Device and method for vehicle-mounted on-line dynamic measurement of snakelike motion of wheel track
By installing a vehicle-mounted online dynamic measurement device with linear structured light vision sensors, binocular stereo vision sensors and point laser position sensors on the train, the problems of limited coverage and poor real-time performance of serpentine motion detection in the prior art are solved, real-time monitoring of train wheels and rails and accurate detection and alarm of serpentine motion are achieved, and the safety and economicality of train operation are improved.
Patent Information
- Application Number
- CN202411919564.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-25
- Publication Date
- 2025-03-28
AI Technical Summary
The existing serpentine motion detection methods have problems with limited coverage and poor real-time performance, and they cannot fully grasp the wheel and rail status during train operation, resulting in the inability to effectively monitor and early warning of serpentine motion.
The device for dynamically measuring the serpentine movement of the wheel rails on-line is adopted, including a linear structure light vision sensor, a binocular stereo vision sensor and a point laser position sensor. It monitors the position and motion state of the train wheel rails in real time, and collects and processes data through an embedded computer to realize real-time detection and abnormal alarm of serpentine movement.
Real-time monitoring of the dynamic behavior of train wheels and rails is realized, and the serpentine motion can be accurately judged and abnormal alarms can be made, improving the safety and economicality of train operations.
Smart Images
Figure CN119705532A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of rail transportation, in particular to a vehicle-mounted device for dynamically measuring wheel-rail serpentine motion online. The invention also provides a vehicle-mounted method for dynamically measuring wheel-rail serpentine motion online. Background Art
[0002] During the operation of a train, the dynamic behavior of the wheel-rail system has an important impact on the train's operational safety, ride comfort, and equipment life. Snake motion is a periodic lateral vibration phenomenon between the wheels and rails of a train, which may cause derailment, increased wheel-rail wear, and reduced operating efficiency. The existing serpentine motion detection method is trackside fixed or offline detection, which has the problems of limited coverage and poor real-time performance, and cannot fully grasp the wheel-rail status during train operation. Therefore, there is an urgent need for an online detection technology that can monitor the dynamic behavior of train wheels and rails in real time to improve the safety and economy of train operation. Summary of the invention
[0003] In view of the above problems, the present invention provides a vehicle-mounted device for online dynamic measurement of wheel-rail serpentine motion, which can monitor the position and motion state of the train wheel and rail in real time, judge the serpentine motion, and implement abnormal alarm.
[0004] A vehicle-mounted device for online dynamic measurement of wheel-rail serpentine motion, characterized in that it comprises:
[0005] A set of linear structured light vision sensors, which are set at the bottom of the vehicle body and are used to detect the position of the rails;
[0006] A set of binocular stereo vision sensors, which are arranged at the bottom of the vehicle body and are used to detect the position of the wheelset relative to the vehicle body;
[0007] And a point laser position sensor; which is arranged on the vehicle body bogie and is used to detect the position change of the wheelset relative to the bogie.
[0008] It is further characterized by:
[0009] An embedded computer is used for data collection and processing of a set of line structured light vision sensors, a set of binocular stereo vision sensors, and point laser position sensors. The embedded computer is placed in the train driver's cab and provides a display screen for data output.
[0010] A group of the line structured light vision sensors includes a line laser and an array camera. The line laser projects a line laser onto the surface of the rail, and the array camera obtains a laser light strip image, and then obtains the positional relationship of the rail profile relative to the line structured light vision sensor according to the line structured light vision measurement model.
[0011] Two groups of cameras of a set of binocular stereo vision sensors are installed in parallel, and the lens of each group of cameras is arranged to face downward. A mark perpendicular to the axle is set at the center of the wheel axle of the wheelset, and the binocular stereo vision sensor is used to detect the mark, calculate the relative position of the mark with respect to the binocular stereo vision sensor, and unify the rail contour into the coordinate system of the binocular stereo vision sensor, so as to realize the coordinate system of the rail position and the wheel axle position of the wheelset;
[0012] Preferably, the mark is a white arc mark;
[0013] The point laser position sensor projects a point laser to the inner side of one wheelset and obtains the position of the laser point on the inner side of the wheelset relative to the point laser position sensor in real time, thereby determining the relative motion relationship of the wheelset relative to the bogie;
[0014] When the train is running normally, the relative motion of the wheelset relative to the car body, the relative motion of the wheelset relative to the rail, and the relative motion of the wheelset relative to the bogie are obtained in real time. The three relative motion relationships are decomposed into the translation distance in the direction perpendicular to the rail and plotted in real-time curve form to obtain a serpentine motion curve. When the translation distance of the serpentine motion exceeds a certain limit, a status alarm is issued.
[0015] The method for on-board dynamic online measurement of wheel-rail serpentine motion adopts a on-board dynamic online measurement device for wheel-rail serpentine motion for detection, and is characterized in that it comprises the following steps:
[0016] When the vehicle is driving normally, the two cameras of the binocular stereo vision sensor are placed in parallel to detect the vertical mark position of the center of the wheel axle of the wheelset. Through the binocular stereo vision model, the coordinate position of the white mark relative to the binocular stereo vision sensor is obtained, which is the position of the wheelset relative to the vehicle body.
[0017] The line structured light vision sensor projects a line laser onto the surface of the rail, and obtains the coordinate position of the laser profile relative to the line structured light vision sensor according to the line structured light vision measurement model. The line structured light vision sensor and the binocular stereo vision sensor coordinate system are aligned using the global calibration of the vision sensor, and then the coordinate position of the rail relative to the vehicle body is obtained.
[0018] The point laser distance measuring sensor projects a point laser onto the inner side of the wheelset and obtains the distance of the laser point in real time, thereby obtaining the position coordinates of the laser point relative to the laser distance measuring sensor, that is, the position coordinates of the laser point relative to the bogie;
[0019] The positional relationship between the car body, wheelset and bogie relative to the rail is decomposed into the displacement distance in the direction perpendicular to the rail, and the distance is presented in the form of a position curve. When the displacement distance exceeds the alarm threshold, an alarm is issued.
[0020] It is further characterized by:
[0021] The displacement distance data of the car body, wheelset and bogie are stored and corresponded to the train mileage, providing analysis data reference for subsequent analysis of the train's serpentine motion state.
[0022] After adopting the present invention, by installing binocular stereo vision sensors, line structured light vision sensors and point laser ranging sensors at the bottom, the positional relationship among the car body, wheelset, bogie and rails can be obtained, thereby obtaining the serpentine motion state of the car body, wheelset and bogie separated from each other; it can monitor the wheel-rail position and motion state of the train in real time, judge the serpentine motion, and realize abnormal alarm. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1 It is a detection schematic diagram of the device of the present invention;
[0024] The names corresponding to the serial numbers in the figure are as follows:
[0025] Line structured light vision sensor 10, line laser 11, area array camera 12, binocular stereo vision sensor 20, camera 21, point laser position sensor 30, vehicle body 40, bogie 50, wheelset 60, rail 70, axle 80, and mark 81. DETAILED DESCRIPTION
[0026] A vehicle-mounted device for online dynamic measurement of wheel-rail serpentine motion, see Figure 1 , which includes a group of line structured light vision sensors 10, a group of binocular stereo vision sensors 20, and a point laser position sensor 30; the data collection and processing of the group of line structured light vision sensors 10, a group of binocular stereo vision sensors 20, and the point laser position sensor 30 all use an embedded computer, which is placed in the train driver's cab and provides a display screen for data output.
[0027] A group of line structured light vision sensors 10 are arranged at the bottom of the vehicle body 40 and are used to detect the position of the rail. The line structured light vision sensor 10 includes a line laser 11 and an array camera 12. The line laser 11 projects a line laser onto the surface of the rail 70, and the array camera 12 obtains a laser light strip image, and then obtains the position relationship of the rail profile relative to the line structured light vision sensor 10 according to the line structured light vision measurement model.
[0028] A group of binocular stereo vision sensors 20 are arranged at the bottom of the vehicle body 40 and used to detect the position of the wheelset relative to the vehicle body. The two groups of cameras 21 of the binocular stereo vision sensor 20 are installed in parallel. A mark 81 perpendicular to the axle is arranged at the center of the wheelset axle 80. The binocular stereo vision sensor 20 is used to detect the mark, calculate the relative position of the mark 81 relative to the binocular stereo vision sensor 20, and unify the rail profile to the coordinate system of the binocular stereo vision sensor 20, so as to realize the coordinate system of the position of the rail 70 and the position of the wheelset axle 80.
[0029] The point laser position sensor 30 is arranged on the vehicle body bogie 50 and is used to detect the position change of the wheelset 60 relative to the bogie 50. The point laser position sensor 30 projects a point laser to the inner side position of one wheel set, and obtains the position of the laser point on the inner side of the wheelset 60 relative to the point laser position sensor 30 in real time, thereby determining the relative motion relationship of the wheelset 60 relative to the bogie 50.
[0030] In a specific implementation, the mark 81 is a white arc mark or a circle mark to ensure that it can be reliably and stably recognized by the binocular stereo vision sensor 20.
[0031] When the train is running normally, the relative movement of the wheelset 60 relative to the car body 40, the relative movement of the wheelset 60 relative to the rail 70, and the relative movement of the wheelset 60 relative to the bogie 50 are obtained in real time. The three relative movement relationships are decomposed into the translation distance in the direction perpendicular to the rail 70, and are plotted in real-time curve form to obtain a serpentine motion curve. When the translation distance of the serpentine motion exceeds a certain limit, a status alarm is issued.
[0032] The method for on-board dynamic online measurement of wheel-rail serpentine motion adopts a on-board dynamic online measurement device for wheel-rail serpentine motion to perform detection, and includes the following process:
[0033] When the vehicle is driving normally, the two cameras of the binocular stereo vision sensor are placed in parallel to detect the vertical mark position of the center of the wheel axle of the wheelset. Through the binocular stereo vision model, the coordinate position of the white mark relative to the binocular stereo vision sensor is obtained, which is the position of the wheelset relative to the vehicle body.
[0034] The line structured light vision sensor projects a line laser onto the surface of the rail, and obtains the coordinate position of the laser profile relative to the line structured light vision sensor according to the line structured light vision measurement model. The line structured light vision sensor and the binocular stereo vision sensor coordinate system are aligned using the global calibration of the vision sensor, and then the coordinate position of the rail relative to the vehicle body is obtained.
[0035] The point laser distance measuring sensor projects a point laser onto the inner side of the wheelset and obtains the distance of the laser point in real time, thereby obtaining the position coordinates of the laser point relative to the laser distance measuring sensor, that is, the position coordinates of the laser point relative to the bogie;
[0036] The positional relationship between the car body, wheelset and bogie relative to the rail is decomposed into the displacement distance in the direction perpendicular to the rail, and the distance is presented in the form of a position curve. When the displacement distance exceeds the alarm threshold, an alarm is issued.
[0037] The displacement distance data of the car body, wheelset and bogie are stored and corresponded to the train mileage, providing analysis data reference for subsequent analysis of the train's serpentine motion state.
[0038] After adopting the present invention, by installing binocular stereo vision sensors, line structured light vision sensors and point laser ranging sensors at the bottom, the positional relationship among the car body, wheelset, bogie and rails can be obtained, thereby obtaining the serpentine motion state of the car body, wheelset and bogie separated from each other; it can monitor the wheel-rail position and motion state of the train in real time, judge the serpentine motion, and realize abnormal alarm.
[0039] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.
[0040] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.
Claims
1. A vehicle-mounted device for online dynamic measurement of wheel-rail serpentine motion, characterized in that: It includes: A set of linear structured light vision sensors, which are set at the bottom of the vehicle body and are used to detect the position of the rails; A set of binocular stereo vision sensors, which are arranged at the bottom of the vehicle body and are used to detect the position of the wheelset relative to the vehicle body; And a point laser position sensor; which is arranged on the vehicle body bogie and is used to detect the position change of the wheelset relative to the bogie.
2. The vehicle-mounted device for online dynamic measurement of wheel-rail serpentine motion according to claim 1, characterized in that: An embedded computer is used for data collection and processing of a set of line structured light vision sensors, a set of binocular stereo vision sensors, and a point laser position sensor. The embedded computer is placed in the train driver's cab and provides a display screen for data output.
3. The vehicle-mounted on-line dynamic measurement device for wheel-rail serpentine motion according to claim 2, characterized in that: A group of the line structured light vision sensors includes a line laser and an array camera. The line laser projects a line laser onto the surface of the rail, and the laser light strip image is acquired by the array camera. Then, the positional relationship of the rail contour relative to the line structured light vision sensor is obtained according to the line structured light vision measurement model.
4. The vehicle-mounted device for online dynamic measurement of wheel-rail serpentine motion according to claim 3, characterized in that: Two groups of cameras of a group of binocular stereo vision sensors are installed in parallel, and the lens of each group of cameras is arranged to face downward. A mark perpendicular to the axle is set at the center of the wheelset axle. The binocular stereo vision sensor is used to detect the mark, and the relative position of the mark with respect to the binocular stereo vision sensor is calculated, and the rail contour is unified to the coordinate system of the binocular stereo vision sensor, thereby realizing the coordinate system unity of the rail position and the wheelset axle position.
5. The vehicle-mounted device for online dynamic measurement of wheel-rail serpentine motion according to claim 4, characterized in that: Marked with a white arc mark.
6. The vehicle-mounted device for online dynamic measurement of wheel-rail serpentine motion according to claim 4, characterized in that: The point laser position sensor projects a point laser to the inner side of one wheelset and obtains the position of the laser point on the inner side of the wheelset relative to the point laser position sensor in real time, thereby determining the relative motion relationship of the wheelset relative to the bogie.
7. The vehicle-mounted device for online dynamic measurement of wheel-rail serpentine motion according to claim 6, characterized in that: When the train is running normally, the relative motion of the wheelset relative to the car body, the relative motion of the wheelset relative to the rail, and the relative motion of the wheelset relative to the bogie are obtained in real time. The three relative motion relationships are decomposed into the translation distance in the direction perpendicular to the rail and plotted in real-time curve form to obtain a serpentine motion curve. When the translation distance of the serpentine motion exceeds a certain limit, a status alarm is issued.
8. A method for measuring wheel-rail serpentine motion in a vehicle-mounted online dynamic manner, which uses the vehicle-mounted device for measuring wheel-rail serpentine motion in a vehicle-mounted online dynamic manner as claimed in claim 6 or 7 for detection, characterized in that: It includes the following steps: When the vehicle is driving normally, the two cameras of the binocular stereo vision sensor are placed in parallel to detect the vertical mark position of the center of the wheel axle of the wheelset. Through the binocular stereo vision model, the coordinate position of the white mark relative to the binocular stereo vision sensor is obtained, which is the position of the wheelset relative to the vehicle body. The line structured light vision sensor projects a line laser onto the surface of the rail, and obtains the coordinate position of the laser profile relative to the line structured light vision sensor according to the line structured light vision measurement model. The line structured light vision sensor and the binocular stereo vision sensor coordinate system are aligned using the global calibration of the vision sensor, and then the coordinate position of the rail relative to the vehicle body is obtained. The point laser distance measuring sensor projects a point laser onto the inner side of the wheelset and obtains the distance of the laser point in real time, thereby obtaining the position coordinates of the laser point relative to the laser distance measuring sensor, that is, the position coordinates of the laser point relative to the bogie; The positional relationship between the car body, wheelset and bogie relative to the rail is decomposed into the displacement distance in the direction perpendicular to the rail, and the distance is presented in the form of a position curve. When the displacement distance exceeds the alarm threshold, an alarm is issued.
9. The vehicle-mounted on-line dynamic measurement method of wheel-rail serpentine motion according to claim 8, characterized in that: The displacement distance data of the car body, wheelset and bogie are stored and corresponded to the train mileage, providing analysis data reference for subsequent analysis of the train's serpentine motion state.