CN113392992A

CN113392992A - Intelligent maintenance auxiliary system for railway vehicle

Info

Publication number: CN113392992A
Application number: CN202110670917.2A
Authority: CN
Inventors: 吴越; 尤祥志; 李儒念; 陈龙; 郑斌斌; 王慧兰
Original assignee: Lanp Electrical Co ltd
Current assignee: Lanp Electrical Co ltd
Priority date: 2021-06-17
Filing date: 2021-06-17
Publication date: 2021-09-14

Abstract

The invention discloses an intelligent maintenance auxiliary system for a railway vehicle, which comprises: data management module, data acquisition device and data transmission module, wherein, data acquisition device includes: the fixed scanning frame is used for scanning the top and the side of the vehicle returning to the garage, and the mobile robot carrying the detection terminal is used for scanning the bottom of the static vehicle; the data acquisition device acquires an image of a vehicle to be detected, transmits the image to the data management module through the data transmission module, performs vehicle modeling after the image is detected, preprocessed and extracted by the data management module, and compares and matches the image with initialization information of the vehicle, so as to judge whether the vehicle to be detected is damaged. The invention has the advantages that: through omnidirectional scanning, provide the data of modelling, through vehicle modeling, contrast to realize the automatic inspection of vehicle, can improve inspection efficiency greatly, reduce workman's intensity of labour.

Description

Intelligent maintenance auxiliary system for railway vehicle

Technical Field

The invention relates to the technical field of railway vehicle maintenance, in particular to an intelligent auxiliary system for railway vehicle maintenance.

Background

Two important presentation ways of rail vehicles are rail traffic in our cities and rail traffic between cities. Along with the continuous progress of urban transformation, the scale of cities is showing an expansion trend, rail transit becomes an important component of public transit in many cities, a large number of cities establish or plan a large rail transit network, and rail transit is bound to become one of important travel modes of people in the future; high-speed rail is one of the main choices for people to go out.

In order to ensure the running safety, the rail vehicle must be strictly checked before and after the passenger transportation task every day, including the appearance inspection of the vehicle, the overhaul of parts and the like, the inspection items include looseness, foreign matters, loss, oil leakage, oil level, sintering, deformation, breakage, excessive temperature and the like, and most of the inspection items are manually completed, the workload and the working strength are very large, and the possibility of errors is greatly improved when workers work for a long time at high strength, so that the potential safety hazard is buried for the safe running of the vehicle.

Disclosure of Invention

The invention aims to provide an intelligent maintenance auxiliary system for a railway vehicle, which has high automation degree, can greatly reduce the working strength of workers and improve the maintenance efficiency.

In order to achieve the purpose, the invention provides the following technical scheme:

an intelligent maintenance auxiliary system for a railway vehicle, comprising:

the data management module is used for processing, comparing and storing the collected images;

the system comprises a data acquisition device, a data acquisition device and a control device, wherein the data acquisition device is used for acquiring images of a vehicle to be detected and comprises a fixed scanning frame and a mobile robot, which are fixed at the entrance of a garage;

the fixed scanning frame is used for scanning the top and the side of the vehicle returning to the garage;

the mobile robot is provided with a detection terminal and is used for scanning the bottom of a static vehicle;

the data transmission module is used for transmitting the image of the vehicle to be detected, which is acquired by the data acquisition device, to the data management module;

the data acquisition device acquires an image of a vehicle to be detected, transmits the image to the data management module through the data transmission module, performs vehicle modeling after the image is detected, preprocessed and extracted by the data management module, and compares and matches the image with initialization information of the vehicle, so as to judge whether the vehicle to be detected is damaged.

As an improvement, a linear laser 3D camera is arranged on the fixed scanning frame.

As an improvement, the data management module adopts an intelligent cloud platform.

As an improvement, the mobile robot comprises a robot main body, wherein a multi-joint arm is arranged on the robot main body, a camera is fixed at the end part of the multi-joint arm, and a cleaning mechanism for wiping the camera and a pushing-out mechanism for translating the cleaning mechanism are arranged on the robot main body.

As an improvement, the cleaning mechanism comprises a lifting support, a reciprocating mechanism is arranged on the lifting support, and a cleaning block is arranged on the reciprocating mechanism.

As an improvement, the reciprocating mechanism comprises a driving device, a gear ring, a first chute piece and a second chute piece, wherein the driving device drives the gear through a connecting rod, the gear is meshed with the gear ring, the gear ring is fixed on the lifting support, and the second chute piece is fixed on the gear ring; the gear sliding block which is rotationally connected with the central shaft of the gear is assembled in the first sliding groove piece, the cleaning block is fixedly provided with the sliding block, and the sliding block penetrates through the second sliding groove piece to be assembled in the first sliding groove piece.

As an improvement, the cleaning block comprises a bottom plate and a cleaning surface, and an elastic part is arranged between the bottom plate and the cleaning surface.

As an improvement, the push-out mechanism comprises a cam, a telescopic piece and a connecting plate, the telescopic piece is a continuous diamond structure formed by hinging a plurality of connecting rods, and the cam is rotationally connected to the mounting plate.

As an improvement, the telescopic piece is connected with a guide block, and the guide block is arranged in the guide groove.

As an improvement, the back of the mounting plate is provided with a telescopic rod, and the telescopic rod is connected with the connecting plate.

Compared with the prior art, the invention has the beneficial effects that:

after waiting to examine the image of vehicle through data acquisition device collection, the collection of image is including fixed scan frame, to returning storehouse vehicle top and side to scan and mobile robot scans the bottom of static vehicle, through the omnidirectional scanning, the data of modelling is provided, detect the image by data management module, the preliminary treatment, the back is drawed to the characteristic, carry out the vehicle and model the, and carry out the contrast with the initialization information of vehicle and match, thereby judge whether waiting to examine the vehicle impaired, thereby realize the automatic inspection of vehicle, can improve the efficiency of software inspection greatly, reduce maintainer's intensity of labour.

In addition, the mobile robot is provided with a cleaning mechanism for wiping the camera, so that the image shooting definition can be guaranteed, and the inspection accuracy is improved.

Drawings

FIG. 1 is a structural frame diagram of the present invention;

fig. 2 is a schematic perspective view of the mobile robot in fig. 1;

FIG. 3 is a cross-sectional block diagram of the mobile robot of FIG. 1 (with the multi-jointed arm and camera removed);

FIG. 4 is a schematic perspective view of the cleaning mechanism of FIG. 2;

FIG. 5 is a schematic perspective view of the cleaning mechanism of FIG. 2 from another perspective;

FIG. 6 is an exploded view of the reciprocator of FIG. 4;

FIG. 7 is a schematic perspective view of the pushing mechanism of FIG. 2;

fig. 8 is a perspective view of the push-out mechanism of fig. 2 from another perspective.

In the figure: the robot comprises a data management module 1, a data acquisition device 2, a fixed scanning frame 21, a mobile robot 22, a data transmission module 3, a robot main body 4, a display screen 41, a multi-joint arm 5, a camera 6, a cleaning mechanism 7, a lifting support 71, a cleaning block 72, a bottom plate 72a, a cleaning surface 72b, an elastic piece 72c, a pushing mechanism 8, an installation plate 8a, a cam 81, an expansion piece 82, a connecting plate 83, a guide block 84, a guide groove 85, an expansion rod 86, a reciprocating mechanism 9, a driving device 91, a connecting rod 91a, a gear 92, a gear slider 92a, a gear ring 93, a first sliding groove piece 94, a second sliding groove piece 95 and a slider 96.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 8, an intelligent maintenance auxiliary system for a rail vehicle includes:

the data management module 1 is used for processing, comparing and storing the collected images;

the data acquisition device 2 is used for acquiring images of a vehicle to be detected, and the data acquisition device 2 comprises a fixed scanning frame 21 and a mobile robot 22 which are fixed at the entrance of a garage;

the fixed scanning frame 21 is used for scanning the top and the side of the vehicle returning to the garage;

a mobile robot 22 carrying a detection terminal for scanning the bottom of a stationary vehicle;

the data transmission module 3 is used for transmitting the image of the vehicle to be detected, which is acquired by the data acquisition device 2, to the data management module 1;

the data acquisition device 2 acquires an image of a vehicle to be detected, transmits the image to the data management module 1 through the data transmission module 3, performs vehicle modeling after the image is detected, preprocessed and extracted by the data management module 1, and compares and matches the image with initialization information of the vehicle, so as to judge whether the vehicle to be detected is damaged.

The fixed scanning frame 21 is provided with a linear laser 3D camera.

The data management module 1 adopts an intelligent cloud platform. The data management module 1 adopts a cloud storage technology, the cloud storage is a new concept extended and developed on the concept of cloud computing (cloud computing), and refers to a system which integrates a large number of storage devices of various types in a network through application software to cooperatively work through functions such as cluster application, a grid technology or a distributed file system and the like by using a storage virtualization technology, and provides data storage and service access functions to the outside, and the cloud storage technology is widely applied in various fields.

The top and the side of the vehicle are scanned through the fixed scanning frame 21, the bottom of the vehicle is scanned through the mobile robot 22, and the fixed scanning frame 21 and the mobile robot 22 are matched to carry out all-directional scanning on the vehicle, so that comprehensive vehicle image data are obtained, and a basis is provided for subsequent vehicle modeling. The fixed scanning frame 21 is a portal frame arranged above the garage returning track, a plurality of camera devices are arranged on the portal frame, and the scanning work can be completed when the vehicles return to the garage. Due to the complex structure and the large number of interference factors, the bottom of the vehicle needs to acquire images in a static state of the vehicle.

The invention utilizes the image recognition technology to detect, process, extract and compare the image data acquired by the data acquisition device 2. The image recognition technology is based on a recognition mode aiming at the characteristics of a recognized object, namely, the characteristic recognition technology is a technology for verifying physiological characteristics or state characteristics which are owned by the recognized object and can uniquely identify the identity of the recognized object, and generally comprises five parts of image acquisition, image detection, image preprocessing, image characteristic extraction and image matching recognition (namely comparison):

1) image acquisition: based on the feature of the recognition object, an image containing the recognition object is captured by the imaging apparatus.

2) Image detection: the image detection is to detect the identification object in the input image by using the characteristic information, and accurately calibrate the position and the size of the identification object.

3) Image preprocessing: based on the detection result, optimization such as gray correction, noise filtration and the like is carried out on the selected image through an intelligent algorithm, an optimal image is formed, and the optimal image serves the process of feature extraction. The image preprocessing process mainly comprises light compensation, gray level transformation, histogram equalization, normalization, geometric correction, filtering and the like.

4) Image feature extraction: features that can be used for image recognition are typically classified into visual features, pixel statistical features, image transform coefficient features, image algebraic features, and the like. The image feature extraction is performed on some features of the object, and is generally implemented by using a knowledge-based characterization method. The knowledge-based characterization method mainly obtains feature data which is helpful for object classification according to shape description of objects and distance characteristics between the objects, and feature components of the feature data generally comprise Euclidean distance, curvature, angle and the like between feature points. And the geometric description of the local positions of the detection objects and the structural relationship between the local positions and the structural relationship serves as an important characteristic for identifying the objects.

5) Image matching difference identification: the image matching means that the extracted image feature data is searched and matched with a feature template stored in a database, and a threshold value is set, and when the deviation degree exceeds the threshold value, a result obtained by matching is output; the image recognition is to compare the features to be recognized with the obtained feature template and judge the detection object information according to the similarity. This process is divided into two categories: one is confirmation, which is a process of performing one-to-one image comparison, and the other is recognition, which is a process of performing one-to-many image matching comparison.

The mobile robot 22 comprises a robot body 4, a multi-joint arm 5 is arranged on the robot body 4, a camera 6 is fixed at the end of the multi-joint arm 5, and a cleaning mechanism 7 for wiping the camera 6 and a pushing-out mechanism 8 for translating the cleaning mechanism 7 are arranged on the robot body 4.

The robot main body 4 is provided with a display screen 41 capable of displaying a live-view image. The camera 6 is an intelligent AI camera. The multi-joint arm 5 realizes the movement of the camera 6 in space, is flexible to move and facilitates the multi-angle acquisition of the camera 6 to the vehicle bottom image.

The cleaning mechanism 7 comprises a lifting support 71, a reciprocating mechanism 9 is arranged on the lifting support 71, and a cleaning block 72 is arranged on the reciprocating mechanism 9. The lifting support 71 is lifted by telescopic cylinders on both sides.

The reciprocating mechanism 9 comprises a driving device 91, a gear 92, a gear ring 93, a first chute piece 94 and a second chute piece 95, wherein the driving device 91 drives the gear 92 through a connecting rod 91a, the gear 92 is meshed with the gear ring 93, the gear ring 93 is fixed on the lifting support 71, and the second chute piece 95 is fixed on the gear ring 93; a gear slider 92a rotatably connected to the central axis of the gear 92 is fitted into the first chute member 94, a slider 96 is fixed to the cleaning block 72, and the slider 96 is fitted into the first chute member 94 through the second chute member 95. The driving means 91 is preferably a motor.

The cleaning block 72 includes a bottom plate 72a and a cleaning surface 72b, and an elastic member 72c is disposed between the bottom plate 72a and the cleaning surface 72 b. The cleaning surface 72b can be brought into close contact with the lens during the wiping process by applying pressure to the cleaning surface 72b by the elastic member 72 c.

The push-out mechanism 8 comprises a cam 81, a telescopic part 82 and a connecting plate 83, the telescopic part 82 is a continuous diamond structure formed by hinging a plurality of connecting rods, and the cam 81 is rotatably connected to the mounting plate 8 a. The flexible characteristic of rhombus structure is utilized to realize the expansion and the simple structure.

The telescopic member 82 is connected with a guide block 84, and the guide block 84 is arranged in a guide groove 85.

The back of the mounting plate 8a is provided with an expansion link 86, and the expansion link 86 is connected with the connecting plate 83. The arrangement of the telescopic rod 86 enables the connection plate 83 to be stably mounted, thereby improving the stability of the overall structure.

Because the vehicle bottom environment is complicated, probably have steam, impurity to adhere to camera 6's camera lens surface, so set up the clean mechanism 7 that is used for wiping camera 6.

The working principle is as follows:

when the camera 6 needs to be cleaned, the pushing mechanism 8 pushes the cleaning mechanism 7 out of the robot main body 4 integrally, the cleaning surface 72b of the cleaning block 72 is arranged downwards, the cleaning surface 72b can be protected by the design, and after the cleaning mechanism 7 is pushed out, the lifting support 71 rises to increase the space between the cleaning surface 72b and the ground so as to provide space for the camera 6 to stretch into.

When the cleaning mechanism 7 is pushed out, the motor drives the cam 81 to rotate, the cam 81 acts on the telescopic piece 82 to enable the telescopic piece 82 to extend outwards, so that the cleaning mechanism 7 is integrally pushed out outwards, and in the moving process of the cleaning mechanism 7, the guide block 84 is matched with the guide groove 85 to play a role in guiding, and the cleaning mechanism 7 is guaranteed to move along a set direction.

The working principle of the cleaning mechanism 7 is as follows: the driving device 91 is started, the gear 92 is driven by the connecting rod 91a to move, the gear 92 is meshed and rotates along the inner ring of the gear ring 93, the gear slider 92a connected to the central shaft of the gear 92 is assembled in the first chute part 94, the gear slider 92a drives the first chute part 94 to move along with the movement of the gear 92, the slider 96 connected with the cleaning block 72 penetrates through the second chute part 95 and is assembled on the first chute part 94, the slider 96 can only move axially along the second chute part 95 due to the limitation of the second chute part 95, and the first chute part 94 and the slider 96 reciprocate along the axial direction of the second chute part 95 along with the circular movement of the gear 92 around the gear ring 93, so that the reciprocating movement of the cleaning block 72 is realized. The lens of the camera 6 is wiped by the reciprocating motion of the cleaning block 72 to ensure the cleanness of the lens.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a rail vehicle intelligence overhauls auxiliary system which characterized in that includes:

the data management module (1) is used for processing, comparing and storing the collected images;

the system comprises a data acquisition device (2) and a control device, wherein the data acquisition device (2) is used for acquiring images of a vehicle to be detected, and the data acquisition device (2) comprises a fixed scanning frame (21) and a mobile robot (22) which are fixed at the entrance of a garage;

the fixed scanning frame (21) is used for scanning the top and the side of the garage returning vehicle;

a mobile robot (22) carrying a detection terminal for scanning the bottom of a stationary vehicle;

the data transmission module (3) is used for transmitting the image of the vehicle to be detected, which is acquired by the data acquisition device (2), to the data management module (1);

after the data acquisition device (2) acquires the image of the vehicle to be detected, the image is transmitted to the data management module (1) through the data transmission module (3), the data management module (1) performs detection, pretreatment and feature extraction on the image, vehicle modeling is performed, and the image is compared and matched with the initialization information of the vehicle, so that whether the vehicle to be detected is damaged or not is judged.

2. The intelligent maintenance auxiliary system for the railway vehicle as claimed in claim 1, wherein: and a linear laser 3D camera is arranged on the fixed scanning frame (21).

3. The intelligent maintenance auxiliary system for the railway vehicle as claimed in claim 1, wherein: the data management module (1) adopts an intelligent cloud platform.

4. The intelligent maintenance auxiliary system for the railway vehicle as claimed in claim 1, wherein: the mobile robot (22) comprises a robot main body (4), a multi-joint arm (5) is arranged on the robot main body (4), a camera (6) is fixed at the end of the multi-joint arm (5), and a cleaning mechanism (7) used for wiping the camera (6) and a pushing-out mechanism (8) used for translating the cleaning mechanism (7) are arranged on the robot main body (4).

5. The intelligent maintenance auxiliary system for the railway vehicle as claimed in claim 4, wherein: the cleaning mechanism (7) comprises a lifting support (71), a reciprocating mechanism (9) is arranged on the lifting support (71), and a cleaning block (72) is arranged on the reciprocating mechanism (9).

6. The intelligent maintenance auxiliary system for the railway vehicle as claimed in claim 5, wherein: the reciprocating mechanism (9) comprises a driving device (91), a gear (92), a gear ring (93), a first sliding groove piece (94) and a second sliding groove piece (95), wherein the driving device (91) drives the gear (92) through a connecting rod (91a), the gear (92) is meshed with the gear ring (93), the gear ring (93) is fixed on the lifting support (71), and the second sliding groove piece (95) is fixed on the gear ring (93); a gear sliding block (92a) rotationally connected with a central shaft of the gear (92) is assembled in the first sliding groove piece (94), a sliding block (96) is fixed on the cleaning block (72), and the sliding block (96) penetrates through the second sliding groove piece (95) to be assembled in the first sliding groove piece (94).

7. The intelligent maintenance auxiliary system for the railway vehicle as claimed in claim 6, wherein: the cleaning block (72) comprises a bottom plate (72a) and a cleaning surface (72b), and an elastic piece (72c) is arranged between the bottom plate (72a) and the cleaning surface (72 b).

8. The intelligent maintenance auxiliary system for the railway vehicle as claimed in claim 7, wherein: the push-out mechanism (8) comprises a cam (81), a telescopic piece (82) and a connecting plate (83), the telescopic piece (82) is a continuous diamond structure formed by hinging a plurality of connecting rods, and the cam (81) is rotationally connected to the mounting plate (8 a).

9. The intelligent maintenance auxiliary system for the railway vehicle as claimed in claim 8, wherein: the telescopic piece (82) is connected with a guide block (84), and the guide block (84) is arranged in a guide groove (85).

10. The intelligent maintenance auxiliary system for the railway vehicle as claimed in claim 9, wherein: the back of the mounting plate (8a) is provided with an expansion link (86), and the expansion link (86) is connected with the connecting plate (83).