CN209590923U - A kind of urban rail transit vehicles automatic detecting vehicle - Google Patents
A kind of urban rail transit vehicles automatic detecting vehicle Download PDFInfo
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- CN209590923U CN209590923U CN201920410427.7U CN201920410427U CN209590923U CN 209590923 U CN209590923 U CN 209590923U CN 201920410427 U CN201920410427 U CN 201920410427U CN 209590923 U CN209590923 U CN 209590923U
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Abstract
The utility model discloses a kind of urban rail transit vehicles automatic detecting vehicles, it is characterised in that it includes inspection car main element (3) and walking structure mounted thereto (5), sensor, mechanical arm (2), the 3D camera (1) with illumination functions, line-scan digital camera (7), linear array diode laser (8)；The vehicle-mounted sensor guides inspection car (9) to travel in trench along guide line (12) for the guide line (12) in detection track vehicular traffic base maintenance library trench (11).The equipment can realize the functions such as automatic running, automatic detecting, routing inspection efficiency is high, adaptation has electricity and high-strength working, automatic flow can reduce cost of labor, the occurrence of reducing missing inspection, personnel and vehicle bottom structure collide with when avoiding artificial maintenance, and can livewire work, no personnel's security risk.
Description
Technical field
The utility model belongs to rail vehicle maintenance field, and in particular to a kind of urban rail transit vehicles automatic detecting
Vehicle can be used for the inspection work of depot of urban railway transit vehicles storage vehicle.
Background technique
At present the maintenance mode of depot of urban railway transit vehicles in a manner of manual inspection based on, inspection content is according to formulating
Maintenance procedure determine that a column urban rail transit vehicles need the components that overhaul to reach more than 10000, per maintenance column day by day
The generation of situations such as more then tens column of vehicle, artificial maintenance is difficult to avoid that missing inspection, the working time manually overhauled, and must mostly at night
Must be carried out without electricity, vehicle down space is narrow, and many structure artificials are difficult to cyclic in-position measuring, and carry out under vehicle being easy in maintenance process with
Vehicle bottom structure collides with, and live line work environment makes worker, and there is personal safety hidden danger, and big duty work is also to body
It is unfavorable to cause.
Utility model content
It is easy at least one of prior art the above defects or improvement requirements, such as existing artificial maintenance mode
The problems such as generating low missing inspection, overhaul efficiency, security risk, weariness working, the utility model provide a kind of automatic tracking traveling,
Dynamic scan inspection, automatic obstacle-avoiding depot of urban railway transit vehicles automatic detecting vehicle structure.
To achieve the above object, according to the one aspect of the utility model, provide a kind of urban rail transit vehicles from
Dynamic inspection car, which is characterized in that including inspection car main element and walking structure mounted thereto, sensor, mechanical arm,
3D camera, line-scan digital camera, linear array diode laser with illumination functions；
The vehicle-mounted sensor guides inspection for the guide line in detection track vehicular traffic base maintenance library trench
Vehicle travels in trench along guide line；
The linear array diode laser is used for comprehensive scanning at vehicle bottom and is imaged in the line-scan digital camera；
At the top of the inspection car main element, the 3D camera is arranged in mechanical arm end, is used for for the mechanical arm configuration
Vehicle side is imaged in the imaging of vehicle bottom part emphasis and stretching trench.
Preferably, the sensor includes gray-scale sensor and infrared obstacle avoidance apparatus, is mounted on the inspection car main part
The surrounding of part, wherein gray-scale sensor for identification the guidance line traffic control inspection car along the existing automatic row of inspection guide line
It sails；Infrared obstacle avoidance apparatus for being scanned to inspection car front and back 180 degree range, take when encountering barrier promptly by inspection car
Braking.
The preferably described mechanical arm is configured to sixdegree-of-freedom simulation, and all freedom degrees are all made of cradle head, respectively
One axis, two axis, three axis, four axis, five axis and six axis.
The preferably described walking structure includes four universal wheels, and four universal wheels, which are not present, shares axle, is individually moved
Make.
The preferably described inspection car further includes vehicle power supply, for powering to inspection car, and has charge function.
Above-mentioned preferred feature can be combined with each other as long as they do not conflict with each other.
In general, have the above technical solutions conceived by the present invention are compared with the prior art, with following
Beneficial effect:
1, the urban rail transit vehicles automatic detecting vehicle of the utility model can be controlled inspection car edge by sensor and be landed
Guide line in ditch successively carries out inspection to vehicle flowering structure, and can control and be installed on the mechanical arm of inspection car car body top and stretch
Trench carries out vehicle side structure inspection out, which can realize the functions such as automatic running, automatic detecting, and routing inspection efficiency is high, has adapted to
The occurrence of electricity and high-strength working, automatic flow can reduce cost of labor, reduce missing inspection, when avoiding artificial maintenance
Personnel collide with vehicle bottom structure, and can livewire work, no personnel's security risk.
2, the urban rail transit vehicles automatic detecting vehicle of the utility model, sixdegree-of-freedom simulation are installed on inspection car vehicle
At the top of body, the small corner space that image recognition apparatus gos deep into labyrinth under vehicle can be lifted, can easily into be manually difficult into
The small space that enters simultaneously carries out inspection, effectively solves manually to be difficult to the position that inspection is arrived, discovery vehicle trouble hidden danger, effectively keeps away in time
Exempt from missing inspection, prevents safety accident；And by mechanical arm stretch out ditch outside after may be implemented inspection car in ditch to vehicle side into
Row inspection, further avoids missing inspection.
3, the urban rail transit vehicles automatic detecting vehicle of the utility model, is controlled by sensor, along guide line reality
The problems such as now automating inspection, effectively solving manual inspection low efficiency.Pacify in particular by gray-scale sensor and infrared sensor
Mounted in the four direction of car body, gray-scale sensor therein can control inspection car along existing inspection guide line automatic running, real
The automatic flow of inspection car is showed；Infrared sensor can be scanned 180 degree range in front of inspection car, cognitive disorders object
Automatically it is avoided.
4, the urban rail transit vehicles automatic detecting vehicle of the utility model, the 3D camera with illumination functions are installed on machinery
Arm end can adapt to the dim environment under trench, and automatic light-supplementing provides clearer imaging effect, and good imaging can mention
Fault distinguishing efficiency is risen, the 3D camera with illumination functions, which can be effectively improved in trench, sentences spare parts logistics because of insufficient light
It is disconnected.
5, the urban rail transit vehicles automatic detecting vehicle of the utility model is combined using linear array diode laser and line-scan digital camera
Structure is installed at the top of inspection car, linear array diode laser direction of travel scanning element without limitation, can be to large area model under vehicle
Components and structure position in enclosing carry out dynamic scan, and in line-scan digital camera imaging, it can be achieved that direction of travel dynamic scan,
High efficiency, high-precision are imaged, effectively promotion polling rate.
6, the urban rail transit vehicles automatic detecting vehicle of the utility model is made using the uniqueness structure out of shape of universal wheel
Inspection car can realize that straight-line travelling, original place such as turn at the movement at any angle easily, be easy to real at discovery suspected malfunctions position
The operation for now returning to reinspection ensure that inspection quality.Traveling is realized using four independent controlled universal wheels, has structure simple
Securely, space is small, is easily installed, turns to the features such as rapid needed for operation, can satisfy small space traveling in inspection rut, turns to
Demand.
7, the urban rail transit vehicles automatic detecting vehicle of the utility model, main element are equipped with power module, are installed on
Inspection car car body box house, electric power source pair of module inspection car power supply, carries out do mechanization operation, adapts to intensive work, avoids
Situations such as work quality declines caused by manually overhauling because of fatigue.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the urban rail transit vehicles automatic detecting vehicle of the utility model；
Fig. 2 is the structure direction control schematic diagram out of shape of the urban rail transit vehicles automatic detecting vehicle of the utility model；
Fig. 3 is the automatic running schematic diagram of the urban rail transit vehicles automatic detecting vehicle of the utility model；
Fig. 4 is the sixdegree-of-freedom simulation schematic diagram of the urban rail transit vehicles automatic detecting vehicle of the utility model.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.In addition, institute in the various embodiments of the present invention described below
The technical characteristic being related to can be combined with each other as long as they do not conflict with each other.With reference to embodiment to this
Utility model is further described.
As a kind of better embodiment of the utility model, as shown in Figs 1-4, the utility model provides a kind of city rail
Road vehicular traffic automatic detecting vehicle, including the 3D camera apparatus 1 with illumination functions, mechanical arm 2, inspection car main element 3, ash
Spend sensor and infrared obstacle avoidance apparatus 4, structure out of shape 5, wireless communication module 6, line-scan digital camera 7 and linear array diode laser 8 etc..
Such as Fig. 1, inspection car top is configured with mechanical arm 2, the preferably mechanical arm of six degree of freedom, can enter small space
Emphasis inspection, the 3D camera 1 with illumination functions that cooperation top connects can small space blur-free imaging to dim condition,
Mechanical arm 2 can also stretch out outside ditch, when inspection car does not go out ditch to vehicle side and portion side out of shape inspection.Linear array diode laser 8
Direction of travel scanning element there is no limit, in wide area under vehicle components and structure position carry out dynamic sweep
It retouches, and is imaged in line-scan digital camera 7, and image seamless connects.Inspection car main element 3 includes control module, power module,
The power supply of electric power source pair of module inspection car, circuit control module control four wheel steerings.It is also equipped in inspection vehicle main body
Gray-scale sensor and infrared obstacle avoidance apparatus 4, gray-scale sensor enable inspection car automatic along the guide line 12 in trench 11
Traveling, infrared obstacle avoidance apparatus can guarantee to take emergency braking when inspection car encounters barrier.
Such as Fig. 2, the structure out of shape of inspection car is mainly arranged by four universal wheels at 45 degree of angles, and between four universal wheels
There is no shared axles, are individually controlled, and the rotation direction various combination of four wheels can realize the moving direction control of inspection car
System.Arrow direction is the initial rotation direction of wheel in Fig. 2, and the adaptability after moving up due to universal wheel rotates to corresponding side
To.When four equal rolls forwards of wheel, then inspection car, which advances, travels；When four wheels roll backward, then inspection car is gone backward
It sails；Similarly, when four wheels scroll right, then inspection car is toward right travel；When four wheels roll to the left, then inspection car is past
Left lateral is sailed；When four wheels are rolled along clockwise, then inspection car can realize that original place rotates clockwise；When four wheels are along inverse
Hour hands roll, then inspection car can realize rotation counterclockwise.Inspection car carry out normal inspection work when, along guide line automatically according to
Secondary inspection such as encounters and needs to recheck component, and position to be rechecked is returned to after can rotating in place and carries out emphasis inspection.
Such as Fig. 3, for inspection car 9 along 12 automatic running of guide line in trench 11, guide line 12 is parallel with rail 10, because
This, inspection car 9 can be travelled successively from headstock to the tailstock, and carry out inspection to important feature.
Such as Fig. 4, mechanical arm formation joint type, all freedom degrees are all made of cradle head, a respectively axis, two axis, three axis,
Four axis, five axis and six axis, all joint combination controls realize that six degree of freedom function, the structure of mechanical arm make the inspection model of machine
The small space being manually difficult to enter can be expanded to by enclosing.
After the wireless communication module 6 of inspection car 9 receives the command operation for starting inspection, gray-scale sensor, which senses, to be drawn
Conducting wire 12, inspection car 9 are travelled along guide line 12, and linear array diode laser 8 issues linear array laser and carries out dynamic scan to vehicle bottom structure,
Line-scan digital camera 7 receives reflected light and is imaged, and module 6 is real-time transmitted to the nothing in operator's hand by wireless communication
Line terminal equipment, so that staff differentiates vehicle bottom state, while under 7 vertical scan direction vehicle of line-scan digital camera,
Module 6 sends instruction to operator by wireless communication, and control mechanical arm 2 is lifted the 3D camera apparatus 1 with illumination functions, entered
The check point that small space can not scan linear array diode laser 8 is imaged, and by fructufy when is transferred to operator,
Inspection car 9 is once carrying out inspection along guide line 12 from headstock to the tailstock, once operator passes through the image result of return
It was found that suspected malfunctions, then immediately module 6 assigns parking and returns to the instruction in suspected malfunctions region by wireless communication, structure out of shape
5 by rotating in place movement or travelling immediately rearward back to suspected malfunctions region, and operator passes through instruction control machinery
Arm 2 carries out re-imaging or linear array diode laser 8 rescans suspected malfunctions region and confirmed.When 9 inspection of inspection car is complete
Train drives to the end of guide line 12, and gray-scale sensor detects that guide line no longer continues, i.e. module 6 by wireless communication
Feedback signal is issued to operator's terminal device, shows that inspection terminates.
As it will be easily appreciated by one skilled in the art that the above is only the preferred embodiment of the utility model only, not
To limit the utility model, any modification made within the spirit and principle of the present invention, equivalent replacement and change
Into etc., it should be included within the scope of protection of this utility model.
Claims (5)
1. a kind of urban rail transit vehicles automatic detecting vehicle, which is characterized in that including inspection car main element (3) and installation
Walking structure (5) on it, sensor, mechanical arm (2), the 3D camera (1) with illumination functions, line-scan digital camera (7), linear array swash
Light device (8)；
The vehicle-mounted sensor is for the guide line (12) in detection track vehicular traffic base maintenance library trench (11), guidance
Inspection car (9) travels in trench along guide line (12)；
Comprehensive scanning of the linear array diode laser (8) for vehicle bottom and the imaging in the line-scan digital camera (7)；
At the top of the inspection car main element (3), the 3D camera (1) is arranged in mechanical arm end for mechanical arm (2) configuration,
It is imaged for vehicle bottom part emphasis and stretches out trench and vehicle side is imaged.
2. urban rail transit vehicles automatic detecting vehicle as described in claim 1, it is characterised in that:
The sensor includes gray-scale sensor and infrared obstacle avoidance apparatus (4), is mounted on the four of the inspection car main element (3)
In week, wherein the guide line (12) controls inspection car along existing inspection guide line automatic running to gray-scale sensor for identification；
For infrared obstacle avoidance apparatus for being scanned to inspection car front and back 180 degree range, inspection car takes urgent system when encountering barrier
It is dynamic.
3. urban rail transit vehicles automatic detecting vehicle as described in claim 1, it is characterised in that:
The mechanical arm (2) is configured to sixdegree-of-freedom simulation, and all freedom degrees are all made of cradle head, respectively an axis, two
Axis, three axis, four axis, five axis and six axis.
4. urban rail transit vehicles automatic detecting vehicle as described in claim 1, it is characterised in that:
The walking structure (5) includes four universal wheels, and four universal wheels, which are not present, shares axle, is individually acted.
5. urban rail transit vehicles automatic detecting vehicle as described in claim 1, it is characterised in that:
The inspection car further includes vehicle power supply, for powering to inspection car, and has charge function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920410427.7U CN209590923U (en) | 2019-03-28 | 2019-03-28 | A kind of urban rail transit vehicles automatic detecting vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920410427.7U CN209590923U (en) | 2019-03-28 | 2019-03-28 | A kind of urban rail transit vehicles automatic detecting vehicle |
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| Publication Number | Publication Date |
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| CN209590923U true CN209590923U (en) | 2019-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920410427.7U Active CN209590923U (en) | 2019-03-28 | 2019-03-28 | A kind of urban rail transit vehicles automatic detecting vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109920081A (en) * | 2019-03-28 | 2019-06-21 | 中铁第四勘察设计院集团有限公司 | A kind of urban rail transit vehicles automatic detecting vehicle and method for inspecting |
| CN112947418A (en) * | 2021-01-27 | 2021-06-11 | 特斯联科技集团有限公司 | Smart city public space inspection device |
-
2019
- 2019-03-28 CN CN201920410427.7U patent/CN209590923U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109920081A (en) * | 2019-03-28 | 2019-06-21 | 中铁第四勘察设计院集团有限公司 | A kind of urban rail transit vehicles automatic detecting vehicle and method for inspecting |
| CN112947418A (en) * | 2021-01-27 | 2021-06-11 | 特斯联科技集团有限公司 | Smart city public space inspection device |
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