CN107364459A - A kind of rolling stock row inspection intelligent robot operating system and method - Google Patents
A kind of rolling stock row inspection intelligent robot operating system and method Download PDFInfo
- Publication number
- CN107364459A CN107364459A CN201710507646.2A CN201710507646A CN107364459A CN 107364459 A CN107364459 A CN 107364459A CN 201710507646 A CN201710507646 A CN 201710507646A CN 107364459 A CN107364459 A CN 107364459A
- Authority
- CN
- China
- Prior art keywords
- robot
- inspection
- vehicle
- row inspection
- row
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K11/00—Serving peculiar to locomotives, e.g. filling with, or emptying of, water, sand, or the like at the depots
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of rolling stock to arrange inspection intelligent robot operating system and method, belongs to goods train check-up field.Described rolling stock row inspection intelligent robot operating system includes：Row inspection robot system, row inspection monitoring operation management platform and row inspection wireless network platform；By controlling wheeled robot and the big lock of air control, the holographic data of vehicle to be checked is gathered from cognition technology, machine vision technique and Digital image analysis technique with reference to automatic control technology, Laser Detection Technique, passive RF transmission technology, position, and Land use models identification technology carries out Treatment Analysis and decision-making, realize arrange rolling stock retardation test automation in inspection operation, parts quality state diagnostic message, troubleshooting can monitor, arrange overhaul after check and can trace." machine examination instead of people examine " is realized, the varying environment of row inspection application institute in all parts of the country is suitable for, quality and efficiency that row examine operation can be improved comprehensively, there is larger Social benefit and economic benefit.
Description
Technical field
The invention belongs to goods train check-up field, specifically a kind of rolling stock row inspection intelligent robot is made
Industry system and method.
Background technology
Goods train check-up is a vital task of rolling stock maintenance, and the task is to the effect that：Vehicle
Check, while vehicle retardation test is defined bright after retardation test, the diagnosis of parts quality state, troubleshooting and row maintenance
True test period and quality standard.
The mode of rolling stock department generally use manual work enters ranks inspection to lorry at present, is led to by a large amount of skilled workers
Drill carriage bottom is crossed, run back and forth, visually checked and carry out examining car operation with the mode of sensation.It is clear that this operating type is deposited
In labour intensive, the problem such as human cost is high, operating environment is unfriendly, fault rate is high and operating efficiency is low.
The content of the invention
The present invention arranges problem present in inspection operating type to solve tradition, it is proposed that a kind of rolling stock Lie Jian robots
Intelligent operation system and method.Particular by control wheeled robot and the big lock of air control, visited with reference to automatic control technology, laser
Survey technology, passive RF transmission technology, position are treated from cognition technology, machine vision technique, Digital image analysis technique to gather
The holographic data of vehicle is examined, and Land use models identification technology carries out Treatment Analysis and decision-making, realizes and inspection operation is arranged rolling stock
Middle retardation test automation, parts quality state diagnostic message, troubleshooting can monitor, arrange maintenance after check and can trace,
The quality and efficiency of row inspection operation can be improved comprehensively.
Described rolling stock row inspection intelligent robot operating system includes：Row inspection robot system, row inspection monitoring operation
Management platform and row inspection wireless network platform.
Row inspection robot system includes wheeled robot, bearing track and the big lock of air control；
Bearing track is laid among row inspection station track rail, parallel with rail；Wheeled robot provides along bearing track
Operating path operation；The big lock of air control connects the airduct of train to be checked and the wind-pressure tube of Lie Jian factories, and the airduct to vehicle to be checked enters
Row fills wind, and controls blast in airduct, including：Pressurization and alleviation.
Row inspection monitoring operation management platform includes center management server and terminal server is shown in control again；
Center management server carries center monitoring management program and procedure service end is shown in control again；Control shows that terminal takes again
Programmatic client is shown in business device carrying control again.
The effect of center monitoring management program is as follows：(1) handle, issue the operation of control wheeled robot and the big lock of air control
Order；(2) laser data of parsing row inspection wheeled robot collection, position encoded, view data, video data, license number label
Data and self-inspection data, and carry out correlation analysis and processing；(3) failure that output maintenance vehicle is found, and determined automatically
Plan and early warning；(4) operation while multiple wheeled robots is coordinated.
Control shows that the function of program includes again：(1) job state of real time inspection row inspection robot system；(2) according to row
Inspection work flow issues control command：Cruise scan command, retardation test order, the big lock job command of air control, maintenance vehicle figure
As distribution command, the real-time monitor command of maintenance, check job command and self-test order.(3) generation maintenance vehicle diagnostics table；(4)
Fault pre-alarming；(5) row inspection historical information inquiry, report generation.
Row inspection wireless network platform includes network transmission module and radio repeater station.
Network transmission module is divided into A ends, B ends and C-terminal；A ends and C-terminal are deployed in the both ends of row inspection station track respectively, pass through number
According to line and center management server network interface connection；B ends are deployed on wheeled robot；
Radio repeater station is deployed in the side of row inspection station track, by data wire and center management server network interface connection, uses
The wireless signal of inspection operation station track is arranged in covering, ensures the wireless telecommunications between wheeled robot and center management server.
The method of described rolling stock row inspection intelligent robot operation, comprises the following steps：
Step 1: being directed to each train to be checked, the preparation before operation is carried out.
Preparation includes：The safety protection facility of vehicle to be checked is set；Open the big lock of air control and connection airduct；Robot
Startup self-detection；
Step 2: each wheeled robot starts the scanning operation that cruises, and feed back respective holoscan overhauling train letter
Cease to center management server.
Comprise the following steps that：
Step 201, control show that programmatic client initiates cruise instruction again, and processing is compiled through center monitoring management program
Afterwards, sent by center management server, cruise instruction is sent to corresponding wheeled robot by arranging inspection wireless network platform；
Cruise instruction includes：Work pattern, robot ride speed, robot numbering and maintenance vehicle number etc..
Step 202, each wheeled robot for receiving instruction start operation of cruising, during command speed travels,
Holoscan is carried out to the footer information for overhauling vehicle；
Scanning obtained data includes：Overhaul license number, vehicle, seamless image, video and the underbody all visual zero of vehicle
Geomery of part etc..
After step 203, the scan data of each wheeled robot are by respective control process chip convergence processing, feed back
Center monitoring management program is returned to be parsed to obtain the cruise data of whole wheeled robots；
Cruise data include：All maintenance vehicle license numbers and its classification sequence, vehicle bottom 1:1 model, with distance carve
Vehicle seamless image, video record and each car braking cylinder position of degree etc..
Step 3: row inspection person checks quality state and pair event of vehicle component according to holoscan overhauling train information
Barrier is recorded；
After control shows that programmatic client receives holoscan overhauling train information again, row inspection person is by a verification cruise data
In vehicle image, and diagnostic result is made to vehicle component quality according to image：Normally, it is doubtful to wait to check or failure.
Step 4: row inspection person shows that programmatic client sends retardation test and instructed again by control, system carries out Braking mode
Testing operation；
The instruction includes：Work pattern, test type, robot manipulating task speed, checking cylinder positional distance and every
Scope that robot is run in bearing track etc.,
System carries out Braking mode experiment, including sensitivity test, stable experiment and lasting pressurize tested for three stages；Specifically such as
Shown in lower：
Step 401, for sensitivity test, robot reaches operation start position according to retardation test instruction；
The start position of every robot and final position according to the robot quantity and vehicle fleet size for participating in operation preferentially
Mean allocation.
After step 402, the big lock of air control receive retardation test instruction, according to retardation test mode adjustment vehicle wind pressure value, car
Brakes is alleviated or braked；
Step 403, each robot start displacement in the scope that system is specified, and gather the braking of each car successively
Cylinder image；
Step 404, system calculate the length of piston stretching according to checking cylinder image and pixel dimension.
Step 405, system are stretched out according to vehicle bare weight parking stall, current test pattern, checking cylinder type, checking cylinder piston
Length exports Braking test, and failure checking cylinder is forecast.
The physical relationship for the length that vehicle bare weight parking stall, current brake pattern, checking cylinder type and checking cylinder piston stretch out
By《Railway freight-car row inspection job instruction》Regulation.
Step 406, repeat the above steps, respectively obtain sensitivity test, stable experiment and the experiment knot for continuing pressurize experiment
Fruit.
Step 5: failure logging and Braking test of the program according to vehicle component, generation row inspection event are shown in control again
Hinder diagnostics table, row checking maintenance personnel monitor wheeled robot and carry out field repair in real time；
Specially：
Row checking maintenance personnel assign breakdown maintenance monitoring instruction to Lie Jian robots, and instruction includes：Monitor work pattern, machine
Device people travel speed, job position etc.；The robot nearest from maintenace point is moved to the point, field maintenance worker after receiving instruction
Real-time video monitoring and guidance are carried out by robot.
Step 6: control shows that program sends check instruction again, center monitoring management program is handled simultaneously review result
Review vehicle trouble repaiies rear state.
The check instruction includes：Work pattern, travel speed, operating range scope etc. are checked,
Robot starts at the uniform velocity to travel after receiving check instruction, while vehicle underbody is recorded a video, center monitoring management
Program, which is handled video and checks vehicle trouble, repaiies rear state.
Step 7: programming automatic generation upkeep operation form is shown in control again；
Each corresponding form of maintenance vehicle, the report data include：License number, vehicle, repair time, failure name
Claim, repair state, operating personnel etc..
Step 8: control shows that program sends operation and completes instruction again, wheeled robot completes this automatically into holding state
Secondary row inspection operation.
The advantage of the invention is that：
(1) a kind of rolling stock row inspection intelligent robot operating system, is realized " machine examination is examined instead of people ", wheeled by arranging inspection
The intelligent operation of robot improves to replace the operation of running of row inspection worker and examines car work quality, transformation mode of operation, improves row
Operating environment is examined, cuts payroll to improve efficiency, there is larger Social benefit and economic benefit.
(2) a kind of, rolling stock row inspection intelligent robot operating system, wheeled robot have rain and snow, dust-proof, shockproof
The dynamic, design of low-power consumption easy heat radiation, be suitable for row inspection application in all parts of the country varying environment, meet actual production line requirement.
(3) method of a kind of rolling stock row inspection intelligent robot operation, realize information of vehicles automatically scanning to be checked, learn by oneself
Practise, record of examination records automatically；Realize the foundation of row inspection vehicle large database concept；Realize real-time tracking vehicle mass state, periodically
Generate vehicle mass Status Reporting, the production of intelligent monitoring vehicle safety.
Brief description of the drawings
Fig. 1 is a kind of overall construction drawing of rolling stock row inspection intelligent robot operating system of the present invention；
Fig. 2 a are bearing track type schematic diagram in rolling stock of the present invention row inspection intelligent robot operating system；
Fig. 2 b are bearing track type of topical schematic diagram in rolling stock of the present invention row inspection intelligent robot operating system；
Fig. 3 is the big lock connection diagram of air control in rolling stock of the present invention row inspection intelligent robot operating system；
Fig. 4 is row inspection wireless network platform schematic diagram in rolling stock of the present invention row inspection intelligent robot operating system.
Fig. 5 is the flow chart of rolling stock of the present invention row inspection intelligent robot operational method.
Embodiment
The specific implementation method of the present invention is described in detail below in conjunction with the accompanying drawings.
The present invention provides a kind of rolling stock row inspection intelligent robot operating system, as shown in figure 1, including Lie Jian robots
System, row inspection monitoring operation management platform and row inspection wireless network platform；
Described row inspection robot system includes bearing track, wheeled robot and the big lock of air control；
Wheeled robot carries out operation on under-vehicle to be checked, bearing track, carries control process chip, infrared laser
Transceiver, passive RF antenna and reader, position acquisition sensor, anticollision detector, machine vision IMAQ
Device, video collector and orientation wireless receiving transmitter.Wheeled robot is by on-board batteries driven by power, in bearing track
On along track carry out operation, have multi gear speed traveling (meter per second of 1 meter per second -10) function, position from perceive and correction (error≤
0.1 meter) function, barrier self-identifying (identification distance≤10 meters) function, High-speed Image Acquisition processing function, video high speed acquisition
Processing function, RF tag read-write capability, data interaction function and self-checking function, realize retardation test, parts quality state
Diagnosis, troubleshooting and repair vehicle image data, video data, the acquisition tasks of license number data in the check of rear state, robot
Highly meet rail side building limit high request (≤230mm), width is less than track (≤600mm), and electric shape is once expired by robot
State can provide the inspection operation of at least more than 3 times complete columns, can move away from row inspection scene during not operation.
The control process built-in chip type is the high-speed computation processing core of robot operation operation in robot interior,
Major function includes：Signal triggering, convergence, data compression, data storage function.
The Infrared laser emission receiver transmitting and receiving port are unobstructed, have measurement distance function.
The passive RF antenna and reader major function are to excite the license number label of vehicle to be checked, and receive license number number
According to.
The position acquisition sensor major function gathers current location information in real time, carries out self-positioning.
The anticollision detector major function is to detect the barrier of robot travel direction, detecting distance≤10 meter.
The machine vision image acquisition device includes high speed trigger-type line scanning industrial camera, laser compensation light source and signal
Trigger, major function are to carry out seamless image collection and splicing.
The video collector is high speed video device, has control head, and light inlet can carry out 0 ° -360 ° horizontal rotations
Turn, can upper and lower -45 ° -+45 ° adjustment elevations angle.
The orientation wireless receiving transmitter is responsible for robot and the data of outside are wirelessly transferred and received.
As shown in Figure 2 a and 2 b, bearing track is laid in row inspection station track between two rails by 2 one steel rails, is put down with rail
OK, the gauge between 2 one steel rails is fixed by fixed plate, major function be to provide operating path during wheeled robot operation,
Ensure that robot is run according to intended trajectory, real-time position information provided for robot, on per share bearing track at least 2 or
Above wheeled robot carries out operation simultaneously.The shape of bearing track is used cooperatively with wheeled robot wheel shape, there is right angle
Type, cylindrical type or I-shaped three kinds.
The fixed plate is processed for duroplasts material, embeds station location marker instrument, equidistant every 10 meters along rail direction
Install a set of, major function includes：(1) bearing track is fixed on sleeper；(2) keep bearing track 2 one steel rail it
Between gauge；(3) auxiliary wheel robot carries out position from perception.
The station location marker instrument is embedded in fixed plate, has storage location data function, is the position on wheeled robot
Put and sensor offer reading interface is provided.
As shown in figure 3, the big lock of air control is intelligent wind pressure controller unit, connection overhauling train airduct fills with row inspection factory atmosphere pipe
Put；It is connected by signal wire with center management server, receives the order of blast adjustment control and feed back current wind pressure value, main work(
Can carry out filling wind pressurization and alleviate to the airduct of vehicle to be checked, and be required according to retardation test, adjust automatically blast pressure values,
Conventional wind pressure value is 600 kPas, 530 kPas, 550 kPas, 500 kPas, 430 kPas.
Described row inspection monitoring operation management platform includes center management server and terminal server is shown in control again；
Center management server is the control centre of whole system, and program is shown in carrying center monitoring management program and control again
Service end；
Center monitoring management program is the nerve center of whole system, and major function includes (1) and handles and issue control machine
Device people's job command, handle and issue the control big lock job command of air control；(2) parse the collection of Lie Jian robots laser data,
(mainly each module operation health of robot refers to for position encoded, view data, video data, license number label data, self-inspection data
Number), and correlation analysis and processing are carried out to data；(3) failure that output maintenance vehicle is found, and decision-making and pre- is carried out automatically
It is alert；(4) operation while multiple wheeled robots is coordinated.
Control shows that programmatic client is shown in terminal server carrying control again again, and inspection field distribution is each arranged according to row inspection field scale
1-5 platforms, mainly by row inspection section chief and teams and groups' operation.
Control shows that program is whole system and the interface of operator again, is divided into service end and client, service end is at center
Management server is run, and client shows that terminal server is run again in control, and major function includes (1) real time inspection row inspection machine
People's system job state；(2) control command is issued according to row inspection work flow, order includes：Cruise scan command, retardation test
Order, the big lock job command of air control, overhaul vehicle image distribution command, the real-time monitor command of maintenance, check job command and oneself
Inspection order.(3) generation maintenance vehicle diagnostics table；(4) fault pre-alarming；(5) row inspection historical information inquiry, report generation.
Described row inspection wireless network platform includes network transmission module and radio repeater station.
As shown in figure 4, network transmission module is divided into A ends, B ends and C-terminal three parts, network transmission is using orientation bridge equipment
Communication, A ends and C-terminal are deployed in the both ends of row inspection station track respectively, pass through data wire (netting twine or optical fiber) and center management server
Network interface connection；B ends are deployed on wheeled robot, as foregoing robot wireless receiving transmitter, by netting twine with
The control process chip network interface connection of robot.
Radio repeater station is deployed in the side of row inspection station track, a set of every 200 meters of deployment, disposes 4 sets altogether, is mainly used in putting
Big rail side wireless signal, the wireless signal of covering row inspection operation station track, ensures between wheeled robot and center management server
Wireless telecommunications.
Based on described intelligent operation system, the present invention also provides a kind of side of rolling stock row inspection intelligent robot operation
Method, as shown in figure 5, comprising the following steps that：
Step 1: it is directed to each train to be checked, preparation before operation.
Safety protection facility including setting vehicle to be checked；Open the big lock of air control and connection airduct；Robot startup self-detection；
Vehicle to be checked is to complete marshalling to be parked on row inspection station track, carries out the rolling stock of technical inspection of train operation.
(1) safety protection facility is set.Vehicle marshalling to be checked is completed to stop to fall in lines behind inspection station track, will according to railway train inspection operation
Ask and derailer (derailer is row inspection field necessary equipment) is set in train head and the tail both sides, ensure job safety.
(2) the big lock of air control and connection airduct are opened.Blowing in, it is electric ready on big lock to control, and installs the big lock of air control for overhauling train and goes out
Wind, connect air duct, it is ensured that the normal air feed of vehicle.
(3) robot startup self-detection.The upper electricity of wheeled robot start, and each internal module health status is checked automatically, from
Inspection data include but is not limited to：Battery electric quantity, temperature humidity, each working sensor state, the obstacle distance of traffic direction
Deng, ensure when forefront inspection operation be completely smoothed out.
Step 2: each wheeled robot starts the scanning operation that cruises, and feed back respective holoscan overhauling train letter
Cease to center management server.
It is specific as follows：
(1) cruise instruction shows that programmatic client is initiated again by controlling, and processing is compiled by center monitoring management program
Afterwards, sent by center management server, cruise instruction is sent to corresponding wheeled robot by arranging inspection wireless network platform；
Cruise instruction includes but is not limited to：Work pattern, robot ride speed, robot numbering and maintenance vehicle number
Deng.
(2) wheeled robot for receiving instruction starts operation of cruising, and cruise operation is completed by a wheeled robot, referred to
During constant speed degree travels, holoscan is carried out to the footer information for overhauling vehicle；
Obtained data are scanned to include but is not limited to：Overhaul license number, vehicle, seamless image, video and the underbody institute of vehicle
There is geomery of visual parts etc..
(3) after scan data is by respective control process chip convergence processing, center monitoring management program is fed back to, is managed
Program is parsed to data and obtains data of cruising after carrying out relevant treatment；
Data include but is not limited to：All maintenance vehicle license numbers and its classification sequence, vehicle bottom 1:1 model, with away from
From the vehicle seamless image of scale, video record and each car braking cylinder position etc..
Step 3: after control shows that programmatic client receives holoscan overhauling train information again, the inspection of vehicle mass state
Look into operation.
Row inspection person on duty shows that programmatic client receives holoscan overhauling train information again by control, is patrolled by a verification
Vehicle image in data of navigating, and diagnosis is made to vehicle component quality according to image；
Diagnostic result includes but is not limited to：Normally, it is doubtful to wait to check or failure.
Step 4: row inspection person on duty shows that programmatic client sends retardation test and instructed again by control, system carries out automatic
Retardation test operation.
The instruction includes but is not limited to：Work pattern, test type, robot manipulating task speed, checking cylinder positional distance
Scope run with every robot in bearing track etc.；
Described retardation test is to try wind operation, by sensitivity test, stable experiment and continues pressurize experiment three parts structure
Into.Overhaul vehicle airduct blast and be equal to 600KP referred to as alleviations, checking cylinder piston retraction shape；Blast is less than 600KP and is referred to as braking,
Checking cylinder piston stretches out shape, and retardation test is just to look under different blast, and whether the length that checking cylinder stretches out or shunk is up to standard.
Described sensitivity test includes：Maintenance vehicle airduct wind pressure value is the sense of 550KP (it is 530KP to organize into groups more than 60)
Spend sensitivity 600KP experiment compositions when 50KP (or 70KP) experiments and wind pressure value are 600KP.Sensitivity 50KP (or sensitivity 70KP)
When：Checking cylinder piston all stretches out, and is normal without alleviating in one minute, otherwise is failure.
Described stable experiment includes：The stable 170KP that maintenance vehicle airduct wind pressure value is 430KP is tested and wind pressure value is
Stable 600KP experiment compositions during 600KP.During stable 170KP：The airduct wind pressure value of vehicle is reduced no more than in one minute
20KP is normal, otherwise is failure.
Described lasting pressurize experiment includes：Overhaul lasting pressurize 100KP experiments that vehicle airduct wind pressure value is 500KP and
Lasting pressurize 600KP experiment compositions when wind pressure value is 600KP.When continuing pressurize 100KP：Checking cylinder piston all stretches out, and
It is normal that can not occur to alleviate in 3 minutes, otherwise is failure.
Comprise the following steps that：
(1) first it is sensitivity test, robot instructs according to examination wind reaches operation start position, the starting point of every robot
Position and final position are according to the robot quantity and vehicle fleet size for participating in operation preferentially mean allocation.
(2) retardation test：The big lock of air control is received after examination wind instructs according to retardation test pattern, adjusts vehicle wind pressure value, car
Brakes is alleviated or braked；
(3) each robot starts displacement in the scope that system is specified, and gathers the checking cylinder figure of each car successively
Picture；
(4) system calculates the length of piston stretching according to checking cylinder image and pixel dimension again.
(5) length that system is stretched out according to vehicle bare weight parking stall, current test pattern, checking cylinder piston exports retardation test
As a result, and to failure checking cylinder forecast.
The physical relationship for the length that vehicle bare weight parking stall, current brake pattern, checking cylinder type and checking cylinder piston stretch out
By《Railway freight-car row inspection job instruction》Regulation.
(6) repeat the above steps, respectively obtain sensitivity test, stable experiment and the result of the test for continuing pressurize experiment.
After obtaining Braking test for sensitivity test, then stable experiment is carried out, repeat the above steps to obtain braking examination
After testing result, finally carry out continuing pressurize experiment, repeat the above steps to obtain final result of the test.
Step 5: field maintenance monitors operation.
Program Generating row inspection fault diagnosis table is shown in control again, and live row checking maintenance personnel are carried out according to row inspection fault diagnosis table
Repair, while breakdown maintenance monitoring instruction is assigned to Lie Jian robots；
The monitoring instruction includes but is not limited to：Work pattern, robot ride speed, job position etc., from maintenace point
Nearest robot is moved to the point after receiving instruction, and field maintenance worker carries out real-time video monitoring by robot and referred to
Lead.
Step 6: vehicle repaiies rear state check operation.
Control shows that program sends check instruction again, and the check instruction includes but is not limited to：Work pattern, travel speed,
Operating range scope etc., robot starts at the uniform velocity to travel after receiving check instruction, while vehicle underbody is recorded a video, center prison
Control management program, which is handled video and checks vehicle trouble, repaiies rear state.
Step 7: programming automatic generation upkeep operation form is shown in control again；
One table of form, the report data include but is not limited to：License number, vehicle, the repair time, failure title, repair
Multiple state, operating personnel etc..Program is shown by control again, row inspection person can inquire about above-mentioned work data.
Step 8: control shows that program sends operation and completes instruction, after field operation robot is connected to order, displacement one by one again
To operation starting point, while automatically into holding state.
Live station inspector removes safety protection equipment, completes this row inspection operation.
Claims (8)
1. a kind of rolling stock row inspection intelligent robot operating system, it is characterised in that make including row inspection robot system, row inspection
Industry monitoring management platform and row inspection wireless network platform；
Row inspection robot system includes wheeled robot, bearing track and the big lock of air control；
Bearing track is laid among row inspection station track rail, parallel with rail；The fortune that wheeled robot provides along bearing track
The operation of walking along the street footpath；The big lock of air control connects the airduct of train to be checked and the wind-pressure tube of Lie Jian factories, and the airduct to vehicle to be checked is filled
Wind, and blast in airduct is controlled, including：Pressurization and alleviation；
Row inspection monitoring operation management platform includes center management server and terminal server is shown in control again；
Center management server carries center monitoring management program and procedure service end is shown in control again；Terminal server is shown in control again
Programmatic client is shown in carrying control again；
Row inspection wireless network platform includes network transmission module and radio repeater station；
Network transmission module is divided into A ends, B ends and C-terminal；A ends and C-terminal are deployed in the both ends of row inspection station track respectively, pass through data wire
With center management server network interface connection；B ends are deployed on wheeled robot；
Radio repeater station is deployed in the side of row inspection station track, by data wire and center management server network interface connection, for covering
The wireless signal of lid row inspection operation station track, ensures the wireless telecommunications between wheeled robot and center management server.
A kind of 2. rolling stock row inspection intelligent robot operating system as claimed in claim 1, it is characterised in that described wheel
Formula robot carries control process chip, Infrared laser emission receiver, passive RF antenna and reader, position acquisition sensing
Device, anticollision detector, machine vision image acquisition device, video collector and orientation wireless receiving transmitter；With multi gear
Speed driving functions, position perceive certainly and correcting function, barrier self-recognition function, High-speed Image Acquisition processing function, video
High speed acquisition processing function, RF tag read-write capability, data interaction function and self-checking function.
3. a kind of rolling stock row inspection intelligent robot operating system as claimed in claim 1, it is characterised in that described holds
Carrier rail road is laid in row inspection station track between two rails by 2 one steel rails, and parallel with rail, the gauge between 2 one steel rails is by fixed plate
Be fixed, major function be to provide operating path during wheeled robot operation, on per share bearing track at least 2 or with
Upper wheeled robot carries out operation simultaneously.
4. a kind of rolling stock row inspection intelligent robot operating system as claimed in claim 1, it is characterised in that in described
Heart monitor supervisor is the nerve center of whole system, and major function includes：(1) handle and issue control machine people operation life
Order, handle and issue the control big lock job command of air control；(2) laser data of Lie Jian robots collection, position encoded, figure are parsed
Correlation analysis and processing are carried out as data, video data, license number label data and self-inspection data, and to data；(3) output inspection
Repair a failure found, and carries out decision-making and early warning automatically；(4) operation while multiple wheeled robots is coordinated.
A kind of 5. rolling stock row inspection intelligent robot operating system as claimed in claim 1, it is characterised in that described control
System shows that program major function includes again：(1) real time inspection row inspection robot system job state；(2) work flow is examined according to row
Control command is issued, order includes：Cruise scan command, retardation test order, the big lock job command of air control, maintenance vehicle image
Distribution command, the real-time monitor command of maintenance, check job command and self-test order；(3) generation maintenance vehicle diagnostics table；(4) event
Hinder early warning；(5) row inspection historical information inquiry, report generation.
6. a kind of application intelligent operation method of rolling stock row inspection intelligent robot operating system as claimed in claim 1,
It is characterised in that it includes following steps：
Step 1: being directed to each train to be checked, the preparation before operation is carried out；
Step 2: each wheeled robot starts the scanning operation that cruises, and feed back respective holoscan overhauling train information to
Center management server；
Step 3: row inspection person checks the quality state of vehicle component and failure is entered according to holoscan overhauling train information
Row record；After control shows that programmatic client receives holoscan overhauling train information again, row inspection person is by a verification cruise data
In vehicle image, and diagnostic result is made to vehicle component quality according to image：Normally, it is doubtful to wait to check or failure；
Step 4: row inspection person shows that programmatic client sends retardation test and instructed again by control, system carries out Braking mode experiment
Operation；
Step 5: failure logging and Braking test of the program according to vehicle component are shown in control again, generation row inspection failure is examined
Disconnected table, row checking maintenance personnel monitor wheeled robot and carry out field repair in real time；
Specially：Row checking maintenance personnel assign breakdown maintenance monitoring instruction to Lie Jian robots, and instruction includes：Monitor operation mould
Formula, robot ride speed and job position；The robot nearest from maintenace point is moved to the point, field maintenance after receiving instruction
Worker carries out real-time video monitoring and guidance by robot；
Step 6: control shows that program sends check instruction again, center monitoring management program is handled and checked to review result
Vehicle trouble repaiies rear state；
The check instruction includes：Check work pattern, travel speed, operating range scope；
Robot starts at the uniform velocity to travel after receiving check instruction, while vehicle underbody is recorded a video, center monitoring management program
Video is handled and checks vehicle trouble and repaiies rear state；
Step 7: programming automatic generation upkeep operation form is shown in control again；
Each corresponding form of maintenance vehicle, the report data include：License number, vehicle, the repair time, failure title, repair
Multiple state, operating personnel；
Step 8: control shows that program sends operation and completes instruction again, wheeled robot completes this row automatically into holding state
Examine operation.
A kind of 7. rolling stock row inspection intelligent robot operational method as claimed in claim 6, it is characterised in that described step
Rapid two, comprise the following steps that：
Step 201, control show that programmatic client initiates cruise instruction again, after center monitoring management program is compiled processing,
Sent by center management server, cruise instruction is sent to corresponding wheeled robot by arranging inspection wireless network platform；
Cruise instruction includes：Work pattern, robot ride speed, robot numbering and maintenance vehicle number；
Step 202, each wheeled robot for receiving instruction start operation of cruising, during command speed travels, to inspection
The footer information to repair carries out holoscan；
After step 203, the scan data of each wheeled robot are by respective control process chip convergence processing, in feeding back to
Heart monitor supervisor is parsed to obtain the cruise data of whole wheeled robots；
Cruise data include：All maintenance vehicle license numbers and its classification sequence, vehicle bottom 1:1 model, with distance scale
Vehicle seamless image, video record and each car braking cylinder position.
A kind of 8. rolling stock row inspection intelligent robot operational method as claimed in claim 6, it is characterised in that described step
In rapid four, retardation test instruction includes：Work pattern, test type, robot manipulating task speed, checking cylinder positional distance and every
The scope that platform robot is run in bearing track；
System carries out Braking mode experiment, including sensitivity test, stable experiment and lasting pressurize tested for three stages；Institute specific as follows
Show：
Step 401, for sensitivity test, robot reaches operation start position according to retardation test instruction；
After step 402, the big lock of air control receive retardation test instruction, according to retardation test mode adjustment vehicle wind pressure value, vehicle system
Dynamic system is alleviated or braked；
Step 403, each robot start displacement in the scope that system is specified, and gather the checking cylinder figure of each car successively
Picture；
Step 404, system calculate the length of piston stretching according to checking cylinder image and pixel dimension；
The length that step 405, system are stretched out according to vehicle bare weight parking stall, current test pattern, checking cylinder type, checking cylinder piston
Braking test is exported, and failure checking cylinder is forecast；
Step 406, repeat the above steps, respectively obtain sensitivity test, stable experiment and the result of the test for continuing pressurize experiment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710507646.2A CN107364459B (en) | 2017-06-28 | 2017-06-28 | A kind of rolling stock column inspection intelligent robot operating system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710507646.2A CN107364459B (en) | 2017-06-28 | 2017-06-28 | A kind of rolling stock column inspection intelligent robot operating system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107364459A true CN107364459A (en) | 2017-11-21 |
| CN107364459B CN107364459B (en) | 2019-06-25 |
Family
ID=60305620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710507646.2A Active CN107364459B (en) | 2017-06-28 | 2017-06-28 | A kind of rolling stock column inspection intelligent robot operating system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107364459B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108256418A (en) * | 2017-12-01 | 2018-07-06 | 轩辕智驾科技（深圳）有限公司 | A kind of pedestrian's method for early warning and system based on infrared imaging |
| CN108960603A (en) * | 2018-06-25 | 2018-12-07 | 北京酷米科技有限公司 | Railway intelligent information management system |
| CN109190776A (en) * | 2018-09-14 | 2019-01-11 | 深圳市轱辘汽车维修技术有限公司 | Reinspection method, apparatus, terminal device and the storage medium of vehicle failure |
| CN110217264A (en) * | 2019-06-21 | 2019-09-10 | 中国神华能源股份有限公司 | Vehicle wheel is to detection device, method and system |
| CN110231825A (en) * | 2019-06-21 | 2019-09-13 | 中国神华能源股份有限公司 | Vehicular intelligent cruising inspection system and method |
| CN110370287A (en) * | 2019-08-16 | 2019-10-25 | 中铁第一勘察设计院集团有限公司 | Subway column inspection robot path planning's system and method for view-based access control model guidance |
| CN110509272A (en) * | 2019-08-06 | 2019-11-29 | 公安部道路交通安全研究中心 | A kind of vehicle checking method, system and compound crusing robot |
| CN111103863A (en) * | 2018-10-29 | 2020-05-05 | 株洲中车时代电气股份有限公司 | Intelligent maintenance robot, maintenance system and method for rail transit vehicle |
| CN111907558A (en) * | 2019-06-27 | 2020-11-10 | 中车大同电力机车有限公司 | Auxiliary maintenance method, maintenance device and maintenance system for railway vehicle |
| CN112134935A (en) * | 2020-09-07 | 2020-12-25 | 中铁第四勘察设计院集团有限公司 | Intelligent train inspection system and method for railway wagon |
| CN112749741A (en) * | 2020-12-30 | 2021-05-04 | 哈尔滨市科佳通用机电股份有限公司 | Hand brake fastening fault identification method based on deep learning |
| CN114162106A (en) * | 2021-12-24 | 2022-03-11 | 大秦铁路股份有限公司科学技术研究所 | Intelligent monitoring system and method for heavy-duty vehicle braking |
| CN116090802A (en) * | 2023-04-12 | 2023-05-09 | 成都盛锴科技有限公司 | Train inspection task intelligent distribution and scheduling system oriented to vehicle bottom part identification |
| CN116341880A (en) * | 2023-05-26 | 2023-06-27 | 成都盛锴科技有限公司 | Distributed scheduling method for column inspection robot based on finite state machine |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101718525A (en) * | 2009-10-28 | 2010-06-02 | 山东大学 | Device for detecting train braking cylinder and operating method thereof |
| KR20120137974A (en) * | 2011-06-14 | 2012-12-24 | 한국철도기술연구원 | Detection apparatus and method of train outside fault |
| CN102901644A (en) * | 2012-08-22 | 2013-01-30 | 北京康拓红外技术股份有限公司 | Manual auxiliary monitoring system and method applied to brake cylinder state of railway column inspection wind operation |
| CN203472862U (en) * | 2013-10-09 | 2014-03-12 | 北京康拓红外技术股份有限公司 | Chain transmission mechanism in train examination trolley |
| CN104986180A (en) * | 2015-06-11 | 2015-10-21 | 魏来 | Railway train inspection and repair platform |
| CN105620511A (en) * | 2016-02-01 | 2016-06-01 | 中信重工开诚智能装备有限公司 | Brake test effect confirmation robot system and detection method for train examination of railway vehicles |
| CN105882683A (en) * | 2016-04-13 | 2016-08-24 | 北京康拓红外技术股份有限公司 | Machine vision based technical inspection and detection system and method for railway trains |
| CN106004925A (en) * | 2016-06-21 | 2016-10-12 | 哈尔滨市科佳通用机电有限公司 | Bottom detection system for rail transportation means |
-
2017
- 2017-06-28 CN CN201710507646.2A patent/CN107364459B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101718525A (en) * | 2009-10-28 | 2010-06-02 | 山东大学 | Device for detecting train braking cylinder and operating method thereof |
| KR20120137974A (en) * | 2011-06-14 | 2012-12-24 | 한국철도기술연구원 | Detection apparatus and method of train outside fault |
| CN102901644A (en) * | 2012-08-22 | 2013-01-30 | 北京康拓红外技术股份有限公司 | Manual auxiliary monitoring system and method applied to brake cylinder state of railway column inspection wind operation |
| CN203472862U (en) * | 2013-10-09 | 2014-03-12 | 北京康拓红外技术股份有限公司 | Chain transmission mechanism in train examination trolley |
| CN104986180A (en) * | 2015-06-11 | 2015-10-21 | 魏来 | Railway train inspection and repair platform |
| CN105620511A (en) * | 2016-02-01 | 2016-06-01 | 中信重工开诚智能装备有限公司 | Brake test effect confirmation robot system and detection method for train examination of railway vehicles |
| CN105882683A (en) * | 2016-04-13 | 2016-08-24 | 北京康拓红外技术股份有限公司 | Machine vision based technical inspection and detection system and method for railway trains |
| CN106004925A (en) * | 2016-06-21 | 2016-10-12 | 哈尔滨市科佳通用机电有限公司 | Bottom detection system for rail transportation means |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108256418A (en) * | 2017-12-01 | 2018-07-06 | 轩辕智驾科技（深圳）有限公司 | A kind of pedestrian's method for early warning and system based on infrared imaging |
| CN108256418B (en) * | 2017-12-01 | 2022-01-21 | 轩辕智驾科技（深圳）有限公司 | Pedestrian early warning method and system based on infrared imaging |
| CN108960603A (en) * | 2018-06-25 | 2018-12-07 | 北京酷米科技有限公司 | Railway intelligent information management system |
| CN109190776A (en) * | 2018-09-14 | 2019-01-11 | 深圳市轱辘汽车维修技术有限公司 | Reinspection method, apparatus, terminal device and the storage medium of vehicle failure |
| CN111103863A (en) * | 2018-10-29 | 2020-05-05 | 株洲中车时代电气股份有限公司 | Intelligent maintenance robot, maintenance system and method for rail transit vehicle |
| CN111103863B (en) * | 2018-10-29 | 2022-08-30 | 株洲中车时代电气股份有限公司 | Intelligent maintenance robot, system and method for rail transit vehicle |
| CN110217264A (en) * | 2019-06-21 | 2019-09-10 | 中国神华能源股份有限公司 | Vehicle wheel is to detection device, method and system |
| CN110231825A (en) * | 2019-06-21 | 2019-09-13 | 中国神华能源股份有限公司 | Vehicular intelligent cruising inspection system and method |
| CN111907558B (en) * | 2019-06-27 | 2021-12-10 | 中车大同电力机车有限公司 | Auxiliary maintenance method, maintenance device and maintenance system for railway vehicle |
| CN111907558A (en) * | 2019-06-27 | 2020-11-10 | 中车大同电力机车有限公司 | Auxiliary maintenance method, maintenance device and maintenance system for railway vehicle |
| CN110509272A (en) * | 2019-08-06 | 2019-11-29 | 公安部道路交通安全研究中心 | A kind of vehicle checking method, system and compound crusing robot |
| CN110370287A (en) * | 2019-08-16 | 2019-10-25 | 中铁第一勘察设计院集团有限公司 | Subway column inspection robot path planning's system and method for view-based access control model guidance |
| CN112134935A (en) * | 2020-09-07 | 2020-12-25 | 中铁第四勘察设计院集团有限公司 | Intelligent train inspection system and method for railway wagon |
| CN112134935B (en) * | 2020-09-07 | 2024-01-23 | 中铁第四勘察设计院集团有限公司 | Intelligent train inspection system and train inspection method for railway freight car |
| CN112749741B (en) * | 2020-12-30 | 2021-10-01 | 哈尔滨市科佳通用机电股份有限公司 | Hand brake fastening fault identification method based on deep learning |
| CN112749741A (en) * | 2020-12-30 | 2021-05-04 | 哈尔滨市科佳通用机电股份有限公司 | Hand brake fastening fault identification method based on deep learning |
| CN114162106A (en) * | 2021-12-24 | 2022-03-11 | 大秦铁路股份有限公司科学技术研究所 | Intelligent monitoring system and method for heavy-duty vehicle braking |
| CN114162106B (en) * | 2021-12-24 | 2024-05-03 | 大秦铁路股份有限公司科学技术研究所 | Intelligent monitoring system and method for braking of heavy-duty vehicle |
| CN116090802A (en) * | 2023-04-12 | 2023-05-09 | 成都盛锴科技有限公司 | Train inspection task intelligent distribution and scheduling system oriented to vehicle bottom part identification |
| CN116341880A (en) * | 2023-05-26 | 2023-06-27 | 成都盛锴科技有限公司 | Distributed scheduling method for column inspection robot based on finite state machine |
| CN116341880B (en) * | 2023-05-26 | 2023-08-11 | 成都盛锴科技有限公司 | Distributed scheduling method for column inspection robot based on finite state machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107364459B (en) | 2019-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107364459A (en) | A kind of rolling stock row inspection intelligent robot operating system and method | |
| CN103552579B (en) | Comprehensive detection train for freight heavy haul railway | |
| CN105882683B (en) | Railroad train check-up detecting system and method based on machine vision | |
| CN110231825A (en) | Vehicular intelligent cruising inspection system and method | |
| CN106647819A (en) | Mobile image acquisition device and high-speed train primary maintenance intelligent auxiliary system | |
| CN110606096A (en) | Inside equipment of patrolling and examining and cleaning of air-rail track roof beam | |
| CN105115605A (en) | Track train infrared detection system and detection method | |
| CN110524553B (en) | Intelligent image analysis system of railway goods inspection robot | |
| CN203651812U (en) | Freight heavy railway comprehensive detection train | |
| CN107730965A (en) | Vehicles management method and vehicle management system based on Intelligent unattended machine | |
| CN107200038A (en) | A kind of repairing device for vehicle and repair method | |
| CN113450475A (en) | Inspection robot system and rail transit vehicle bottom detection method | |
| CN110509951A (en) | A kind of rail deformation detection system and method | |
| CN207850304U (en) | A kind of electrification railway contact net detecting system | |
| CN113334406B (en) | Rail transit vehicle side inspection robot system and detection method | |
| CN111554005A (en) | Intelligent inspection method for railway freight train | |
| CN106970581A (en) | A kind of train pantograph real-time intelligent monitoring method and system based on the three-dimensional full visual angle of unmanned aerial vehicle group | |
| CN107985336A (en) | One kind is run at high speed the online railroad track road surface exception intelligent detecting method of train | |
| CN110789566A (en) | Track defect monitoring method and monitoring equipment based on axle box acceleration signal | |
| CN105544328A (en) | Steel rail longitudinal displacement monitoring system | |
| CN113371028A (en) | Intelligent inspection system and method for electric bus-mounted track | |
| CN106194260A (en) | A kind of tunnel routing inspection trolley | |
| CN113436366B (en) | Synchronous and cooperative inspection method for bottom and side edges of rail transit vehicle | |
| CN109050574A (en) | A kind of rail fault monitoring system | |
| CN208453013U (en) | Mobile detection robot carries the positioning system of 2D laser radar scanning axle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 9th floor, No. 61 Zhichun Road, Haidian District, Beijing, 100190 Patentee after: Beijing Aerospace Shenzhou Intelligent Equipment Technology Co.,Ltd. Patentee after: BEIJING AEROSPACE CTROWELL INFORMATION TECHNOLOGY CO.,LTD. Address before: 100080 No. 61, Haidian District, Beijing, Zhichun Road Patentee before: BEIJING CTROWELL INFRARED TECHNOLOGY Co.,Ltd. Patentee before: BEIJING AEROSPACE CTROWELL INFORMATION TECHNOLOGY CO.,LTD. |
|
| CP03 | Change of name, title or address |