CN115326812A - A vehicle wheelset measurement sensor and measurement method - Google Patents

Abstract

The invention provides a vehicle-mounted wheel pair measuring sensor, which is arranged on the inner side of a wheel and comprises a camera, a laser and a controller, wherein the camera is arranged on the inner side of the wheel; the controller comprises a laser control module, an acquisition module, a tread defect detection module, a tread information storage module and a communication module; collecting laser bar images by a camera; the tread defect detection module acquires point cloud information, searches points with coordinate values exceeding a normal coordinate interval in a tread area of the laser bar and marks the points as defect points, and transmits the coordinates of the defect points to the tread information storage module; the tread information storage module counts the number of defect points and gives a prompt when the number is abnormal; the wheel rim size measuring module is connected with the acquisition module and the wheel rim information storage module; the rim dimension measuring module acquires point cloud information and calculates the geometric dimension of the rim by using the point cloud information; monitoring the state of the wheel rim; the sensor of the scheme of the invention can dynamically monitor the conditions of the wheel set tread and the wheel rim in real time by adopting a vehicle-mounted mode, can find the abnormality of the wheel set in time, and has high safety.

Description

A vehicle wheel set measurement sensor and measurement method

technical field

The invention relates to the field of rail transit automatic detection, in particular to a vehicle-mounted wheel set measurement sensor and a measurement method.

Background technique

In recent years, with the rapid development of my country's railways, the number of railway lines has continued to increase, the speed of trains has gradually increased, the carrying capacity has become larger and larger, and vehicles have grown explosively. Important failures during use. At present, the mainstream detection method is manual detection or setting the detection sensor next to the track to realize automatic detection. Among them, the efficiency of manual detection is low, the false detection rate is high, and the work intensity is high; the automatic detection of the trackside requires the train to pass through the detection sensor to complete the detection. The wheel detection scheme is: set up a detection shed near the train parking lot or near the station, and install the detection sensor on the side of the track. This detection method has the following problems:

1. The train is only tested once or twice during operation, and the real-time performance of the detection is poor, so it is impossible to find the problem at the first time, and there are potential safety hazards;

2. The existing detection sensor collects the surface image of the wheel set, and only relies on the two-dimensional image to analyze the defect. When there are dirt and other attachments on the tread, this method will also mistake it for a tread defect. In the specification, defects are pits, scratches, etc. that exceed a certain threshold (usually 1cm);

3. In order to take pictures of the entire wheel circumference, multiple detection sensors need to be set up. Each sensor only collects a local area of the wheel, and multiple detection sensors can splicing the detection areas to obtain the entire circumference; the splicing process will inevitably produce loss of precision.

Contents of the invention

Traditional rail traffic detection can no longer meet the needs of safe train operation. In order to solve the above technical problems, this paper proposes a vehicle-mounted train wheel set measurement sensor. Monitor the surface condition of the wheel set, find the abnormality of the wheel set in time, and ensure high safety.

The technical solution is as follows:

A vehicle-mounted wheel set measurement sensor, the sensor is installed on the bogie inside the wheel, which includes a camera, a laser and a controller; both the camera and the laser are located obliquely above the wheel, and the laser is used to project a laser bar to the wheel surface, the camera Used to capture laser bar images, both of which are controlled by the controller;

The controller includes a laser control module, an acquisition module, a tread defect detection module, a tread information storage module and a communication module;

The communication module is respectively connected to the acquisition module, the laser control module, and the tread information storage module, and the tread defect detection module is respectively connected to the acquisition module and the tread information storage module;

The communication module can communicate with the upper computer. When the train starts, it sends a start signal to the laser control module and the acquisition module respectively; when the train stops, it sends a shutdown signal to the laser control module and the acquisition module respectively;

The laser control module is used to control the laser to continuously project the laser bar to the surface of the wheel;

The acquisition module controls the camera to continuously acquire laser bar images according to a preset frame rate, and transmits the images to the tread defect detection module in sequence;

The tread defect detection module obtains the point cloud information on each laser bar, searches for points whose coordinate values exceed the normal coordinate range in the tread area of the laser bar, and marks them as defect points, and transmits the coordinates of the defect points to the tread information storage module save;

The tread information storage module counts the number of defect points with continuous coordinates, and when the number exceeds the threshold A, an alarm signal is sent to the communication module, and the communication module sends an alarm signal to the upper computer to prompt the staff that there is an abnormality in the wheel tread.

Further, the controller also includes a rim size measurement module and a rim information storage module;

The rim size measuring module is respectively connected with the acquisition module and the rim information storage module;

The rim information storage module is connected to the communication module;

The acquisition module sequentially transmits the laser bar images collected by the camera to the wheel rim size measurement module at regular intervals or in real time;

The rim size measurement module obtains the point cloud information on each laser bar respectively, and uses the point cloud information to calculate the geometric size of the rim; the geometric size of the rim includes rim height, rim thickness, rim vertical wear, QR one or more of the values;

The geometric dimensions of the rim are transmitted to the rim information storage module for storage, and the rim information storage module judges whether the geometric dimensions of the rim are in their respective preset intervals, if yes, the rim is normal, if not, the rim Abnormal, send an alarm signal to the communication module, and the communication module sends an alarm signal to the upper computer, prompting the staff that there is an abnormality in the wheel rim.

Further, the preset time interval ranges from 1 minute to 10 hours;

The height value of the rim is calculated as:

Calculate the vertical distance between each point in the rim area on the laser bar and the reference point, and record the maximum value of the vertical distance as the rim height value;

The rim area is the area on the left side of the demarcation point; the demarcation point is: the pixel point on the left side of the reference point and 30-50 mm away from the reference point;

The reference point is: the pixel point at 70 mm from the inner surface of the rim to the tread surface, and the inner surface of the rim is a plane obtained by fitting 30 to 80 pixel points on the laser bar near the left edge of the image;

The vertical distance is the coordinate difference in the vertical direction, and the vertical direction is: the direction perpendicular to the tangent plane of the tread where the laser bar is located;

The thickness value of the rim is calculated as:

Make a straight line perpendicular to the inner surface of the rim through the reference point, translate the line up 10mm or 12mm, intersect with the laser bar, and record the horizontal distance between the two intersection points as the rim thickness value;

The horizontal distance is the distance along the train axle direction;

The wear value of the rim is calculated as:

Make a straight line perpendicular to the inner surface of the rim through the reference point, translate the straight line up by 15mm, intersect with the laser bar, and record the horizontal distance between the two points as the control value;

Record the difference between the rim thickness value and the control value as the rim wear value;

The calculation method of QR value is: record the point corresponding to the rim height value as the highest point, drop the highest point by 2mm to get point B, pass through point B to draw a straight line perpendicular to the inner side of the rim, and the straight line intersects with the laser bar, record The intersection point on the right is point C, and the horizontal distance between point A and point C is recorded as the QR value.

Further, the tread defect detection module obtains the point cloud information on each laser bar, searches for points whose coordinate values exceed the normal coordinate range in the tread area of the laser bar, and marks them as defect points in the following manner:

Convert the point cloud on each laser strip to the laser plane coordinate system, and calculate the slope of the tangent line between two adjacent points in the tread area of each laser strip in turn. If the absolute value of the slope is higher than the threshold B, mark the two points. The point is the defect point;

Threshold B takes a value from 0.4 to 06;

The tread area is the area on the right side of the demarcation point; the demarcation point is the pixel point on the left side of the reference point, which is 30-50 mm away from the reference point.

Further, the direction along the train wheel axis is marked as the X axis, the direction perpendicular to the tangent plane of the tread where the laser bar is placed is marked as the Y axis, and the direction perpendicular to the XOY plane is marked as the Z axis, and the sensor coordinate system is established;

There are two ways to convert the point cloud on each laser bar to the laser plane coordinate system:

Method 1: When the laser bar is coplanar with the train wheel axle, mark the coordinates of the point cloud on the XOY plane as the plane coordinates in the laser plane coordinate system;

Method 2: When the laser bar is not coplanar with the wheel axle of the train, first calibrate to obtain: the equation of the space straight line l of the wheel axle in the sensor coordinate system, and the space plane equation of the inner surface of the wheel rim in the sensor coordinate system;

Then record the distance from any point Q on the laser bar to the space straight line l as the Y-axis coordinate in the laser plane coordinate system, and record the distance between point Q and the inner surface of the wheel rim as the Z-axis coordinate in the laser plane coordinate system .

Further, the tread information storage module is also used to count the coordinate intervals in the horizontal direction and the coordinate intervals in the vertical direction of the defect points with continuous coordinates, and record them as the defect width distribution interval and depth distribution interval;

The horizontal direction is: the direction along the wheel axle of the train, and the vertical direction is: the direction perpendicular to the tangent plane of the tread where the laser bar is located.

Further, the acquisition module sorts the images of the laser strips according to time sequence, and sequentially transmits the images to the tread defect detection module;

The tread information storage module is also used to record the serial number of the laser bar corresponding to each defect point, count the number n of laser bars with continuous serial numbers, and calculate the length value of the defect=n×v×t, where v is the current speed of the train, and t is the collected The total time required for the laser bars with consecutive serial numbers.

Preferably, when the laser is a single-line laser, the camera is a line array camera; when the laser is a multi-line laser, the camera is an area array camera;

The preset frame rate of the camera is 5~30kHz;

Threshold A ranges from 20 to 100;

The number of sensors corresponds to the number of wheels, and measuring sensors are installed inside each wheel;

The sensor is installed on the bogie inside the wheel through a support frame. One end of the support frame is fixedly connected to the sensor, and the other end is screwed to the bogie. After the train runs, the support frame is removed from the current train bogie , Installed on the bogies of other vehicles to be dispatched.

The present invention also relates to a method for using the above-mentioned on-vehicle wheel measurement sensor to measure, including: when the controller in the sensor receives a train start signal, control the laser to continuously project a laser bar on the wheel surface, the laser bar and the wheel The direction of travel is vertical;

At the same time, the camera continues to collect laser bar images at a preset frame rate, and transmits the images to the controller in sequence;

The controller obtains the point cloud information on each laser bar, marks the points in the tread area whose coordinate values exceed the normal coordinate range as defective points, saves the coordinates of the defective points, and counts the number of defective points with continuous coordinates. When the number exceeds the threshold When A, an alarm signal is sent to the upper computer to remind the staff that there is an abnormality in the wheel tread;

When the train stops, the controller signals the cameras and lasers to turn off.

Further, the controller also processes the laser bar image according to the preset time interval; obtains the point cloud information on each laser bar separately, and uses the point cloud information to calculate the geometric dimensions of the rim; the geometric dimensions of the rim include the height of the rim, the thickness of the rim , one or more of the vertical wear of the rim; then judge whether the geometric dimensions of the rim are in their corresponding preset intervals, if yes, the rim is normal, if not, the rim is abnormal, and an alarm signal is sent to the upper computer, Prompt the staff that there is an abnormality in the wheel rim.

This method has the following advantages:

①Using the vehicle-mounted method to monitor the status of the wheelset in real time, the safety is improved. The measurement sensor can meet the accuracy requirements (10mm) for the length of the tread defect detection in the field of rail transit. When the train speed is 100km/h, the preset frame rate of the camera should be ≥10kHz, and the measurement accuracy of this sensor can reach 0.5mm, that is, two measurements The distance between the laser stripes is 0.5 mm. Therefore, this method can effectively identify defects with a defect length greater than 0.5 mm, which meets the detection accuracy requirements for tread defect measurement.

②Using the structured light measurement method, the three-dimensional profile of the wheel surface can be obtained, and the depressed defect area can be accurately obtained by analyzing the sudden change of the point cloud, and the interference of stains on the defect detection can be eliminated; the full detection of the width, length and depth of the defect can be realized, High detection accuracy.

③It can not only monitor tread defects, but also monitor the geometric dimensions of the rim (rim height, thickness) regularly, regularly or in real time, and the monitoring content is more comprehensive.

④A single wheel only needs a camera and a laser, and it can monitor the running conditions of the entire circumference with the wheel running without splicing, which reduces the loss of accuracy and has a fast processing speed.

Description of drawings

Fig. 1 is the structural block diagram of measurement sensor system in the specific embodiment;

Fig. 2 is a schematic diagram of the installation position of the measuring sensor in the specific embodiment;

Fig. 3 is a schematic view of the structure of the wheel set in the specific embodiment;

Fig. 4 is a schematic diagram of a single laser bar projected on the wheel surface in a specific embodiment;

Fig. 5 is a schematic diagram of laser bar projection and a single laser bar calculation rim size schematic diagram in a specific embodiment;

Fig. 6 is a schematic diagram of a single laser bar searching for defect points;

Figure 7a is a schematic diagram of stitching multiple laser bars into a global image;

Fig. 7b is a schematic diagram of the tread area where multiple laser bars are cut.

Detailed ways

The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

A vehicle-mounted wheel set measurement sensor, the sensor is installed on the bogie inside the wheel, which includes a camera, a laser and a controller; as shown in Figure 2, the camera and the laser are located obliquely above the wheel, and the laser is used to project to the wheel surface The laser bar and the camera are used to collect the image of the laser bar, both of which are controlled by the controller; the preset frame rate of the camera is 5-30kHz;

When the laser is a single-line laser, the camera is a line-scan camera; when the laser is a multi-line laser, the camera is an area-scan camera;

In this embodiment, a single-line laser is used, and the camera is a line array camera; the frame rate is 15kHz;

As shown in Figure 1, the controller includes a laser control module, an acquisition module, a tread defect detection module, a tread information storage module and a communication module;

The communication module is respectively connected to the acquisition module, the laser control module, and the tread information storage module, and the tread defect detection module is respectively connected to the acquisition module and the tread information storage module;

The communication module can communicate with the upper computer. When the train starts, it sends a start signal to the laser control module and the acquisition module respectively; when the train stops, it sends a shutdown signal to the laser control module and the acquisition module respectively;

The laser control module is used to control the laser to continuously project the laser bar on the wheel surface; as shown in Figure 4 and 5, the laser bar runs through the wheel tread;

The acquisition module controls the camera to continuously acquire laser bar images according to the preset frame rate, and transmits the images to the tread defect detection module in sequence;

The tread defect detection module obtains the point cloud information on each laser bar, searches for points whose coordinate values exceed the normal coordinate range in the tread area of the laser bar, and marks them as defect points, and transmits the coordinates of the defect points to the tread information storage module for storage;

The tread information storage module counts the number of defect points with continuous coordinates. When the number exceeds the threshold A (threshold A ranges from 20 to 100), it sends an alarm signal to the communication module, which then sends an alarm signal to the upper computer to remind the staff of the wheel tread There is an exception.

In order to quickly find defect points, in this embodiment, the way to mark defect points is as follows:

Convert the point cloud on each laser strip to the laser plane coordinate system, as shown in Figure 6, and sequentially calculate the slope of the tangent line between two adjacent points in the tread area of each laser strip, if the absolute value of the slope is higher than the threshold B, mark these two points as defect points;

Threshold B takes a value of 0.4 to 06; in this embodiment, threshold B=0.58 (tan30°);

The tread area is the area on the right side of the demarcation point; the demarcation point is the pixel point on the left side of the reference point, 30-50mm away from the reference point.

Among them, as shown in Figures 3 and 5, the reference point is: the pixel point at 70 mm from the inner surface of the rim to the tread surface, and the inner surface of the rim is fitted by using 30 to 80 pixels on the laser bar near the left edge of the image. out of the plane; the demarcation point is: the pixel point on the left side of the reference point and 30-50mm away from the reference point;

The rim area is defined as the area on the left side of the dividing point, and the tread area is defined as the area on the right side of the dividing point.

More specifically, as shown in Figure 4, in this embodiment, the direction along the train wheel axis is marked as the X axis, the direction perpendicular to the tangent plane of the tread where the laser bar is located is marked as the Y axis, and the direction perpendicular to the XOY plane is marked as For the Z axis, establish a sensor coordinate system;

There are two ways to convert the point cloud on each laser bar to the laser plane coordinate system:

Method 1: When the laser bar is coplanar with the train wheel axle, mark the coordinates of the point cloud on the XOY plane as the plane coordinates in the laser plane coordinate system;

Method 2: When the laser bar is not coplanar with the wheel axle of the train, first calibrate to obtain: the equation of the space straight line l of the wheel axle in the sensor coordinate system, and the space plane equation of the inner surface of the wheel rim in the sensor coordinate system;

Then record the distance from any point Q on the laser bar to the space straight line l as the Y-axis coordinate in the laser plane coordinate system, and record the distance between point Q and the inner surface of the wheel rim as the Z-axis coordinate in the laser plane coordinate system .

Among them, the calibration process in method 2 is as follows:

Use a photogrammetry system or a three-coordinate machine to collect three-dimensional information on the wheel surface, use the three-dimensional points on the inner surface of the rim to fit the space plane equation on the inner surface of the rim, and use the points on the circumference of the rim to fit the circle to obtain the center of the circle , the straight line passing through the center of the circle and perpendicular to the inner surface of the rim is recorded as the space straight line l.

In order to facilitate the calculation, it is preferably implemented as follows: when the sensor is installed, the laser plane passes through the axle, that is, the laser bar is coplanar with the axle of the train. Method 1 is used to convert 3D points into 2D points.

In order to facilitate understanding, as shown in Figure 7a, multiple laser bars are spliced according to the acquisition timing to obtain a global image; in order to facilitate the calculation, in the actual implementation, the tread area can be intercepted in the global image (as shown in Figure 7b) . In order to obtain more defect information, the tread information storage module is also used to count the coordinate interval in the horizontal direction and the coordinate interval in the vertical direction of the defect point with continuous coordinates, and record them as the width distribution interval and depth of the defect respectively distribution interval;

The horizontal direction is: the direction along the wheel axle of the train (X-axis direction), and the vertical direction is: the direction (Y-axis direction) perpendicular to the tangent plane of the tread where the laser bar is located (as shown in Figure 4).

The acquisition module sorts the images of the laser bars according to the time sequence, and transmits the images to the tread defect detection module in turn; the tread information storage module is also used to record the serial numbers of the laser bars corresponding to each defect point, count the number n of laser bars with continuous serial numbers, and calculate the defects The length value of =n×v×t, v is the current speed of the train, and t is the total time required to collect n laser bars with continuous serial numbers.

In this embodiment, the measurement sensor also has a rim size measurement function. Specifically, in order to obtain the rim size information, as shown in FIG. 1, the controller also includes a rim size measurement module and a rim information storage module;

The wheel rim size measurement module is respectively connected with the acquisition module and the wheel rim information storage module;

The rim information storage module is connected to the communication module;

Specifically, the acquisition module sequentially transmits the laser bar images collected by the camera to the wheel rim size measurement module at regular intervals or in real time according to a preset time interval; wherein, the preset time interval takes a value of 1 minute to 10 hours; in this embodiment , let the preset time interval take the value of 1 hour;

The rim size measurement module separately obtains the point cloud information on each laser bar, and uses the point cloud information to calculate the geometric dimension of the rim; the geometric dimension of the rim includes one of the rim height, rim thickness, rim vertical wear, and QR value or more;

The rim geometric dimensions (rim height, rim thickness, rim vertical wear, QR value) are transmitted to the rim information storage module for storage, and the rim information storage module judges whether the rim geometric dimensions are in their corresponding presets interval, if yes, the rim is normal, if not, the rim is abnormal, and an alarm signal is sent to the communication module, and the communication module sends an alarm signal to the upper computer, prompting the staff that there is an abnormality in the wheel rim.

Among them, the preset interval corresponding to the geometric size of the rim is configured according to the detection accuracy requirements. The following is an example description: the preset interval of the rim height is 25-38m; the preset interval of the rim thickness is 20-40mm; the rim is vertical The preset range of abrasion is 1-5 mm.

More specifically, the height value of the rim is calculated as:

Calculate the vertical distance between each point in the rim area on the laser bar and the reference point, and record the maximum value of the vertical distance as the rim height value;

The vertical distance is the coordinate difference in the vertical direction, and the vertical direction is: the direction (Y-axis direction) perpendicular to the tangent plane of the tread where the laser bar is located (as shown in Figure 4);

The thickness value of the rim, calculated as:

Make a straight line perpendicular to the inner surface of the rim through the reference point, translate the line up 10mm or 12mm, intersect with the laser bar, and record the horizontal distance between the two intersection points as the rim thickness value;

The horizontal distance is the distance along the direction of the train wheel axis;

The wear value of the rim, calculated as:

Make a straight line perpendicular to the inner surface of the rim through the reference point, translate the straight line up by 15mm, intersect with the laser bar, and record the horizontal distance between the two points as the control value;

Record the difference between the rim thickness value and the control value as the rim wear value;

The calculation method of QR value is: record the point corresponding to the rim height value as the highest point, drop the highest point by 2mm to get point B, pass through point B to draw a straight line perpendicular to the inner side of the rim, and the straight line intersects with the laser bar, record The right intersection point (the intersection point away from the rim area) is point C, and the horizontal distance between point A and point C is recorded as the QR value.

Correspondingly, there is provided a method of using the above-mentioned on-board wheel measurement sensor for measurement, including: when the controller in the sensor receives a train start signal, control the laser to continuously project a laser bar on the wheel surface, and the laser bar is consistent with the direction of travel of the wheel. vertical;

At the same time, the camera continues to collect laser bar images at a preset frame rate, and transmits the images to the controller in sequence;

The controller obtains the point cloud information on each laser bar, marks the points in the tread area whose coordinate values exceed the normal coordinate range as defective points, saves the coordinates of the defective points, and counts the number of defective points with continuous coordinates. When the number exceeds the threshold When A, an alarm signal is sent to the upper computer to remind the staff that there is an abnormality in the wheel tread;

When the train stops, the controller signals the cameras and lasers to turn off.

In order to obtain the size information of the rim, the controller also processes the laser bar image according to the preset time interval; obtains the point cloud information on each laser bar separately, and uses the point cloud information to calculate the geometric dimension of the rim; the geometric dimension of the rim includes One or more of the height, rim thickness, and vertical wear of the rim; and then judge whether the geometric dimensions of the rim are in their respective preset intervals. If yes, the rim is normal; if not, the rim is abnormal and upward The machine sends an alarm signal to remind the staff that there is an abnormality in the wheel rim.

As a kind of application of measuring sensor of the present invention:

The number of sensors corresponds to the number of wheels, and measuring sensors are installed on the inside of each wheel; to realize full monitoring of the entire train wheel set;

In order to save equipment cost, in the design of the installation structure, the sensor is installed on the bogie inside the wheel through the support frame. One end of the support frame is fixedly connected to the sensor, and the other end is screwed to the bogie. The frame is removed from the current train bogie and installed on other vehicle bogies to be dispatched.

The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. The foregoing description is not intended to be exhaustive or to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application to enable others skilled in the art to make and use the various exemplary embodiments and various alternatives and modifications of the invention . It is intended that the scope of the invention be defined by the claims appended hereto and their equivalents.

Claims (10)

1. The vehicle-mounted wheel pair measuring sensor is characterized in that the sensor is mounted on a bogie on the inner side of a wheel and comprises a camera, a laser and a controller; the camera and the laser are both positioned above the wheels in an inclined manner, the laser is used for projecting laser stripes to the surfaces of the wheels, the camera is used for collecting laser stripe images, and the camera and the laser stripe images are both controlled by the controller;

the controller comprises a laser control module, an acquisition module, a tread defect detection module, a tread information storage module and a communication module;

the communication module is respectively connected with the acquisition module, the laser control module and the tread information storage module, and the tread defect detection module is respectively connected with the acquisition module and the tread information storage module;

the communication module can communicate with an upper computer, and when a train is started, starting signals are respectively sent to the laser control module and the acquisition module; when the train stops, a closing signal is respectively sent to the laser control module and the acquisition module;

the laser control module is used for controlling the laser to continuously project laser stripes to the surface of the wheel;

the acquisition module controls the camera to continuously acquire laser bar images according to a preset frame rate and sequentially transmits the images to the tread defect detection module;

the tread defect detection module acquires point cloud information on each laser bar, searches points with coordinate values exceeding a normal coordinate interval in a tread area of the laser bar and marks the points as defect points, and transmits the coordinates of the defect points to the tread information storage module for storage;

the tread information storage module counts the number of defect points with continuous coordinates, and when the number exceeds a threshold value A, an alarm signal is sent to the communication module, and the communication module sends the alarm signal to the upper computer to prompt that the wheel tread of a worker is abnormal.

2. The vehicle-mounted wheelset measuring sensor of claim 1, wherein: the controller also comprises a rim size measuring module and a rim information storage module;

the rim size measuring module is respectively connected with the acquisition module and the rim information storage module;

the rim information storage module is connected to the communication module;

the acquisition module sequentially transmits the laser bar images acquired by the camera to the rim size measurement module at regular time or real time according to a preset time interval;

the rim dimension measuring module respectively acquires point cloud information on each laser bar and calculates the geometric dimension of the rim by using the point cloud information; the rim geometry comprises one or more of a rim height, a rim thickness, a rim vertical wear, a QR value;

the wheel rim geometrical size is transmitted to a wheel rim information storage module to be stored, the wheel rim information storage module judges whether the wheel rim geometrical size is in a corresponding preset interval, if yes, the wheel rim is normal, if not, the wheel rim is abnormal, an alarm signal is sent to a communication module, and the communication module sends the alarm signal to an upper computer to prompt that the wheel rim of a wheel of a worker is abnormal.

3. The vehicle-mounted wheelset measuring sensor of claim 2, wherein: the preset time interval is 1 minute to 10 hours;

the height value of the wheel rim is calculated in the following way:

calculating the vertical distance between each point in the rim area on the laser strip and the reference point, and recording the maximum vertical distance as the height value of the rim;

the rim region is a region to the left of the demarcation point; the demarcation points are as follows: pixel points which are at the left side of the reference point and have a distance of 30-50 mm from the reference point;

the reference points are as follows: pixel points from the inner side surface of the wheel rim to the position of 70mm of the tread, wherein the inner side surface of the wheel rim is a plane obtained by utilizing 30-80 pixel points on the laser bar close to the left edge of the image for fitting;

the vertical distance is a coordinate difference value in a vertical direction, and the vertical direction is as follows: the direction vertical to the tangent plane of the tread where the laser strip is located;

the thickness value of the wheel rim is calculated by the following method:

drawing a straight line vertical to the inner side surface of the wheel rim after passing through the reference point, translating the straight line upwards by 10mm or 12mm, intersecting the straight line with the laser bar, recording a right intersection point as a point A, and recording a horizontal distance between the two intersection points as a wheel rim thickness value;

the horizontal distance is the distance along the direction of the train wheel axle;

the abrasion value of the wheel rim is calculated in the following way:

making a straight line perpendicular to the inner side face of the wheel rim through the reference point, translating the straight line upwards by 15mm, intersecting the straight line with the laser bar, and recording the horizontal distance between the two points as a comparison value;

recording the difference between the rim thickness value and the comparison value as a rim abrasion value;

the QR value calculation mode is as follows: and recording a point corresponding to the height value of the wheel rim as a highest point, descending the highest point by 2mm to obtain a point B, drawing a straight line perpendicular to the inner side surface of the wheel rim by using the passing point B, intersecting the straight line with the laser bar, recording a right intersection point as a point C, and recording a horizontal distance between the point A and the point C as a QR value.

4. The vehicle-mounted wheelset measuring sensor of claim 1, wherein: the tread defect detection module acquires point cloud information on each laser bar, and a point mark with a coordinate value exceeding a normal coordinate interval is searched in a tread area of each laser bar and is a defect point, and the mode is as follows:

converting the point cloud on each laser bar into a laser plane coordinate system, sequentially solving the slope of a tangent line between two adjacent points in the tread area of each laser bar, and marking the two points as defect points if the absolute value of the slope is higher than a threshold value B;

the value of the threshold B is 0.4-06;

the tread area is the area on the right side of the demarcation point; the demarcation point is a pixel point which is on the left side of the datum point and is 30-50 mm away from the datum point.

5. The vehicle-mounted wheelset measurement sensor of claim 4, wherein: recording the direction along a train wheel axle as an X axis, recording the direction vertical to the tangent plane of the tread where the laser strip is positioned as a Y axis, recording the direction vertical to an XOY plane as a Z axis, and establishing a sensor coordinate system;

the point cloud on each laser stripe is converted into a laser plane coordinate system by the following two methods:

the first method is as follows: when the laser bar and the train axle are coplanar, recording the coordinates of the point cloud on an XOY plane as plane coordinates in a laser plane coordinate system;

the second method comprises the following steps: when the laser strip is not in the same plane with the train axle, firstly calibrating to obtain: the equation of a space straight line l of the wheel shaft under a sensor coordinate system and the space plane equation of the inner side face of the wheel rim under the sensor coordinate system;

and then, recording the distance from any point Q on the laser strip to the space straight line l as a Y-axis coordinate in a laser plane coordinate system, and recording the distance from the point Q to the inner side surface of the wheel rim as a Z-axis coordinate in the laser plane coordinate system.

6. The vehicle-mounted wheel pair measurement sensor according to claim 1 or 4, characterized in that: the tread information storage module is also used for counting a coordinate interval of the defect points with continuous coordinates in the horizontal direction and a coordinate interval of the defect points in the vertical direction, and respectively recording the coordinate intervals as a width distribution interval and a depth distribution interval of the defect;

the horizontal direction is as follows: along the direction of the train wheel axle, the vertical direction is: and the direction is vertical to the tangent plane of the tread on which the laser strip is positioned.

7. The vehicle-mounted wheelset measurement sensor of claim 1, wherein: the acquisition module sequences the laser bar images according to time sequence and sequentially transmits the images to the tread defect detection module;

the tread information storage module is also used for recording laser bar serial numbers corresponding to the defect points, counting the number n of laser bars with continuous serial numbers, calculating the length value of the defect = nxxv × t, wherein v is the current speed of the train, and t is the total time required for collecting the laser bars with continuous serial numbers.

8. The vehicle-mounted wheelset measurement sensor of claim 1, wherein: when the laser is a single-line laser, the camera is a line camera; when the laser is a multi-line laser, the camera is an area-array camera;

the preset frame rate of the camera is 5-30 kHz;

the threshold value A takes a value of 20-100;

the number of the sensors corresponds to the number of the wheels, and a measuring sensor is arranged on the inner side of each wheel;

the sensor is installed on a bogie on the inner side of a wheel through a support frame, one end of the support frame is fixedly connected with the sensor, the other end of the support frame is in threaded connection with the bogie, and after a train runs, the support frame is detached from the current train bogie and installed on other vehicle bogies to be dispatched.

9. A method of measuring with a vehicle-mounted wheel set measuring sensor according to any of claims 1 to 3, characterized in that: when a controller in the sensor receives a train starting signal, controlling a laser to continuously project a laser bar to the surface of the wheel, wherein the laser bar is vertical to the traveling direction of the wheel;

meanwhile, the camera continuously collects laser bar images according to a preset frame rate and sequentially transmits the images to the controller;

the controller acquires point cloud information on each laser bar, marks points of the tread area, the coordinate values of which exceed a normal coordinate interval, as defect points, stores the coordinates of the defect points, counts the number of the defect points with continuous coordinates, and sends an alarm signal to the upper computer when the number of the defect points exceeds a threshold value A to prompt a worker that the tread of the wheel is abnormal;

when the train stops, the controller sends a shutdown signal to the camera and the laser.

10. The method of claim 9, wherein: the controller also processes the laser bar images according to a preset time interval; respectively acquiring point cloud information on each laser bar, and calculating the geometric dimension of the wheel rim by using the point cloud information; the rim geometry includes one or more of rim height, rim thickness, rim vertical wear; and judging whether the geometric dimensions of the wheel rims are in respective corresponding preset intervals, if so, judging that the wheel rims are normal, and if not, judging that the wheel rims are abnormal and sending alarm signals to an upper computer to prompt a worker that the wheel rims are abnormal.

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