A device and method for online dynamic detection of vehicle hook buffer height

Abstract

The present invention discloses a device for online dynamic detection of vehicle hook buffer height, which can simultaneously measure the hook buffer centerline position and the synchronous rail position, thereby measuring the distance of the hook buffer height relative to the rail surface in real time, and then judging whether the hook buffer height is within a safe range. It includes: an incoming vehicle signal mechanism, which is arranged in the direction of the incoming vehicle on the track; a detection trigger mechanism; a detection mechanism, which includes a parallel binocular array camera, at least three laser distance sensors, the parallel binocular array camera is equivalent to the hook buffer height, and takes pictures toward the hook buffer position, the two cameras of the parallel binocular array camera are arranged up and down, perpendicular to the lateral direction of the hook buffer, and each laser distance sensor measures the distance to the rail surface; and an image acquisition and calculation server.

Description

Technical Field

[0001] The invention relates to the technical field of vehicle hook buffer detection, and in particular to a device for online dynamic detection of vehicle hook buffer height. The invention also provides an online dynamic detection method for vehicle hook buffer height. Background Art

[0002] During the operation of the train, the hook height between the train carriages needs to be accurately matched to ensure the stable operation of the train. The coupler buffer device is referred to as the coupler buffer. The coupler buffer device is a component used to connect the train carriages to each other, transmit traction, braking force and mitigate longitudinal impact force. It is composed of a coupler, buffer, hook tail frame, follower plate, etc. A coupler buffer height that is too high or too low may cause vehicle coupling failure, increase the risk of uncoupling during driving, and threaten traffic safety. Mismatched coupler buffer heights may also cause excessive stress or wear on the connectors between vehicles, thereby shortening the service life of the equipment.

[0003] At present, the detection of vehicle coupling height still mainly relies on visual inspection or manual height gauge measurement. On the one hand, it cannot meet the high-precision requirements, and on the other hand, it is inefficient and difficult to adapt to the detection needs of long trains. Online dynamic detection can monitor and adjust the coupling height in real time, reduce manual inspection and adjustment time, and speed up the vehicle process. At the same time, through the intelligent detection system, it can prompt the operator whether the vehicle needs to be detained for maintenance to avoid human errors, but there is currently no reliable online dynamic detection device. Summary of the invention

[0004] In view of the above problems, the present invention provides a device for online dynamic detection of vehicle hook buffer height, which can simultaneously measure the hook buffer centerline position and the synchronized rail position, so as to measure the distance of the hook buffer height relative to the rail surface in real time, and then determine whether the hook buffer height is within a safe range; and by measuring the hook buffer height between each carriage of a train, the hook buffer height distribution of the entire train can be determined, thereby determining the running stability of the entire train.

[0005] A device for online dynamic detection of vehicle hook buffer height, characterized in that it comprises:

[0006] Oncoming vehicle signal mechanism, which is arranged on the track in the direction of the oncoming vehicle;

[0007] Detecting the trigger mechanism;

[0008] The detection mechanism includes a parallel binocular area array camera and at least three laser distance sensors. The parallel binocular area array camera is at the same height as the hook buffer and takes pictures toward the hook buffer. The two cameras of the parallel binocular area array camera are arranged up and down, perpendicular to the lateral direction of the hook buffer, and each laser distance sensor measures the distance of the rail surface.

[0009] and image acquisition and computing servers;

[0010] The detection trigger mechanism, the detection mechanism, the image acquisition and the computing server are combined to form a measurement system, wherein the detection trigger mechanism is arranged at a proximal track close to the detection mechanism.

[0011] When the oncoming train signal mechanism senses the approaching train, it notifies the measurement system to get ready, and the detection trigger mechanism senses the wheel position, and then the detection trigger mechanism performs detection;

[0012] During the inspection, the parallel binocular area array camera takes pictures of the hook buffer of each carriage, and all laser ranging sensors measure the distance length to the rail surface;

[0013] The image acquisition and calculation server processes the image and calculates the hook buffer height according to the obtained hook buffer image and the distance length value obtained by the corresponding laser ranging sensor.

[0014] It is further characterized by:

[0015] The parallel binocular area array camera is also equipped with a high-power LED fill light to ensure clear and reliable photos;

[0016] The approaching train signal mechanism is a remote start magnetic steel group composed of two magnetic steels. The remote start magnetic steel group senses the approaching train and notifies the measurement system to get ready, including starting measurement with the laser ranging sensor, turning on the parallel binocular array camera, and turning on the LED fill light.

[0017] The detection trigger mechanism is a proximal trigger magnet, which counts the passing wheels. When it is judged by the number that the first wheel axle of the first bogie of each carriage is currently located, the parallel binocular area array camera is triggered to take pictures, and the image acquisition and calculation server simultaneously reads the distance length value of each laser ranging sensor.

[0018] The method for online dynamic detection of vehicle hook buffer height adopts an online dynamic detection device for vehicle hook buffer height for detection, and is characterized in that it comprises the following steps:

[0019] S1, the remote start magnetic steel group senses the approach of the train and notifies the measurement system to get ready;

[0020] S2, the near-end triggers the magnet to count the passing wheels, and when it is determined by the number that the first wheel axle of the first bogie of each carriage is currently located, the parallel binocular array camera is triggered to take pictures, and the image acquisition and calculation server simultaneously reads the distance length value of each laser ranging sensor;

[0021] S3, image acquisition and calculation service processes the images obtained by the parallel binocular array camera, extracts the horizontal centerline position of the hook, and solves the position of the centerline in the binocular stereo vision reference coordinate system based on the binocular stereo vision measurement principle and binocular model;

[0022] S4, obtaining the positions of multiple rail surface points according to the distance values ​​of multiple laser ranging sensors, and converting the coordinates of the multiple rail surface points into a binocular stereo vision reference coordinate system according to the coordinate system conversion of the laser ranging sensor and the parallel binocular area array camera;

[0023] S5. Solve the rail upper surface equation using the coordinate values ​​of multiple rail surface points, solve the distances of all points on the hook buffer centerline relative to the rail upper surface, and take the average value to obtain the hook buffer height.

[0024] It is further characterized in that, in step S4, the relative relationship between the rail surface points corresponding to the multiple laser ranging sensors and the parallel binocular stereo vision reference coordinate system is obtained by multi-sensor global calibration, and the calibration method adopts an additional intermediate coordinate system method, using a total station to simultaneously obtain the coordinates of the parallel binocular stereo vision measured points and the coordinates of the measured points of the laser ranging sensor, and the rail surface point coordinate system and the parallel binocular stereo vision coordinate system are unified through the total station intermediate coordinate system.

[0025] By adopting the structure of the present invention and using an online dynamic measuring device with vision + photoelectric fusion measurement, it is possible to realize online measurement of the hook buffer between carriages when the train approaches and travels at a low speed. The height of the center line of the hook buffer from the surface of the rail is calculated using binocular stereo vision and a point laser distance sensor, which has the characteristics of high accuracy, onlineness and high speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a detection schematic diagram of the device of the present invention;

[0027] The names corresponding to the serial numbers in the figure are as follows:

[0028] Parallel binocular area array camera 10 , camera 11 , laser distance sensor 20 , hook buffer 30 , rail 40 , and carriage 50 . DETAILED DESCRIPTION

[0029] A device for online dynamic detection of vehicle hook height, see Figure 1 : It includes an oncoming vehicle signal mechanism, a detection trigger mechanism, a detection mechanism, and an image acquisition and calculation server;

[0030] The oncoming vehicle signal mechanism is a remote start magnetic steel group composed of two magnetic steels, which is set in the oncoming direction of the track;

[0031] The detection trigger mechanism is a proximal trigger magnet;

[0032] The detection mechanism includes a parallel binocular array camera 10 and three laser distance sensors 20. The parallel binocular array camera 10 is at the same height as the hook buffer 30 and takes pictures toward the hook buffer 30. The two cameras 11 of the parallel binocular array camera 10 are arranged up and down, perpendicular to the lateral direction of the hook buffer 30. The parallel binocular array camera 10 is also equipped with a high-power LED fill light. The three laser distance sensors 20 measure the distance of the surface of the rail 40 according to the set angle.

[0033] The detection trigger mechanism, the detection mechanism, the image acquisition and the computing server are combined to form a measurement system. The detection trigger mechanism is arranged on the proximal track close to the detection mechanism. The detection trigger mechanism senses the wheel position and then the detection trigger mechanism performs detection.

[0034] During the inspection, the parallel binocular array camera 10 takes pictures of the hook buffer 30 of each carriage 50, and all laser distance sensors 20 measure the distance length from each to the surface of the rail 40;

[0035] The image acquisition and calculation server processes the image and calculates the hook buffer height according to the obtained hook buffer 30 image and the corresponding distance length value obtained by the laser ranging sensor 20.

[0036] During specific implementation, the far-end start-up magnetic steel group senses the approaching train and notifies the measurement system to get ready, including the laser ranging sensor 20 starting measurement, the parallel binocular area array camera 10 turning on, and the LED fill light turning on; the near-end triggering magnetic steel counts the passing wheels, and when it is determined by the number that the current one is the first axle of the first bogie of each car, the parallel binocular area array camera 10 is triggered to take a picture, and the image acquisition and calculation server simultaneously reads the distance length value of each laser ranging sensor 20.

[0037] The method for online dynamic detection of vehicle hook buffer height adopts an online dynamic detection device for vehicle hook buffer height to perform detection, and comprises the following steps:

[0038] S1, the remote start magnetic steel group senses the approach of the train and notifies the measurement system to get ready;

[0039] S2, the near-end triggers the magnet to count the passing wheels, and when it is determined by the number that the first wheel axle of the first bogie of each carriage is currently located, the parallel binocular array camera is triggered to take pictures, and the image acquisition and calculation server simultaneously reads the distance length value of each laser ranging sensor;

[0040] S3, image acquisition and calculation service processes the images obtained by the parallel binocular array camera, extracts the horizontal centerline position of the hook, and solves the position of the centerline in the binocular stereo vision reference coordinate system based on the binocular stereo vision measurement principle and binocular model;

[0041] S4, obtaining the positions of multiple rail surface points according to the distance values ​​of the three laser ranging sensors, and converting the coordinates of the three rail surface points into the binocular stereo vision reference coordinate system according to the coordinate system conversion of the laser ranging sensor and the parallel binocular area array camera;

[0042] S5. Solve the rail upper surface equation using the coordinate values ​​of the three rail surface points, solve the distances of all points on the hook buffer centerline relative to the rail upper surface, and take the average value to obtain the hook buffer height.

[0043] In step S4, the relative relationship between the rail surface points corresponding to the three laser ranging sensors and the parallel binocular stereo vision reference coordinate system is obtained by multi-sensor global calibration. The calibration method adopts an additional intermediate coordinate system method, and uses a total station to simultaneously obtain the coordinates of the parallel binocular stereo vision measured points and the coordinates of the measured points of the laser ranging sensor, and unifies the rail surface point coordinate system and the parallel binocular stereo vision coordinate system through the total station intermediate coordinate system.

[0044] It uses an online dynamic measurement device with vision + photoelectric fusion measurement, which can realize online measurement of the hook buffer between carriages when the train approaches and travels at a low speed. It uses binocular stereo vision and point laser distance sensor to calculate the height of the hook buffer center line from the rail surface, with the characteristics of high precision, online and high speed; it can simultaneously measure the position of the hook buffer center line and the synchronized rail position, so as to measure the distance of the hook buffer height relative to the rail surface in real time, and then judge whether the hook buffer height is within a safe range; and through the hook buffer height measurement between each carriage of a train, the hook buffer height distribution of the entire train can be judged, thereby judging the running stability of the entire train.

[0045] 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.

[0046] 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 device for online dynamic detection of vehicle hook buffer height, characterized in that: It includes: Oncoming vehicle signal mechanism, which is arranged on the track in the direction of the oncoming vehicle; Detecting the trigger mechanism; The detection mechanism includes a parallel binocular area array camera and at least three laser distance sensors. The parallel binocular area array camera is at the same height as the hook buffer and takes pictures toward the hook buffer. The two cameras of the parallel binocular area array camera are arranged up and down, perpendicular to the lateral direction of the hook buffer, and each laser distance sensor measures the distance of the rail surface. and image acquisition and computing servers; The detection trigger mechanism, the detection mechanism, the image acquisition and the computing server are combined to form a measurement system, wherein the detection trigger mechanism is arranged at a proximal track close to the detection mechanism. When the oncoming train signal mechanism senses the approaching train, it notifies the measurement system to get ready, and the detection trigger mechanism senses the wheel position, and then the detection trigger mechanism performs detection; During the inspection, the parallel binocular area array camera takes pictures of the hook buffer of each carriage, and all laser ranging sensors measure the distance length to the rail surface; The image acquisition and calculation server processes the image and calculates the hook buffer height according to the obtained hook buffer image and the distance length value obtained by the corresponding laser ranging sensor.

2. The device for online dynamic detection of vehicle hook buffer height according to claim 1, characterized in that: The parallel binocular area array camera is also equipped with a high-power LED fill light.

3. The device for online dynamic detection of vehicle hook buffer height according to claim 2, characterized in that: The oncoming train signal mechanism is a remote start magnetic steel group composed of two magnetic steels. The remote start magnetic steel group senses the approaching train and notifies the measurement system to get ready, including the laser ranging sensor starting measurement, the parallel binocular array camera turning on, and the LED fill light turning on.

4. The device for online dynamic detection of vehicle hook buffer height according to claim 3 is characterized in that: The detection trigger mechanism is a proximal trigger magnet, which counts the passing wheels. When it is judged by the number that the first wheel axle of the first bogie of each carriage is currently located, the parallel binocular area array camera is triggered to take pictures, and the image acquisition and calculation server simultaneously reads the distance length value of each laser ranging sensor.

5. A method for online dynamic detection of vehicle hook buffer height, which uses the device for online dynamic detection of vehicle hook buffer height as claimed in claim 4 for detection, characterized in that: It includes the following steps: S1, the remote start magnetic steel group senses the approach of the train and notifies the measurement system to get ready; S2, the near-end triggers the magnet to count the passing wheels, and when it is determined by the number that the first wheel axle of the first bogie of each carriage is currently located, the parallel binocular array camera is triggered to take pictures, and the image acquisition and calculation server simultaneously reads the distance length value of each laser ranging sensor; S3, image acquisition and calculation service processes the images obtained by the parallel binocular array camera, extracts the horizontal centerline position of the hook, and solves the position of the centerline in the binocular stereo vision reference coordinate system based on the binocular stereo vision measurement principle and binocular model; S4, obtaining the positions of multiple rail surface points according to the distance values ​​of multiple laser ranging sensors, and converting the coordinates of the multiple rail surface points into a binocular stereo vision reference coordinate system according to the coordinate system conversion of the laser ranging sensor and the parallel binocular area array camera; S5. Solve the rail upper surface equation using the coordinate values ​​of multiple rail surface points, solve the distances of all points on the hook buffer centerline relative to the rail upper surface, and take the average value to obtain the hook buffer height.

6. The method for online dynamic detection of vehicle hook buffer height according to claim 5, characterized in that: In step S4, the relative relationship between the rail surface points corresponding to the multiple laser ranging sensors and the parallel binocular stereo vision reference coordinate system is obtained by multi-sensor global calibration. The calibration method adopts an additional intermediate coordinate system method, and uses a total station to simultaneously obtain the coordinates of the parallel binocular stereo vision measured points and the coordinates of the measured points of the laser ranging sensor, and unifies the rail surface point coordinate system and the parallel binocular stereo vision coordinate system through the total station intermediate coordinate system.

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