to all the laser beam angle groups to obtain the original point cloud coordinate set includes:

[0045] The absolute distance of the target is calculated by the first formula for the rebound time of the light source, and the absolute distance of the target is obtained. The absolute distance of the target is the absolute distance between the acquisition device and the object to be measured 7. The first formula is:

[0046] L=v(t)f b / 2α,

[0047] Where v(t) = v 0 +αt,

[0048] Where, L is the absolute distance of the target, v(t) is the target frequency of the laser, and f b is the beat signal frequency, α is the laser frequency modulation rate, v 0 is the initial frequency of the laser, t is the rebound time of the light source;

[0049] Using the first preset value as the first target angle value corresponding to each of the laser beam angle groups, and obtaining the first polar coordinate value corresponding to each of the laser beam angle groups according to the laser emitter position coordinates and each of the first target angle values;

[0050] The second target angle value is calculated for the first laser beam angle in each of the laser beam angle groups by using the second formula to obtain the second target angle value, wherein the second formula is:

[0051] θ′ 1 =0+θ 1 ,

[0052] Among them, θ′ 1 is the second target angle value, θ 1 is the first laser beam angle;

[0053] Obtaining second polar coordinate values ​​corresponding to each of the laser beam angle groups according to the laser emitter position coordinates and each of the second target angle values;

[0054] The third target angle value is calculated for the second laser beam angle in each of the laser beam angle groups by using the third formula to obtain the third target angle value, and the third formula is:

[0055] θ′ 2 =0+θ 2 ,

[0056] Among them, θ′ 2 is the third target angle value, θ 2 is the second laser beam angle;

[0057] Obtaining third polar coordinate values ​​corresponding to each of the laser beam angle groups according to the laser emitter position coordinates and each of the third target angle values;

[0058] Each of the first polar coordinate values, each of the second polar coordinate values, and each of the third polar coordinate values ​​are converted into a first cloud coordinate value corresponding to each of the first polar coordinate values, a second cloud coordinate value corresponding to each of the second polar coordinate values, and a third cloud coordinate value corresponding to each of the third polar coordinate values, and all of the first cloud coordinate values, all of the second cloud coordinate values, and all of the third cloud coordinate values ​​are combined to obtain an original point cloud coordinate set.

[0059] Preferably, the first preset value may be 0.

[0060] It should be understood that, let the laser frequency modulation rate be α and the laser initial frequency be v 0 , then the output light frequency is v(t)=v 0 +αt; Assume that the transmission speed of light in the medium is v, and the frequency of the beat signal generated by the measuring arm and the reference arm is f b , then the measured absolute distance L (i.e. the absolute distance of the target) is:

[0061] L=vf b / 2α.

[0062] Specifically, Figure 3 and 4 As shown, the device is provided with three laser beams, and the angle between the three beams is θ 1 (i.e. the first laser beam angle) and θ 2(i.e. the angle of the second laser beam), the spots emitted by the three beams to the wheelset are p0(x0,y0,z0), p1(x1,y1,z0), and p2(x2,y2,z0). The mobile platform inside the device can move horizontally and rotate. By moving the laser emitter of the device, three new spots (i.e. the first cloud coordinate value, the second cloud coordinate value, and the third cloud coordinate value) will be obtained on the wheelset.

[0063] Specifically, if the laser scan is blocked by the object to be measured (obstacle) (i.e., the object to be measured 7), the rebound light signal will be detected by the detector 6, the rebound time will be recorded, and the frequency value will be calculated according to L=vf b / 2α calculates the value of the measured distance L (i.e. the absolute distance of the target), and the angle between the light beams obtained is θ 1 and θ 2 , and the current position of the laser transmitter is Figure 3 As shown, the polar coordinates of the three light spots can be calculated, where the angles of the three points are 0 (i.e. the first polar coordinate value), 0+θ 1 (i.e. the second polar coordinate value), 0+θ 2 (i.e. the third polar coordinate value), p = L, and the coordinate values ​​of p0 (x0, y0, z0) (i.e. the first cloud coordinate value), p1 (x1, y1, z1) (i.e. the second cloud coordinate value), and p2 (x2, y2, z2) (i.e. the third cloud coordinate value) are obtained through polar coordinate conversion. The horizontal position coordinates are obtained through a rotating platform, which is driven by a stepper motor. The rotation angle is adjustable, with a minimum of 0.2°. The scanning range is -75° to 75°. The rotation angle can obtain different laser position emission angles. During horizontal scanning, point cloud coordinate sets p at different horizontal positions can be obtained. n (x n ,y n ,z n )(i.e. the original point cloud coordinate set).

[0064] In the above embodiment, the point cloud coordinates of the laser emitter position coordinates and the light source rebound time are analyzed according to the laser beam angle group to obtain the original point cloud coordinate set, which can be applicable to the detection of wheel diameter dimensions of various vehicle models, solves the problems of large manual measurement errors, wear in contact measurement, and inconvenient use and low accuracy of existing non-contact measuring instruments, improves detection accuracy, saves manpower and material resources, realizes high-precision measurement, and meets the requirements for locomotive and vehicle wheelset measurement.

[0065] Optionally, as an embodiment of the present invention, Figures 1 to 6 As shown, in the processor, the process of performing fitting analysis on the original point cloud coordinate set and obtaining the rolling circle equation according to the analysis result includes:

[0066] Filtering out an outer surface point cloud coordinate set from the original point cloud coordinate set;

[0067] Fitting the outer side surface point cloud coordinate set using a least squares algorithm to obtain an outer side surface curve equation;

[0068] The outer side surface equation is projected using a space circle fitting algorithm to obtain a rolling circle equation.

[0069] It should be understood that the outer side surface equation is fitted using the least square method.

[0070] It should be understood that a spatial circle fitting algorithm is a mathematical method for determining the best fitting circle for a set of three-dimensional spatial points. These algorithms generally involve the following steps:

[0071] Determine the center of the circle: First, you need to determine the location of the center of the circle. This can be done by calculating the average of all the discrete points and using this average as an initial estimate of the center of the circle.

[0072] Calculate the radius: Next, you need to calculate the radius of the circle. A common approach is to use the average of the distances from the discrete points to the center of the circle as an initial estimate of the radius.

[0073] Fitting a circle: Using initial estimates of the center and radius, project all discrete points onto the fitted circle. Then, calculate the deviation of each discrete point from the circle based on the distance from the projected point to the center of the circle.

[0074] Optimize the circle: According to the deviation of each discrete point from the circle, the center and radius are iteratively optimized to reduce the total deviation. This step can be achieved through a variety of optimization algorithms, such as gradient descent, Newton's method, etc.

[0075] Termination condition: Continue iterative optimization until the preset termination condition is reached, such as the maximum number of iterations, convergence threshold, etc.

[0076] Result output: Finally, the center and radius of the circle obtained by fitting are output, as well as the deviation of each discrete point from the circle. In practical applications, the spatial circle fitting algorithm can be used in computer vision, robotics, terrain analysis and other fields to help analyze and identify circular structures in three-dimensional space.

[0077] Specifically, the reference standard is: "Types and basic dimensions of railway vehicle wheelsets and bearings" (TB / T 1010-2016), such as Figure 6 As shown, according to the definition, the diameter of the wheel rolling circle is the wheel diameter, and the rolling circle is 70 mm away from the inner side of the wheelset. The rolling circle equation can be solved by the projection-based spatial circle fitting algorithm, and the rolling circle equation can be obtained. The wheelset diameter value can be directly obtained using this equation.

[0078] In the above embodiment, the original point cloud coordinate set is fitted and analyzed, and the rolling circle equation is obtained based on the analysis results, which can be applied to the detection of wheel diameters of various vehicle models, solving the problems of large manual measurement errors, wear in contact measurement, and inconvenience and low accuracy of existing non-contact measuring instruments.

[0079] Optionally, as an embodiment of the present invention, the original point cloud coordinate set includes a plurality of original point cloud coordinates arranged in sequence, and in the processor, the process of filtering out the outer surface point cloud coordinate set from the original point cloud coordinate set includes:

[0080] The first target vector is calculated for each of the original point cloud coordinates by the fourth formula to obtain the first target vector corresponding to each of the original point cloud coordinates. The fourth formula is:

[0081]

[0082] in, is the first target vector corresponding to the i-th original point cloud coordinate, x i is the x coordinate value of the i-th original point cloud coordinate, x i-2 is the x coordinate value in the i-2th original point cloud coordinate, y i-2 is the y coordinate value of the i-2th original point cloud coordinate, y i is the y coordinate value of the i-th original point cloud coordinate, z i-2 is the z coordinate value in the i-2th original point cloud coordinates, z i is the z coordinate value of the i-th original point cloud coordinate;

[0083] The second target vector is calculated for each of the original point cloud coordinates by the fifth formula to obtain the second target vector corresponding to each of the original point cloud coordinates. The fifth formula is:

[0084]

[0085] in, is the second target vector, x i is the x coordinate value of the i-th original point cloud coordinate, x i+2 is the x coordinate value in the i+2th original point cloud coordinates, y i is the y coordinate value of the i-th original point cloud coordinate, y i+2 is the y coordinate value of the i+2th original point cloud coordinate, z i is the z coordinate value in the i-th original point cloud coordinates, z i+2 is the z coordinate value in the i+2th original point cloud coordinates;

[0086] Calculating the angles between each of the first target vectors and the second target vectors corresponding to each of the original point cloud coordinates, respectively, to obtain the target vector angles corresponding to each of the original point cloud coordinates;

[0087] If the target vector angle is greater than a preset angle value, the original point cloud coordinates corresponding to the target vector angle are used as the outer surface point cloud coordinates, thereby obtaining multiple outer surface point cloud coordinates, and all the outer surface point cloud coordinates are combined to obtain an outer surface point cloud coordinate set.

[0088] Specifically, select the point cloud coordinate set p n (i.e. the original point cloud coordinate set), let p i The two adjacent points are p i-2 and p i+2 , define a vector:

[0089]

[0090] The angle between the two vectors (i.e., the target vector angle) is calculated from the starting point. When the angle is greater than the set threshold, the current point no longer belongs to the inner side surface, and the outer side surface point cloud can be separated to obtain the outer side surface point cloud set o n (i.e. the outer surface point cloud coordinate set).

[0091] In the above embodiment, the outer side point cloud coordinate set is screened out from the original point cloud coordinate set, which can be applicable to the detection of wheel diameter sizes of various vehicle models, solving the problems of large manual measurement errors, wear in contact measurement, and inconvenience and low accuracy of existing non-contact measuring instruments.

[0092] Optionally, as another embodiment of the present invention, the present invention designs a detection method for the size parameters of locomotive and vehicle wheelsets using the frequency modulated continuous wave method. The measurement structure is compact and small in size, and the built-in pan-tilt head can automatically adjust its own posture, thereby achieving high-precision measurement to meet the measurement requirements of locomotive and vehicle wheelsets.

[0093] Optionally, as another embodiment of the present invention, the present invention solves the problems that human measurement errors are large, contact measurement causes wear, and existing non-contact measurement instruments are inconvenient to use and have low accuracy.

[0094] Optionally, as another embodiment of the present invention, the working principle of the present invention is to continuously modulate the laser frequency of the Michelson interferometer with a non-zero wavelength difference through the frequency modulation continuous wave ranging method, and the propagation distances of the reference signal and the measurement signal are different, so a beat frequency is generated during interference. The flight time difference of the two arms is calculated by measuring the frequency of the beat frequency signal to obtain the target distance.

[0095] Optionally, as another embodiment of the present invention, in the present invention, the initial position of the device is used as the origin of the spatial coordinate system, and the frequency modulated continuous wave method is used to calculate the absolute position of the spot distance measuring device. The spatial position coordinates of each spot can be calculated in the form of polar coordinates, and the point cloud coordinate set of the wheelset to be measured can be obtained through the geometric position. The rim curve of the wheelset to be measured can be obtained by curve fitting, thereby calculating the geometric dimensions of the wheelset.

[0096] Optionally, as another embodiment of the present invention, the wheelset size detection step of the present invention is:

[0097] 1. Enter the initialization program and initialize the parameters: frequency modulation rate, initial frequency, and the angle between the three beams is θ 1 and θ 2 , the initial position of the laser emitting device;

[0098] 2. Establish a coordinate system with the initial position of the laser emitting device as the reference origin;

[0099] 3. Start the detection program, continuously emit laser beams, move the device at a constant speed, measure the point cloud coordinates of the position to be measured by the laser frequency modulation continuous wave ranging method, and obtain the relative position of the surrounding environment;

[0100] 4. Send the collected point cloud coordinate data to the main control computer for analysis and calculation, draw a point cloud model, match it with the sample model on the model, use the sample tread reference surface as the cross section, screen out the closest point (select the distance of the nearest point using the least squares method), filter out the points that do not meet the conditions according to the set threshold (required to be no more than 0.1mm), fit the screened points (using polynomial fitting method) to obtain the tread curve equation, and draw the tread curve;

[0101] 5. Calculate the geometric dimensions of the wheelset based on the wheelset tread curve. There are ready-made standards for specific calculations, and you can refer to the railway technical standard: TB / T449-2003. The geometric dimensions that can be measured are: tread circumferential wear, wheel flange thickness, wheel flange height, wheel rim thickness, wheel rim width, wheel rim vertical wear, tread abrasion depth and length, tread peeling depth and length, and wheel rolling width.

[0102] Optionally, as another embodiment of the present invention, Figure 7 As shown, the wheel rim thickness of the present invention is measured as follows:

[0103] The wheel rim thickness can be regarded as the distance from point P2 to the inner side of the wheelset, so it involves the selection of P2. Here, we can use empirical values ​​to judge that the P2 of the vehicle to be tested is about 12mm away from the measurement contour. This standard is used to locate the wheel rim thickness calculation point. The specific calculation method can be:

[0104] The equation of the inner side of the wheelset is:

[0105] A 1 x 1 +B 1 y 1 +C 1 z 1 +D 1 =0,

[0106]

[0107] Optionally, as another embodiment of the present invention, Figure 8 As shown, the measurement of tread wear of the present invention is as follows:

[0108] Referring to the standard TB / T 1010-2016, the wheel rim vertex is the largest diameter of the wheel set point cloud fitting circle. Referring to the equation of the wheel set diameter rolling circle, the equation of the rolling circle where the wheel rim is located can be fitted. Let its distance to the center axis of the wheelset be H. max , P 1 is the tread base point on the measurement profile, P 1 The distance to the center axis of the wheelset is H 1 According to the standard TB / T 1010-2016, the distance from the rim vertex to the tread is 27mm. If wear occurs, the distance must exceed 27mm. According to the definition, the tread wear calculation formula is:

[0109] H wear =H max -H 1 -27.

[0110] Optionally, as another embodiment of the present invention, the present invention has high measurement accuracy, is easy to operate, and is convenient to carry compared to the prior art. The biggest problem with the prior art in measuring wheelsets is the positioning problem, which requires finding the base point of the wheelset tread. This method does not require positioning of the wheelset tread base point. This method completely scans the wheelset through a mobile platform to obtain the tread point cloud coordinate information of the wheelset, and obtains the wheelset geometric size parameters through curve fitting. After experimental comparison, the error is 2um, which fully meets the actual production requirements of the enterprise.

[0111] Fig. 9 A schematic flow chart of a wheel diameter detection method provided in an embodiment of the present invention.

[0112] Optionally, as another embodiment of the present invention, Fig. 9 As shown, a wheel diameter size detection method includes:

[0113] Collecting the light source rebound time, where the light source rebound time is the time it takes for the light signal to rebound due to being blocked by the object to be measured 7;

[0114] Importing the laser emitter position coordinates and a plurality of laser beam angle groups, and performing point cloud coordinate analysis on the laser emitter position coordinates and the light source rebound time according to all the laser beam angle groups to obtain an original point cloud coordinate set;

[0115] A fitting analysis is performed on the original point cloud coordinate set, and a rolling circle equation is obtained according to the analysis result, and the rolling circle equation is used as a detection result of the wheel diameter size.

[0116] Optionally, as an embodiment of the present invention, the laser beam angle group includes a first laser beam angle and a second laser beam angle.

[0117] The process of analyzing the point cloud coordinates of the laser emitter position coordinates and the light source rebound time according to all the laser beam angle groups to obtain the original point cloud coordinate set includes:

[0118] The absolute distance of the target is calculated by the first formula for the rebound time of the light source, and the absolute distance of the target is obtained. The absolute distance of the target is the absolute distance between the acquisition device and the object to be measured 7. The first formula is:

[0119] L=v(t)f b / 2α,

[0120] Where v(t) = v 0 +αt,

[0121] Where, L is the absolute distance of the target, v(t) is the target frequency of the laser, and f b is the beat signal frequency, α is the laser frequency modulation rate, v 0 is the initial frequency of the laser, t is the rebound time of the light source;

[0122] Using the first preset value as the first target angle value corresponding to each of the laser beam angle groups, and obtaining the first polar coordinate value corresponding to each of the laser beam angle groups according to the laser emitter position coordinates and each of the first target angle values;

[0123] The second target angle value is calculated for the first laser beam angle in each of the laser beam angle groups by using the second formula to obtain the second target angle value, wherein the second formula is:

[0124] θ′ 1 =0+θ 1 ,

[0125] Among them, θ′ 1 is the second target angle value, θ 1 is the first laser beam angle;

[0126] Obtaining second polar coordinate values ​​corresponding to each of the laser beam angle groups according to the laser emitter position coordinates and each of the second target angle values;

[0127] The third target angle value is calculated for the second laser beam angle in each of the laser beam angle groups by using the third formula to obtain the third target angle value, and the third formula is:

[0128] θ′ 2 =0+θ 2 ,

[0129] Among them, θ′ 2 is the third target angle value, θ 2 is the second laser beam angle;

[0130] Obtaining third polar coordinate values ​​corresponding to each of the laser beam angle groups according to the laser emitter position coordinates and each of the third target angle values;

[0131] Each of the first polar coordinate values, each of the second polar coordinate values, and each of the third polar coordinate values ​​are converted into a first cloud coordinate value corresponding to each of the first polar coordinate values, a second cloud coordinate value corresponding to each of the second polar coordinate values, and a third cloud coordinate value corresponding to each of the third polar coordinate values, and all of the first cloud coordinate values, all of the second cloud coordinate values, and all of the third cloud coordinate values ​​are combined to obtain an original point cloud coordinate set.

[0132] Optionally, as an embodiment of the present invention, the process of performing fitting analysis on the original point cloud coordinate set and obtaining the rolling circle equation according to the analysis result includes:

[0133] Filtering out an outer surface point cloud coordinate set from the original point cloud coordinate set;

[0134] Fitting the outer side surface point cloud coordinate set using a least squares algorithm to obtain an outer side surface curve equation;

[0135] The outer side surface equation is projected using a space circle fitting algorithm to obtain a rolling circle equation.

[0136] Optionally, another embodiment of the present invention provides a wheel diameter size detection system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the wheel diameter size detection method described above is implemented. The device may be a computer or other device.

[0137] Optionally, another embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the wheel diameter size detection method as described above is implemented.

[0138] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0139] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0140] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0141] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0142] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. For such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0143] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A wheel diameter detection system, characterized in that: Including acquisition device and processor, The acquisition device is used to acquire the light source rebound time, and the light source rebound time is the time when the light signal is blocked by the object to be measured (7) and thus rebounds; The processor is used to import the laser emitter position coordinates and a plurality of laser beam angle groups, and analyze the point cloud coordinates of the laser emitter position coordinates and the light source rebound time according to all the laser beam angle groups to obtain an original point cloud coordinate set; A fitting analysis is performed on the original point cloud coordinate set, and a rolling circle equation is obtained according to the analysis result, and the rolling circle equation is used as a detection result of the wheel diameter size.

2. The wheel diameter detection system according to claim 1, characterized in that: The collection device comprises a laser (1) for emitting a laser light source, a first beam splitter (2) and a second beam splitter (3) for splitting the laser light source, a first lens (4) and a second lens (5) for filtering the laser light source, and a detector (6) for collecting the rebound time of the light source. The first beam splitter (2) is arranged on the ground, the first lens (4) and the detector (6) are respectively arranged at two ends of the first beam splitter (2), the laser (1) is arranged on one side of the first beam splitter (2), and the second lens (5), the second beam splitter (3) and the object to be measured (7) are arranged in sequence from near to far on the other side of the first beam splitter (2) according to the propagation direction of the laser.

3. The wheel diameter detection system according to claim 1, characterized in that: The laser beam angle group includes a first laser beam angle and a second laser beam angle, In the processor, the process of analyzing the point cloud coordinates of the laser emitter position coordinates and the light source rebound time according to all the laser beam angle groups to obtain the original point cloud coordinate set includes: The absolute distance of the target is calculated by using the first formula for the rebound time of the light source, and the absolute distance of the target is obtained. The absolute distance of the target is the absolute distance between the acquisition device and the object to be measured (7). The first formula is: L=v(t)f b / 2α, Where, v(t) = v0 + αt, Where, L is the absolute distance of the target, V(t) is the target frequency of the laser, and f b is the beat signal frequency, α is the frequency modulation rate of the laser, v0 is the initial frequency of the laser, and t is the rebound time of the light source; Using the first preset value as the first target angle value corresponding to each of the laser beam angle groups, and obtaining the first polar coordinate value corresponding to each of the laser beam angle groups according to the laser emitter position coordinates and each of the first target angle values; The second target angle value is calculated for the first laser beam angle in each of the laser beam angle groups by using the second formula to obtain the second target angle value, wherein the second formula is: θ′1=0+θ1, Wherein, θ′1 is the second target angle value, and θ1 is the first laser beam angle; Obtaining second polar coordinate values ​​corresponding to each of the laser beam angle groups according to the laser emitter position coordinates and each of the second target angle values; The third target angle value is calculated for the second laser beam angle in each of the laser beam angle groups by using the third formula to obtain the third target angle value, and the third formula is: θ′2=0+θ2, Wherein, θ′2 is the third target angle value, and θ2 is the second laser beam angle; Obtaining third polar coordinate values ​​corresponding to each of the laser beam angle groups according to the laser emitter position coordinates and each of the third target angle values; Each of the first polar coordinate values, each of the second polar coordinate values, and each of the third polar coordinate values ​​are converted into a first cloud coordinate value corresponding to each of the first polar coordinate values, a second cloud coordinate value corresponding to each of the second polar coordinate values, and a third cloud coordinate value corresponding to each of the third polar coordinate values, and all of the first cloud coordinate values, all of the second cloud coordinate values, and all of the third cloud coordinate values ​​are combined to obtain an original point cloud coordinate set.

4. The wheel diameter detection system according to claim 1, characterized in that: In the processor, the process of performing fitting analysis on the original point cloud coordinate set and obtaining the rolling circle equation according to the analysis result includes: Filtering out an outer surface point cloud coordinate set from the original point cloud coordinate set; Fitting the outer side surface point cloud coordinate set using a least squares algorithm to obtain an outer side surface curve equation; The outer side surface equation is projected using a space circle fitting algorithm to obtain a rolling circle equation.

5. The wheel diameter detection system according to claim 4, characterized in that: The original point cloud coordinate set includes a plurality of original point cloud coordinates arranged in sequence. In the processor, the process of selecting the outer side point cloud coordinate set from the original point cloud coordinate set includes: The first target vector is calculated for each of the original point cloud coordinates by the fourth formula to obtain the first target vector corresponding to each of the original point cloud coordinates. The fourth formula is: in, is the first target vector corresponding to the i-th original point cloud coordinate, x i is the x coordinate value of the i-th original point cloud coordinate, x i-2 is the x coordinate value in the i-2th original point cloud coordinate, y i-2 is the y coordinate value of the i-2th original point cloud coordinate, y i is the y coordinate value of the i-th original point cloud coordinate, z i-2 is the z coordinate value in the i-2th original point cloud coordinates, z i is the z coordinate value of the i-th original point cloud coordinate; The second target vector is calculated for each of the original point cloud coordinates by the fifth formula to obtain the second target vector corresponding to each of the original point cloud coordinates. The fifth formula is: in, is the second target vector, x i is the x coordinate value of the i-th original point cloud coordinate, x i+2 is the x coordinate value in the i+2th original point cloud coordinates, y i is the y coordinate value of the i-th original point cloud coordinate, y i+2 is the y coordinate value of the i+2th original point cloud coordinate, z i is the z coordinate value in the i-th original point cloud coordinates, z i+2 is the z coordinate value in the i+2th original point cloud coordinates; Calculating the angles between each of the first target vectors and the second target vectors corresponding to each of the original point cloud coordinates, respectively, to obtain the target vector angles corresponding to each of the original point cloud coordinates; If the target vector angle is greater than a preset angle value, the original point cloud coordinates corresponding to the target vector angle are used as the outer surface point cloud coordinates, thereby obtaining multiple outer surface point cloud coordinates, and all the outer surface point cloud coordinates are combined to obtain an outer surface point cloud coordinate set.

6. A wheel diameter detection method, characterized in that: include: Collecting the light source rebound time, wherein the light source rebound time is the time when the light signal is blocked by the object to be measured (7) and thus rebounds; Importing the laser emitter position coordinates and a plurality of laser beam angle groups, and performing point cloud coordinate analysis on the laser emitter position coordinates and the light source rebound time according to all the laser beam angle groups to obtain an original point cloud coordinate set; A fitting analysis is performed on the original point cloud coordinate set, and a rolling circle equation is obtained according to the analysis result, and the rolling circle equation is used as a detection result of the wheel diameter size.

7. The wheel diameter detection method according to claim 6, characterized in that: The laser beam angle group includes a first laser beam angle and a second laser beam angle, The process of analyzing the point cloud coordinates of the laser emitter position coordinates and the light source rebound time according to all the laser beam angle groups to obtain the original point cloud coordinate set includes: The absolute distance of the target is calculated by using the first formula for the rebound time of the light source, and the absolute distance of the target is obtained. The absolute distance of the target is the absolute distance between the acquisition device and the object to be measured (7). The first formula is: L=v(t)f b / 2α, Where, v(t) = v0 + αt, Where, L is the absolute distance of the target, v(t) is the target frequency of the laser, and f b is the beat signal frequency, α is the frequency modulation rate of the laser, v0 is the initial frequency of the laser, and t is the rebound time of the light source; Using the first preset value as the first target angle value corresponding to each of the laser beam angle groups, and obtaining the first polar coordinate value corresponding to each of the laser beam angle groups according to the laser emitter position coordinates and each of the first target angle values; The second target angle value is calculated for the first laser beam angle in each of the laser beam angle groups by using the second formula to obtain the second target angle value, wherein the second formula is: θ′1=0+θ1, Wherein, θ′1 is the second target angle value, and θ1 is the first laser beam angle; Obtaining second polar coordinate values ​​corresponding to each of the laser beam angle groups according to the laser emitter position coordinates and each of the second target angle values; The third target angle value is calculated for the second laser beam angle in each of the laser beam angle groups by using the third formula to obtain the third target angle value, and the third formula is: θ′2=0+θ2, Wherein, θ′2 is the third target angle value, and θ2 is the second laser beam angle; Obtaining third polar coordinate values ​​corresponding to each of the laser beam angle groups according to the laser emitter position coordinates and each of the third target angle values; Each of the first polar coordinate values, each of the second polar coordinate values, and each of the third polar coordinate values ​​are converted into a first cloud coordinate value corresponding to each of the first polar coordinate values, a second cloud coordinate value corresponding to each of the second polar coordinate values, and a third cloud coordinate value corresponding to each of the third polar coordinate values, and all of the first cloud coordinate values, all of the second cloud coordinate values, and all of the third cloud coordinate values ​​are combined to obtain an original point cloud coordinate set.

8. The wheel diameter detection method according to claim 6, characterized in that: The process of performing fitting analysis on the original point cloud coordinate set and obtaining the rolling circle equation according to the analysis result includes: Filtering out an outer surface point cloud coordinate set from the original point cloud coordinate set; Fitting the outer side surface point cloud coordinate set using a least squares algorithm to obtain an outer side surface curve equation; The outer side surface equation is projected using a space circle fitting algorithm to obtain a rolling circle equation.

9. A wheel diameter size detection system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the wheel diameter size detection method according to any one of claims 6 to 8 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the wheel diameter size detection method according to any one of claims 6 to 8 is implemented.

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