KR101701160B1 - Cantilever defect inspection system - Google Patents

Abstract

The present invention relates to a transformation inspecting system for a driving bracket and, specifically, to a transformation inspecting system for a driving bracket, which recognizes a driving bracket in a train driving and automatically detects a defect of the recognized driving bracket. To achieve the purpose of the present invention, the transformation inspecting system for a driving bracket comprises: a driving bracket recognizing unit recognizing the driving bracket installed on a railway side in real time by laser marking while the train is driving as the driving bracket recognizing unit is installed in a roof of the train; a driving bracket photographing unit photographing an image on the front surface and the rear surface of the driving bracket when a driving bracket sensing signal is transmitted from the driving bracket recognizing unit; a driving bracket image collecting unit installed on the train and collecting the image of the driving bracket, which is photographed by the driving bracket photographing unit, wherein the driving bracket image collecting unit analyzes the deformation of the driving bracket in real time using the collected image; a remote control unit operating a system by remotely connecting to the driving bracket image collecting unit installed on the train from a user smartphone or a ground office; and a driving bracket deformation analyzing unit installed in the ground office and analyzing the deformation of the driving bracket by collecting the image of the driving bracket photographed by the driving bracket photographing unit, wherein the driving bracket deformation analyzing unit manages history of the driving bracket which is defective.

Description

{Cantilever defect inspection system}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movable bracket deformation inspection system, and more particularly, to a movable bracket deformation inspection system that recognizes a movable bracket in a running train and automatically detects a defect in the recognized movable bracket .

In general, electric railway vehicles are used by many people because of their advantages of being quick, accurate and stable compared to other means of transportation.

Moreover, as the high-speed railroad has recently been expanded and expanded, it has become more popular as a means of public transportation.

Electric railway vehicles are powered by direct contact with electric lines using a pantograph that is a current collecting system.

The movable bracket is a core facility of an electric railway supporting the electric railway line. It should be managed and maintained so that the pantograph of the electric railway vehicle can stably contact the electric railway line without exceeding the specified building construction limit.

Maintenance of these moving brackets is being carried out by a walk-through inspection method. As the maintenance time for vast railway facilities is insufficient due to the increase of railway facilities, the speeding up of trains, and the extension of business hours, .

However, the method of confirming whether or not the movable bracket is damaged by such visual inspection is the fact that the availability of the vehicle is increasing due to an increase in the railway facilities (extension of the railway line), so that the efficiency to check a large number of facilities There was a problem. That is, it is not easy for the operator to visually observe the appearance of the movable bracket, to accurately grasp the deviation of the screws and the bolts, and to check whether the parts are damaged only by the visual and experience of the operator, .

Particularly, the movable bracket facilities are installed at a height of 5 m or more from the ground to support the electric cable, and have to be carried out at the early morning hours when the commercial operation of the electric railway vehicle is completed for maintenance.

Since the introduction of the high-speed railway in 2002, damages are increasing due to accumulation of mechanical and electrical fatigue in the cableway facilities. Therefore, advanced inspection technology is required for quick and accurate precise diagnosis of moving bracket deformation inspection.

In other words, after introducing electric railway in Korea, maintenance engineers have been walking the railway for the past 40 years to automate the inspection of moving brackets, which is a facility for railway lines, It is required to perform maintenance.

Korea Publication No. 10-2002-0074341 Korean Patent No. 10-0446462

SUMMARY OF THE INVENTION The present invention has been conceived in order to solve the above-mentioned problems, and an object of the present invention is to provide a method and an apparatus for performing precise diagnosis of a movable bracket using a machine vision technology using a camera, The present invention is to provide a movable bracket deformation inspection system that automatically recognizes defects such as defects and provides defective information to an administrator so that facilities safety checks can be performed quickly and accurately.

In order to achieve the above-mentioned object, in order to achieve the above-mentioned object, the present invention provides a movable bracket installed on a railway car train and recognizing a movable bracket installed on a railway track through laser marking, A movable bracket capturing unit for capturing an image of the front and rear surfaces of the movable bracket, a movable bracket capturing unit installed on a train to collect moving bracket images taken by the movable bracket capturing unit, and analyzing the deformation of the movable bracket in real time A remote controller for remotely accessing a moving bracket image collecting unit installed on a vehicle from a ground office or a user smart phone, a remote control unit provided on the ground office, for displaying the moving bracket image photographed by the moving bracket photographing unit, To analyze the movable bracket deformation, and to analyze the history of the defective movable bracket The movable bracket deformation analysis unit; including providing the movable bracket modified inspection system constructed.

At this time, the movable bracket or part may include a laser device for marking a laser on a movable bracket to detect a moving bracket in real time during running of the train, a cognition device for recognizing the laser marked on the movable bracket, And a trigger device configured to transmit the movable bracket recognition signal to the movable bracket photographing section to photograph the movable bracket in real time.

In addition, it is preferable that the movable bracket or the unit photographs the main rail sign to confirm the position of the movable bracket at the time of detecting the movable bracket.

It is preferable that the movable bracket photographing unit comprises a high-resolution camera device and a condensing illumination device for photographing the front and rear surfaces of the movable bracket.

The moving bracket image collecting unit and the moving bracket deformation analyzing unit may include an image acquiring module that acquires the moving bracket original image from the moving bracket photographing unit, an analysis area determining module that separates the moving bracket and the surrounding background from the moving bracket original image, A defect analyzing module for analyzing the angle of the movable bracket and the deformation of the metal fittings and analyzing the state of change of the movable bracket for each period to determine an angle change of the movable bracket and a position It is preferable to include a deformation comparison analysis module for mutually comparing the changes.

The movable bracket image collecting unit may include an LTE modem and may be connected to the LTE modem through an office or a smart phone to operate the system.

It is also preferable that the movable bracket deformation analyzing unit automatically determines whether or not deformation of the movable bracket provided at the same position is automatically determined, and automatically detects the state of change of the movable bracket in accordance with the detection period and provides it to the maintenance person.

The movable bracket deformation inspection system according to the present invention has the following effects.

First, the operation of the movable bracket can be automatically performed during the travel of the train, so that the safety check of the movable bracket can be performed quickly, and the reliability of the safety check can be improved.

In other words, it is possible to solve the lack of maintenance time for vast railway facilities due to the increase of railway facilities, the speeding up of trains, and the extension of business hours, and it is possible to remotely operate the inspection device from the office, can do.

Second, image processing can greatly improve the safety of train operation by recognizing the defects of the facilities in which the moving brackets are deformed and the fatigue (thread dropout, loosening) accumulated.

In other words, the visual inspection by manpower carried out using the short time (2 ~ 3 hours) of dawn at the end of the train operation and the maintenance of the existing faults are gradually becoming more and more obsolete, It is difficult to cope with the repair amount, and it is not easy to grasp the damage of the facility accurately, and it is possible to solve the disadvantage that the efficiency in the inspection work is inferior.

Third, it can support the preventive maintenance diagnosis system to prevent the railway accidents caused by the modification of the movable bracket facilities.

In other words, it eliminates time and space constraints for maintenance inspection of moving brackets, and it can accurately repair facility faults by combining IT technology and image processing technology to quickly maintain defective facilities and re-confirm maintenance results Therefore, the reliability of the maintenance work can be secured.

Fourth, scientific maintenance method can be applied to the railway facility inspection industry to establish a maintenance system by automation facility in the center of manpower.

Fifth, by introducing the optimal maintenance technology, it is possible to contribute to the improvement of the management of the railway operator by reducing the cost and period of maintenance and maintenance of the railway electric facilities by preventing the safety accidents and increasing the use period of electric facilities.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a structural view of a movable bracket deformation inspection system according to a preferred embodiment of the present invention;
2 is a conceptual diagram for explaining a movable bracket deformation inspection system according to a preferred embodiment of the present invention,
3 is a view showing a movable bracket to be subjected to a defect inspection through a movable bracket deformation inspection system according to a preferred embodiment of the present invention,
FIG. 4 is a conceptual view of a movable bracket recognition unit in a movable bracket transformation inspection system according to a preferred embodiment of the present invention,
5 is a view showing a recognition area of the movable bracket in the movable bracket recognition part of the movable bracket transformation inspection system according to the preferred embodiment of the present invention,
6 is a conceptual view of a movable bracket photographing part of a movable bracket deformation inspection system according to a preferred embodiment of the present invention,
7 is a view showing an object of deformation inspection of a movable bracket deformation inspection system according to a preferred embodiment of the present invention,
8 is a view showing a movable bracket image captured by the movable bracket photographing unit of the movable bracket transformation inspection system according to the preferred embodiment of the present invention,
FIG. 9 is a flowchart illustrating a process for determining whether a movable bracket is defective in a movable bracket deformation inspection system according to a preferred embodiment of the present invention;
FIG. 10 is an explanatory view illustrating an analysis image of a process of determining a defect of a movable bracket among a movable bracket deformation inspection system according to a preferred embodiment of the present invention,
FIG. 11 is a screen showing a result of determining the failure of the movable bracket among the movable bracket deformation inspection systems according to the preferred embodiment of the present invention.

It is to be understood that the words or words used in the present specification and claims are not to be construed in a conventional or dictionary sense and that the inventor can properly define the concept of a term in order to describe its invention in the best possible way And should be construed in light of the meanings and concepts consistent with the technical idea of the present invention.

Hereinafter, a movable bracket deformation inspection system according to a preferred embodiment of the present invention will be described with reference to FIGS. 1 to 11 attached hereto.

The movable bracket deformation inspection system automatically recognizes the movable bracket during the operation of the train and automatically checks the movable bracket. The movable bracket deformation inspection system can be operated at any time by using office or smart phone There is a technical feature that makes it possible.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a structural diagram of a movable bracket deformation inspection system. Fig.

The movable bracket capturing units 201 and 202, the movable bracket sensing units 301 and 302, the movable bracket capturing unit 400, the positioning unit 500, and the movable bracket deformation analyzing unit 701, And a remote control unit 702.

The movable bracket recognizing units 301 and 302 are installed on the left and right sides of the train towers to recognize the movable brackets in real time at a train speed of 1 to 300 km / h, respectively. The recognizing units 301a and 302a, And a trigger device 301c.

The laser device 301b is a device for marking a pipe on the movable bracket by a laser so as to confirm the presence or absence of the movable bracket while the recognition device 301a is running the train.

At this time, the pipe refers to the frame constituting the movable bracket.

The cognitive device 301a is constituted by a camera for recognizing the laser marked on the movable bracket.

The trigger device 301c is a device that transmits a photographing signal to the camera device 201b of the movable bracket photographing parts 201 and 202 to be described later so that the movable bracket can be photographed when the movable bracket is recognized in the recognizing device 301a.

The movable bracket photographing units 201 and 202 are installed in front of and behind the train 600 to photograph a moving bracket image and are composed of a condensing illumination device 201a and a camera device 201b.

The condensing illumination device 201a is an illumination device for providing a light source for photographing the movable bracket image by the camera device 201b, and is constituted by an LED, a COB, a laser or the like.

The camera device 201b is constituted by a camera for photographing the movable bracket image.

The movable bracket image collecting unit 400 is installed on the train 600 and includes an image collecting server 400a, a control unit 400b, a wheel pulse calculator 400c, a collection analysis software 400d, an LTE modem 400e, .

The image collection server 400a provides a user with a system operation environment for moving bracket image collection and analysis.

The control unit 400b controls the camera device 201b installed in the movable bracket photographing units 201 and 202 installed on the train 600 and collects the movable bracket image data taken by the camera device.

The wheel pulse calculator 400c receives the tachometer signal measured by the positioning unit 500 and calculates a travel speed and a travel distance of the train.

The collection analysis S / W 400d is software for collecting and analyzing the moving bracket image, and is installed and operated on the image collection server 400a.

The LTE modem 400e is an LTE terminal device that supports remote access to the collection analysis S / W 400d from a ground office or a user smartphone to operate the system.

The positioning unit 500 is constituted by a tachometer mounted on a wheel of a train 600 for measuring a running speed and a travel distance of the train.

The office 700 means a central control station or a regional office for installing and operating the movable bracket deformation analysis unit 701.

The movable bracket deformation analyzing unit 701 includes an analysis server 701a, a movable bracket deformation verifying S / W 701b, a movable bracket database 701c, and a history management S / W 701d.

The analysis server 701a provides the user with a system operation environment for verifying the result of the analysis of the movable bracket transformation and managing the history.

The movable bracket deformation verification S / W 701b finally confirms and verifies the result of the movable bracket deformation analysis by the user.

The movable bracket database 701c provides information such as location information and management standards for a large movable bracket facility.

The history management S / W is a software for managing the information of the movable brackets in which defects or deformations occur. It confirms various analysis results by route and period, and reaffirms the maintenance results of the movable brackets.

Fig. 2 is a conceptual diagram for explaining the installation configuration of the movable bracket deformation inspection system.

The train 600 can be operated at a speed of 1 to 300 km / h, and a system for inspecting the moving brackets is installed on the train car towers, train cars, and under the trains.

The movable bracket recognition portions 301 and 302 are installed at the left side 301 and the right side 302 of the middle point between the front movable bracket photographing portion 201 and the rear movable bracket photographing portion 202 installed on the car tower of the train 600 Recognizes real-time operation brackets.

The movable bracket photographing units 201 and 202 are provided on the front 201 and rear 202 of the train 600 to photograph the front and back surfaces of the movable bracket 110. [

The movable bracket image collecting unit 400 is installed on a train 600 and provides a system operating environment for moving bracket image collection and analysis.

The measuring device unit 500 is mounted on a wheel of a train 600 to measure a running speed and a moving distance of the train.

The movable bracket deformation analysis unit 701 installs and operates the office 700, verifies the result of the analysis of the movable bracket, and manages the history of the movable bracket in which the deformation has occurred.

3 is a cross-sectional view of a movable bracket to be subjected to defect inspection of the present invention and facilities related thereto.

The movable bracket 110 is installed at a height of 5 m or more from the ground and is installed at a distance of 30 m to 50 m on the railway line .

The train carriage 100 is a structure for supporting the movable bracket.

It is installed at 2m ~ 3m above the ground as a sign attached to the train main number (101) and facilities to confirm kilo-fixed position information.

The orbit 102 is a line (orbit) on which the train travels, and is a cross section 610 of a train that runs on the train line.

Fig. 4 is a block diagram of a movable bracket recognizing part of the movable bracket deformation inspecting system, and Fig. 5 is a view showing a recognizing area of the movable bracket in the movable bracket recognizing part.

4, the movable bracket recognition units 301 and 302 are installed in the left side 301 and the right side 302 of the train, respectively, to recognize the movable bracket in real time at a train speed of 1 to 300 km / h, A laser device 301b, and a trigger device 301c in order to recognize the movable bracket with high precision.

The laser device 301b marks the movable bracket pipe with a laser, as shown in Fig.

That is, the laser device 301b outputs a laser in a vertical direction, and when the movable bracket is positioned on the vertical line with the laser device 301b when the train is traveling, the laser pointer is marked on the movable bracket pipe.

The cognitive device 301a is composed of a camera for detecting when the laser pointer is marked on the movable bracket during train operation.

That is, when the laser is marked on the movable bracket pipe as shown in FIG. 4 during the train operation, the camera senses it and recognizes the real-time movable bracket.

Each time the movable bracket is recognized in real time by the recognition device 301a, the movable bracket is photographed by transmitting the movable bracket recognition signal to the camera device 201b of the movable bracket photographing parts 201 and 202, And photographs the train main number 101 attached to the train main body 100.

The train main number 101 is composed of information for identifying a facility ID and a kilobyte number (KP) for confirming the location information of the movable bracket.

6 is a conceptual diagram of the movable bracket photographing part of the movable bracket deformation inspection system.

6, the movable bracket photographing units 201 and 202 are installed at the front 201 and rear 202 of the train car towers and include a camera device 201b for photographing the front and back surfaces of the movable bracket and a condensing illumination device 201a .

The camera device 201b is interfaced with the trigger device 301c of the movable bracket or units 301 and 302 to photograph the movable bracket image at the time when the movable bracket is recognized in real time during the running of the train.

The camera device 201b shoots within 10 microseconds so as not to blur the movable bracket image at a speed of 300 km / h.

The camera device 201b is constituted by a high-resolution camera capable of photographing parts (screw pins, bolt loosening) of less than 1 mm, which is difficult for a maintenance worker to visually recognize.

The condensing illumination device 201a provides a light source for photographing the movable bracket at a speed of 300 km / h and can be configured by an LED, a COB, a laser or the like.

The condensing illumination device 201a is interfaced with the trigger device 301c of the movable bracket or the units 301 and 302 so that the movable bracket is recognized in real time while the train is running and the condensing illumination device 201a .

7 is a view showing a deformation inspection item of the movable bracket.

The movable bracket deformation inspection inspects the angle and deformation (crack) of the upper pipe 110b, the inclined main pipe 110c, the horizontal pipe 110d and the curved pulling metal fitting 110e, Inspect the breakage and detachment of the connecting bracket.

8 is a moving bracket image photographed by the movable bracket photographing units 201 and 202. Fig.

It is preferable that the photographed movable bracket image is acquired as a high-resolution image which can identify the screw pin, the crack, and the like in less than 1 mm.

9 is a flowchart showing an image processing procedure for determining a defect of the movable bracket.

The image acquisition module 810 is a moving bracket original image taken by the movable bracket photographing units 201 and 202.

The analysis area determination module 820 separates the surrounding background from the movable bracket to be analyzed in the moving bracket original image.

That is, the analysis area determination module 820 recognizes a line (straight line) of the movable bracket pipes in the original image and performs image processing (Hough transform and straight line detection algorithm) for removing the remaining background pixels except for the recognized movable bracket pipeline, Process.

The gold alloy detection module 830 recognizes the gold alloy attached to the movable bracket.

That is, the gold alloy detachment module 830 preliminarily selects a standard pattern representative of the characteristics of the movable bracket detent, and performs image processing (pattern recognition, SURF detection) for recognizing the gold alloy conforming to the movable bracket standard pattern from the acquired original image ) Process.

The defect analysis module 840 analyzes the angle of the movable bracket pipe and the deformation of the metal fittings.

That is, the defect analysis module 840 calculates and displays the angle of the movable bracket pipes recognized as a result of the analysis area determination module 820, And the position of the fixture mounting on the movable bracket.

The deformation comparative analysis module 850 analyzes the change status of the movable bracket by period.

That is, the deformation comparative analysis module 850 analyzes the change in the movable bracket by comparing the change in the angle of the movable bracket pipe and the change in the position of the gold fixture photographed at the same position in each detection period.

FIG. 10 is an analysis image calculated for each step in the flow chart for determining the defect of the movable bracket in FIG.

11 is a screen in which the result of the determination of the movable bracket defect is finally output.

Automatically determines whether or not deformation of the movable bracket provided at the same position is automatically determined, and automatically detects the change state of the movable bracket according to the inspection period and provides it to the maintenance person in charge.

As described above, the movable bracket deformation monitoring system according to the present invention has a technical feature of automatically detecting the deformation of the movable bracket through image processing after real-time recognizing and photographing the movable bracket in the process of running the train.

As a result, it is possible to eliminate the lack of maintenance time for vast railway facilities due to the increase of railway facilities, the speeding up of trains, and the extension of business hours, and it is possible to operate the test equipment remotely from the office, Can be solved.

In addition, it is possible to recognize the defects of the facilities in which the movable brackets are deformed and the degree of fatigue (thread dropout, loosening) is accumulated in advance, which can greatly improve the safety of train operation.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art.

100: Train Note 101: Train Main Sign
102: train line (orbit) 110: movable bracket
120: electric wire 201: movable bracket photographing part (front)
202: movable bracket photographing part (rear side) 210: movable bracket photographing range
301: Identification of the movable bracket (left) 302: Identification of the movable bracket (right)
310: laser pointer 400: movable bracket image collecting part
500: Positioning unit 600: Train or inspection vehicle
700: Office 701: Operation Bracket Analysis Section
702: Remote control unit (LTE modem)

Claims (7)

A movable bracket installed on the left and right sides of the train towers and recognizing the movable bracket installed on the railway line through laser marking in real time while the train is running at a train speed of 1 to 300 km / h;
A movable bracket photographing unit installed at the front and rear of the train for photographing the front and rear images of the movable bracket when the movable bracket sensing signal is transmitted from the movable bracket or the sensing unit;
A movable bracket image collecting unit installed on a train and collecting movable bracket images taken by the movable bracket photographing unit and analyzing deformation of the movable bracket through the collected images in real time;
A remote control unit for remotely accessing a movable bracket image collecting unit installed on a vehicle from a ground office or a user smartphone to operate the system; And
And a movable bracket deformation analyzing unit provided at the ground office and collecting the movable bracket image photographed by the movable bracket photographing unit to analyze the movable bracket deformation and managing the history of the defective movable bracket;
Wherein the movable bracket or the part comprises a laser device for marking a pipe on a movable bracket with a laser to detect a moving bracket in real time during running of the train, a cognitive device composed of a camera for recognizing the laser marked on the movable bracket, And a trigger device that transmits a photographing signal so that the movable bracket can be photographed in real time by transmitting a movable bracket recognizing signal to the movable bracket photographing portion at a time when the movable bracket is photographed; The laser device is configured such that a laser is output in a vertical direction and a laser pointer is marked on a movable bracket pipe when the movable bracket is positioned on a vertical line with a laser device when a train is traveling. The movable bracket photographing part displays an image of a front surface and a rear surface of the movable bracket A high resolution camera device for photographing, and an illumination device for providing a light source for photographing the movable bracket image, wherein the camera device is an LED, COB or laser which provides a light source for moving bracket photographing at a speed of 1 to 300 km / h Wherein the camera device is interfaced with a movable bracket or a negative trigger device to photograph a movable bracket image at a time when the movable bracket is recognized in real time while the vehicle is traveling on a train, 10μs (microseconds) to prevent blurring of the moving bracket image at the speed Resolution camera capable of taking a picture in less than 1 mm, which is difficult for a maintenance worker to visually recognize;
The moving bracket image collecting part is installed on the train car and consists of the image collection server, the control part, the wheel pulse calculator and the collection analysis software; The image collection server provides the user with a system operating environment for moving bracket image collection and analysis, and the control unit controls the camera apparatus installed in the moving bracket shooting unit installed on the train, collects the moving bracket image data taken from the camera apparatus, The pulse pulse calculator receives the tachometer signal measured by the positioning unit and calculates the running speed and travel distance of the train. The collection analysis S / W is software for collecting and analyzing the moving bracket image. Characterized in that it is operated;
The image processing for judging the movable bracket coupling in the movable bracket deformation analyzing unit may include acquiring the movable bracket original image from the movable bracket shooting unit through the image acquisition module; Separating the movable bracket and the surrounding background from the moving bracket original image through the analysis area determining module; Recognizing the gold alloy attached to the movable bracket through the gold alloy recognition module; Analyzing the angle of the movable bracket and the deformation of the gold alloy through the defect analysis module; And analyzing a change state of the movable bracket for each period through the deformation comparative analysis module, and comparing the change of the angle of the movable bracket and the change of the position of the gold bracket with each other.
delete The method according to claim 1,
Wherein the movable bracket or the part photographs the subway main sign to confirm the position of the movable bracket at the time of detecting the movable bracket.
delete delete The method according to claim 1,
Wherein the movable bracket image collecting unit includes an LTE modem,
Wherein the mobile terminal is connected to the LTE modem through an office or a smartphone so as to operate the system.
The method according to claim 1,
Wherein the movable bracket strain analyzer comprises:
Automatically determining the presence or absence of deformation of the movable bracket provided at the same position, and automatically detecting the state of change of the movable bracket in accordance with the detection period and providing it to the maintenance person in charge.

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