CN109229136A - A kind of rail vehicle bottom automated detection system - Google Patents
A kind of rail vehicle bottom automated detection system Download PDFInfo
- Publication number
- CN109229136A CN109229136A CN201810974708.5A CN201810974708A CN109229136A CN 109229136 A CN109229136 A CN 109229136A CN 201810974708 A CN201810974708 A CN 201810974708A CN 109229136 A CN109229136 A CN 109229136A
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- straight line
- mould group
- camera
- line mould
- detection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of rail vehicle bottom automated detection systems, comprising: Overhaul Yard；The maintenance track of the two rows of maintenance columns and the rail vehicle operation for Awaiting Overhaul being arranged on the maintenance column that are fixed on the Overhaul Yard；It is arranged on the Overhaul Yard and is located at two the first guide rails of the maintenance track two sides；Two be separately positioned in two first guide rails moveable first detection robot；Wherein, first detection robot has the first photographing module；The second guide rails between two rows of maintenance columns are set and moveable second detection robot is set in second guide rails；Wherein, second detection robot has the second photographing module.The present invention can be realized the automation and complete detection of rail vehicle bottom.
Description
Technical field
The present invention relates to artificial intelligence field more particularly to a kind of rail vehicle bottom automated detection systems.
Background technique
The rail vehicles such as high-speed rail and subway train are the very important vehicles in people's daily life, rail vehicle bottom
Portion includes bogie etc., and timing is needed to be detected and overhauled.Detection is completed mainly by estimation mode at present, by locomotive bottom
After portion's trench-digging, service personnel is overhauled by estimation mode.This mode faces personnel, place configures in short supply, maintenance people
The problems such as member's large labor intensity, operating environment is severe, and duty cycle is long, is easy fatigue missing inspection.And since vehicle bottom structure is more multiple
It is miscellaneous, some key positions be difficult to by eye-observation to situations such as, due to manpower, the limitation of time can only accomplish emphasis overhaul.
In recent years, there is a kind of automation maintenance solution --- scape detection technique is taken the photograph with fixed pattern high speed.This inspection
Survey technology carries out large-area scanning, shape to vehicle bottom and side in vehicle operation or by fixed detection camera before storage
At preliminary three-dimensional module, and have preliminary breakdown judge function, by preliminary fault message immediately in systems warning note to work
Make personnel, provides maintenance emphasis reference for upkeep operation.But this and technology, car body two sides and bottom-exposed part can only be detected
Situation, cannot detect inside and bogie and car body between part, cannot achieve complete detection.
Summary of the invention
In view of this, being able to achieve rail the purpose of the present invention is to provide a kind of rail vehicle bottom automated detection system
The automatic comprehensive detection at road vehicle vehicle bottom.
The embodiment of the present invention proposes a kind of rail vehicle bottom automated detection system, comprising:
Overhaul Yard；
Two rows of maintenance columns for being arranged on the Overhaul Yard and be arranged on the maintenance column for Awaiting Overhaul
The maintenance track of rail vehicle operation；
It is arranged on the Overhaul Yard and is located at two the first guide rails of the maintenance track two sides；
Two be separately positioned in two first guide rails moveable first detection robot；Wherein, institute
The first detection robot is stated with the first photographing module；
The second guide rails between two rows of maintenance columns are set and setting is removable in second guide rails
The second dynamic detection robot；Wherein, second detection robot has the second photographing module.
Preferably, the mounting height of the first camera of first detection robot and second detection robot
Second camera mounting height lower than it is described maintenance track height.
Preferably, it is described first detection robot further include first movement platform, first control box, first straight line mould group,
Second straight line mould group, first camera holder, the first connector, the second connector and the first fixing piece；Wherein, it described first moves
Moving platform is placed in first guide rails, and can be moved along first track；The control box is fixed on described
On first movement platform, the second straight line mould group is fixed on the first movement platform by first fixing piece；Institute
First straight line mould group is stated to be connected on first connector by second connector；The first camera holder passes through institute
The first connector is stated to be connected in the first straight line mould group；First photographing module is fixed on the camera head, and
First photographing module and the first control box electrical connection.
Preferably, the first straight line mould group is horizontal positioned, and the second straight line mould group is perpendicular to the first straight line mould
Group.
Preferably, it is described second detection robot further include the second mobile platform, second control box, third straight line mould group,
Second fixing piece, the 4th straight line mould group, second camera holder, third connector, the 5th straight line mould group and the 4th connector；Institute
The second mobile platform is stated to be movably disposed in second guide rails；The second communication is provided in the second control box
Module, and be fixed on second mobile platform；The third linear module is fixed on second mobile platform；It is described
4th linear module is fixed in the third linear module by second fixing piece；5th linear module passes through institute
It states the 4th connector and is connected to the 4th linear module；The second camera holder is connected to institute by the third connector
State the 5th linear module；Second photographing module is connected on the second camera holder, and second photographing module with
Electrical connection in the second control box.
Preferably, the third straight line mould group is horizontal positioned, the third linear module and the 4th linear module, the
Five linear modules are vertical；5th linear module is parallel with the 4th linear module.
Preferably, first photographing module and second photographing module are industrial camera.
It preferably, further include charger, the charger and first detection robot, the second detection robot are electrical
Connection.
It preferably, further include control platform, the control platform and described first detects robot and second inspection
Robot electrical connection is surveyed, to receive the vehicle base map picture and described the of the first camera acquisition of first detection robot
The vehicle base map picture of the second camera acquisition of two detection robots.
After above-mentioned technical solution, the present invention has at least the following advantages:
1, the present invention is moved respectively by left side, positive bottom, the first detection robot 4 on right side and the second detection robot 5
It is dynamic that subregion detection is carried out to rail vehicle bottom, it is this that the mobile detection mode of robot is surveyed relative to linear array using vehicle regular inspection
Camera detection mode can realize that all standing for treating detection position, different detection contents, realization substitute the rail manually carried out completely
The work of road vehicle vehicle bottom periodic detection.
2, each detection machine of the present invention is by mobile platform, testing agency's (including linear module and accordingly per capita
Connector), camera head, photographing module framework mode, it can be achieved that for component to be detected different detection contents it is complete from
Dynamicization.
3, the testing agency of each detection robot of the present invention has multiple freedom degrees, can reach vehicle bottom component arbitrarily to be detected
Optimized image acquire desired position, cooperate camera head, can reach vehicle bottom component arbitrarily to be detected optimized image acquisition
Required angle guarantees the reliability of Image Acquisition and the accuracy of testing result.
Detailed description of the invention
Fig. 1 is the result schematic diagram of rail vehicle bottom provided in an embodiment of the present invention automated detection system.
Fig. 2 is the structural schematic diagram of the first detection robot of Fig. 1.
Fig. 3 is the structural schematic diagram of the second detection robot of Fig. 1.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1 to Fig. 3, the embodiment of the invention provides a kind of rail vehicle bottom automated detection systems, comprising:
Overhaul Yard 1；
Two rows of maintenance columns 3 for being fixed on the Overhaul Yard 1 and be arranged on the maintenance column 3 for Awaiting Overhaul
Rail vehicle operation maintenance track 2；
It is arranged on the Overhaul Yard 1 and is located at two the first guide rails 7 of maintenance 2 two sides of track；
The moveable first detection robot 4 being separately positioned in two first guide rails 7；Wherein, described
First detection robot 4 has the first photographing module；
The second guide rails between two rows of maintenance columns 3 are set and be arranged in second guide rails can
The second mobile detection robot 5；Wherein, second detection robot has the second photographing module.
In the present embodiment, the Overhaul Yard 1 is for providing other each devices, such as the maintenance column 3, described the
The place of the placements such as one guide rails 7, second guide rails.
In the present embodiment, the maintenance column 3 is arranged on the Overhaul Yard 1, and the maintenance column 3 has two rows,
The distance between two rows are determined with specific reference to parameters such as the width of rail vehicle 6 of Awaiting Overhaul.The maintenance track 2 is set to
On the maintenance column 3, for the operation of rail vehicle 6 or stop of Awaiting Overhaul.Wherein, the maintenance column 3 has predetermined
Height, enable the vehicle bottom of the rail vehicle 6 of the Awaiting Overhaul hanging, thus by first detection robot 4 and second inspection
It surveys taken by robot 5.
In the present embodiment, the mounting height of the first camera of first detection robot 4 and second inspection
Height of the mounting height lower than the maintenance track 2 of the second camera of robot 5 is surveyed, so as to take rail vehicle
6 vehicle base map picture.
Specifically, in the present embodiment, the quantity of first detection robot 4 is at least two, is respectively arranged at
In two the first guide rails 7 of maintenance 3 two sides of column, and first detection robot 4 can be led along described first
Approach rail road 7 is mobile.Wherein, as shown in Fig. 2, first detection robot 4 further includes that first movement platform 41, first controls box
42, first straight line mould group 43, second straight line mould group 44, first camera holder 46, the first connector 47, the second connector 48 and
First fixing piece 49；Wherein, the first movement platform 41 is placed in first guide rails 7, and can be along described
One track 7 is moved, so that shooting obtains the image of the different location of the rail vehicle.The control box 42 is fixed on institute
It states on first movement platform 41, the second straight line mould group 44 is fixed on the first movement by first fixing piece 49 and puts down
On platform 41；The first straight line mould group 43 is connected in the second straight line mould group 48 by second connector 48；It is described
First camera holder 46 is connected in the first straight line mould group 43 by first connector 47；First photographing module
45 are fixed on the camera head 46, and first photographing module 45 and the first control box 41 are electrically connected.
In the present embodiment, the first straight line mould group 43 and the second straight line mould group 44 are orthogonal, wherein described
First straight line mould group 43 be it is horizontal positioned, the second straight line mould group 44 be it is vertical place, the first straight line mould group 43 can edge
The second straight line mould group 44 moves up and down, to adjust the height of first photographing module 45.The first camera holder
46 can move left and right along the first straight line mould group 43, to adjust the position of first photographing module 45 in the horizontal direction
Set, in this way, allow first photographing module 45 more easily collect the rail vehicle different location image.
In the present embodiment, the first camera holder 46 has rotation and two freedom degrees of pitching.When the parts to be tested needs
Reasonable image capturing angle and distance are wanted, camera head, the cooperation of first straight line mould group 43, second straight line mould group 44 can be passed through
First photographing module 45 is adjusted to reasonable angle and distance.
In the present embodiment, the first movement platform 41 and first guide rails 7 can be connect based on chain type or
Modes, the first movement platforms 41 such as the contact of person's smooth flat can be sliding in the move mode of first guide rails 7,
It is mobile to be also possible to chain type, the present invention is not specifically limited.
In the present embodiment, second detection robot 5 further includes the second mobile platform 51, second control box 52, the
Three straight line mould groups 53, the second fixing piece 54, the 4th straight line mould group 55, second camera holder 57, third connector 58, the 5th straight line
Mould group 59 and the 4th connector 510.Wherein, second mobile platform 51 is movably disposed at second guide rails
On；The second control box 52 is provided with second communication module, and is fixed on second mobile platform 51；The third is straight
Wire module 53 is fixed on second mobile platform 51；4th linear module 55 is fixed by second fixing piece 54
In the third linear module 53；5th linear module 59 is connected to the described 4th by the 4th connector 510
Linear module 55；The second camera holder 57 is connected to the 5th linear module 59 by the third connector 58；Institute
It states the second photographing module 56 to be connected on the second camera holder 57, and second photographing module 56 and second control
Box 51 is electrically connected.
In the present embodiment, the third linear module 53 is hung down with the 4th linear module 55, the 5th linear module 59
Directly；5th linear module 55 is parallel with the 4th linear module 55.Wherein, the third linear module 53 is put for level
It sets, the 4th linear module 55 and the 5th linear module 59 are vertical place.Wherein, the 4th linear module 55
Moving left and right in horizontal direction can be carried out along the third linear module 53, the 5th linear module 59 can be along the described 4th
Linear module 55 carries out moving up and down on vertical direction.
In the present embodiment, the second camera holder 57 has rotation and two freedom degrees of pitching.When the parts to be tested needs
Reasonable image capturing angle and distance are wanted, second camera holder 57, third linear module 53 and the 4th straight line can be passed through
The cooperation of module 55, the 5th linear module 59 adjusts second photographing module 56 to reasonable angle and distance.
In the present embodiment, first photographing module 45 and second photographing module 56 are industrial camera.Work
Industry camera is based on CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide mostly
Semiconductor) the camera of chip, is a key component in NI Vision Builder for Automated Inspection, and most essential function is exactly
Convert optical signals into orderly electric signal.For traditional civil camera (video camera), it has high image steady
Qualitative, high-transmission ability and high anti-jamming capacity etc..
It in the present embodiment, further include charger 9, the charger 9 is detected with first detection robot 4, second
Robot 5 is electrically connected.
The charger 9 can detect power supply needed for robot 5 provides operation for first detection robot 4, second.
Certainly, first detection robot 4, second detects robot 5 and also comes with battery (such as lithium battery), by self-contained
Battery is powered.
It should be noted that further include control platform, the control platform and the first detection robot 4 and described
Second detection robot 5 is electrically connected, to receive the vehicle base map picture of the first camera 45 acquisition of first detection robot 4
And the vehicle base map picture that the second camera 57 of second detection robot 5 acquires.
In the present embodiment, the control platform can receive the first detection robot 4 and the second detection robot 5 passes through control
The vehicle base map picture of box transmission processed, and judge the component in image with the presence or absence of scarce by carrying out image recognition to vehicle base map picture
It falls into, to achieve the purpose that defects detection.
Concrete operating principle of the invention described below:
In the present embodiment, left by being located at vehicle bottom when rail vehicle 6 to be detected rests on the maintenance track 2
First detection robot 4 of side bottom and bottom right side detects robot 5 respectively to track positioned at the second of the positive lower bottom part of vehicle
The left, center, right side bottom of vehicle bottom carries out joint-detection, to realize all detected part all standings to vehicle bottom.
Wherein, the first detection robot 4 of vehicle right side bottom is by the first movement platform 41 in the first guide rail
Road 7 is mobile, and near the component to be detected that arrived vehicle right side bottom different location, first movement platform 41 passes through tracking mode
Carry out homing guidance.Testing agency is formed by multiple connectors and multiple straight line mould groups, testing agency has one degree of freedom；
End connectors are connect with first camera holder 46, and first camera holder 46 is connect with the first photographing module 45, first camera cloud
Platform 46 has rotation and two freedom degrees of pitching.The parts to be tested needs reasonable image capturing angle and distance, passes through the first phase
The cooperation of machine head 46 adjusts the first photographing module 45 to reasonable angle and distance.
Second detection robot 5 of the positive lower bottom part of vehicle is moved in the second guide rails by the second mobile platform 51
It is dynamic, it arrived near each component to be detected of the positive lower bottom part of vehicle, the second mobile platform 51 is led automatically by tracking mode
Draw；Testing agency is formed by multiple connectors and multiple straight line mould groups, testing agency has three degree of freedom；End connectors
It is connect with second camera holder 57, the second holder 57 is connect with the second photographing module 56, and second camera holder 57 has rotation and bows
Face upward two freedom degrees.The parts to be tested needs reasonable image capturing angle and distance, the second detection robot 5 and second camera cloud
The cooperation of platform 57 adjusts the second photographing module 56 to reasonable angle and distance.
After collecting required vehicle base map picture in the first photographing module 45 and the second photographing module 57, pass through the first control
Vehicle base map picture is sent to control platform respectively by box 41 and the second control box 42, and the control platform is by carrying out vehicle base map picture
Image recognition judges the part in image with the presence or absence of defect, to achieve the purpose that defects detection
After above-mentioned technical solution, the present invention has at least the following advantages:
1, the present invention is moved respectively by left side, positive bottom, the first detection robot 4 on right side and the second detection robot 5
It is dynamic that subregion detection is carried out to rail vehicle bottom, it is this that the mobile detection mode of robot is surveyed relative to linear array using vehicle regular inspection
Camera detection mode can realize that all standing for treating detection position, different detection contents, realization substitute the rail manually carried out completely
The work of road vehicle vehicle bottom periodic detection.
2, each detection machine of the present invention is by mobile platform, testing agency's (including linear module and accordingly per capita
Connector), camera head, photographing module framework mode, it can be achieved that for component to be detected different detection contents it is complete from
Dynamicization.
3, the testing agency of each detection robot of the present invention has multiple freedom degrees, can reach vehicle bottom component arbitrarily to be detected
Optimized image acquire desired position, cooperate camera head, can reach vehicle bottom component arbitrarily to be detected optimized image acquisition
Required angle guarantees the reliability of Image Acquisition and the accuracy of testing result.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (9)
1. a kind of rail vehicle bottom automated detection system characterized by comprising
Overhaul Yard；
The two rows of maintenance columns being arranged on the Overhaul Yard and the track for Awaiting Overhaul being arranged on the maintenance column
The maintenance track of vehicle operation；
It is arranged on the Overhaul Yard and is located at two the first guide rails of the maintenance track two sides；
Two be separately positioned in two first guide rails moveable first detection robot；Wherein, described
One detection robot has the first photographing module；
The second guide rails between two rows of maintenance columns are set and are arranged in second guide rails moveable
Second detection robot；Wherein, second detection robot has the second photographing module.
2. rail vehicle bottom according to claim 1 automated detection system, which is characterized in that first detection machine
The mounting height of the second camera of the mounting height of the first camera of device people and second detection robot is lower than institute
State the height of maintenance track.
3. rail vehicle bottom according to claim 1 automated detection system, which is characterized in that first detection machine
Device people further includes first movement platform, the first control box, first straight line mould group, second straight line mould group, first camera holder, first
Connector, the second connector and the first fixing piece；Wherein, the first movement platform is placed on first guide rails
On, and can be moved along first track；The control box is fixed on the first movement platform, the second straight line mould
Group is fixed on the first movement platform by first fixing piece；The first straight line mould group is connected by described second
Part is connected on first connector；The first camera holder is connected to the first straight line by first connector
In mould group；First photographing module is fixed on the camera head, and first photographing module and first control
Box electrical connection.
4. rail vehicle bottom according to claim 3 automated detection system, which is characterized in that the first straight line mould
Group is horizontal positioned, and the second straight line mould group is perpendicular to the first straight line mould group.
5. rail vehicle bottom according to claim 1 automated detection system, which is characterized in that second detection machine
Device people further includes the second mobile platform, the second control box, third straight line mould group, the second fixing piece, the 4th straight line mould group, the second phase
Machine head, third connector, the 5th straight line mould group and the 4th connector；Second mobile platform is movably disposed at institute
It states in the second guide rails；It is provided with second communication module in the second control box, and is fixed on second mobile platform
On；The third linear module is fixed on second mobile platform；4th linear module is fixed by described second
Part is fixed in the third linear module；5th linear module is connected to the described 4th directly by the 4th connector
Wire module；The second camera holder is connected to the 5th linear module by the third connector；Second camera shooting
Module is connected on the second camera holder, and electrical connection in second photographing module and the second control box.
6. rail vehicle bottom according to claim 5 automated detection system, which is characterized in that the third straight line mould
Group is horizontal positioned, and the third linear module is vertical with the 4th linear module, the 5th linear module；The 5th straight line mould
Block is parallel with the 4th linear module.
7. rail vehicle bottom according to claim 1 automated detection system, which is characterized in that the first camera shooting mould
Block and second photographing module are industrial camera.
8. rail vehicle bottom according to claim 1 automated detection system, which is characterized in that it further include charger,
The charger and first detection robot, the electrical connection of the second detection robot.
9. rail vehicle bottom according to claim 1 automated detection system, which is characterized in that further include that control is flat
Platform, the control platform and the first detection robot and the electrical connection of second detection robot, described in receiving
The vehicle base map picture of the first camera acquisition of first detection robot and the second camera of second detection robot are adopted
The vehicle base map picture of collection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810974708.5A CN109229136A (en) | 2018-08-24 | 2018-08-24 | A kind of rail vehicle bottom automated detection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810974708.5A CN109229136A (en) | 2018-08-24 | 2018-08-24 | A kind of rail vehicle bottom automated detection system |
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| CN109229136A true CN109229136A (en) | 2019-01-18 |
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ID=65068298
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| CN201810974708.5A Pending CN109229136A (en) | 2018-08-24 | 2018-08-24 | A kind of rail vehicle bottom automated detection system |
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| CN110001708A (en) * | 2019-04-01 | 2019-07-12 | 唐山百川智能机器股份有限公司 | Assist drawing-out mechanism and railing EMU floor detection device |
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| CN110181538A (en) * | 2019-06-28 | 2019-08-30 | 华中科技大学无锡研究院 | High-speed rail Location vehicle system and measurement method |
| CN110861676A (en) * | 2019-12-27 | 2020-03-06 | 义乌轩久铁路技术有限公司 | Device for railway maintenance detection |
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