CN107364459B - A kind of rolling stock column inspection intelligent robot operating system and method - Google Patents
A kind of rolling stock column inspection intelligent robot operating system and method Download PDFInfo
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- CN107364459B CN107364459B CN201710507646.2A CN201710507646A CN107364459B CN 107364459 B CN107364459 B CN 107364459B CN 201710507646 A CN201710507646 A CN 201710507646A CN 107364459 B CN107364459 B CN 107364459B
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- 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
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- 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
Abstract
The invention discloses a kind of rolling stocks to arrange inspection intelligent robot operating system and method, belongs to goods train check-up field.The rolling stock column inspection intelligent robot operating system includes: column inspection robot system, column inspection monitoring operation management platform and column inspection wireless network platform；Pass through control wheeled robot and the big lock of air control, the holographic data of vehicle to be checked is acquired from cognition technology, machine vision technique and Digital image analysis technique in conjunction with automatic control technology, Laser Detection Technique, passive RF transmission technology, position, and processing analysis and decision is carried out using mode identification technology, check can be traced after realization arranges retardation test automation in inspection operation, components quality state diagnostic message to rolling stock, troubleshooting can monitor, arrange maintenance." machine examination instead of people examine " is realized, the varying environment of column inspection application institute in all parts of the country is suitable for, the quality and efficiency of column inspection operation can be improved comprehensively, with larger Social benefit and economic benefit.
Description
Technical field
The invention belongs to goods train check-up field, specifically a kind of rolling stock column inspection intelligent robot is made
Industry system and method.
Background technique
Goods train check-up be rolling stock maintenance a vital task, the task to the effect that: vehicle
It is checked after retardation test, the diagnosis of components quality state, troubleshooting and column maintenance, while bright to vehicle braking test determination
True test period and quality standard.
The mode that rolling stock department generallys use manual work at present carries out column inspection to lorry, is led to by a large amount of skilled workers
Drill carriage bottom is crossed, run back and forth, visually checked and carry out inspection Che Zuoye with the mode of feeling.It is clear that this operation mode is deposited
Labour intensive, human cost is high, operating environment is unfriendly, high failure rate and working efficiency are low the problems such as.
Summary of the invention
The present invention is to solve the problems, such as tradition column inspection operation mode, proposes a kind of rolling stock Lie Jian robot
Intelligent operation system and method.Particular by control wheeled robot and the big lock of air control, visited in conjunction with automatic control technology, laser
Survey technology, passive RF transmission technology, position acquired from cognition technology, machine vision technique, Digital image analysis technique to
The holographic data of vehicle is examined, and carries out processing analysis and decision using mode identification technology, realizes and inspection operation is arranged to rolling stock
Middle retardation test automation, components quality state diagnostic message, troubleshooting can monitor, arrange maintenance after check it is traceable,
The quality and efficiency of column inspection operation can be improved comprehensively.
The rolling stock column inspection intelligent robot operating system includes: column inspection robot system, column inspection monitoring operation
Manage platform and column inspection wireless network platform.
Column inspection robot system includes wheeled robot, bearing track and the big lock of air control；
Bearing track is laid among column inspection station track rail, parallel with rail；Wheeled robot is provided along bearing track
Operating path operation；The big lock of air control connects the air hose of train to be checked and the wind-pressure tube of Lie Jian factory, to vehicle to be checked air hose into
Row fills wind, and controls wind pressure in air hose, comprising: pressurization and alleviation.
Column inspection monitoring operation management platform includes that terminal server is shown in center management server and control again；
Procedure service end is shown in center management server carrying center monitoring management program and 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) handling, issue the operation of control wheeled robot and the big lock of air control
Order；(2) laser data, the position encoded, image data, video data, license number label of parsing column inspection wheeled robot acquisition
Data and self-inspection data, and carry out correlation analysis and processing；(3) failure of output maintenance vehicle discovery, and determine automatically
Plan and early warning；(4) coordinate operation while multiple wheeled robots.
Control shows that the function of program includes: the job state of (1) real time inspection column inspection robot system again；(2) according to column
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 order of maintenance real time monitoring, check job command and self-test order.(3) maintenance vehicle diagnostics table is generated；(4)
Fault pre-alarming；(5) column inspection historical information inquiry, report generation.
Column inspection wireless network platform includes network transmission module and radio repeater station.
Network transmission module is divided into the end A, the end B and C-terminal；The end A and C-terminal are deployed in the both ends of column inspection station track respectively, pass through number
According to line and center management server network interface connection；The end B is deployed on wheeled robot；
Radio repeater station is deployed in the side of column inspection station track, by data line and center management server network interface connection, uses
The wireless signal of inspection operation station track is arranged in covering, guarantees the wireless telecommunications between wheeled robot and center management server.
The method of the rolling stock column inspection intelligent robot operation, comprising the following steps:
Step 1: it is directed to each train to be checked, the preparation before carrying out operation.
Preparation includes: the safety protection facility that vehicle to be checked is arranged；Open the big lock of air control and connection air hose；Robot
Startup self-detection；
Step 2: each wheeled robot starts the scanning operation that cruises, and feed back respective holoscan overhauling train letter
It ceases to center management server.
Specific step is as follows:
Step 201, control show that programmatic client initiates cruise instruction again, are compiled processing through center monitoring management program
Afterwards, it is issued by center management server, cruise instruction is sent to corresponding wheeled robot by column inspection wireless network platform；
Cruise instruction includes: work pattern, robot travel speed, robot number and maintenance vehicle number etc..
Step 202, the wheeled robot for each receiving instruction start operation of cruising, during command speed traveling,
Holoscan is carried out to the footer information of maintenance vehicle；
Scanning obtained data includes: to overhaul license number, vehicle, seamless image, video and the vehicle bottom all visual zero of vehicle
The geomery etc. of component.
After step 203, the scan data of each wheeled robot handle chip convergence processing by respective control, 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 quarter
Vehicle seamless image, video record and each car braking cylinder position of degree etc..
Step 3: column inspection person checks the quality state of vehicle component and to event according to holoscan overhauling train information
Barrier is recorded；
After control shows that programmatic client receives holoscan overhauling train information again, column inspection person is by a verification cruise data
In vehicle image, and diagnostic result is made to vehicle component quality according to image: normal, doubtful wait check or failure.
Step 4: column inspection person shows that programmatic client sends retardation test instruction by control again, system carries out automatic braking
Testing operation；
Described instruction includes: work pattern, test type, robot manipulating task speed, checking cylinder positional distance and every
The range etc. that robot is run in bearing track,
System carries out automatic braking test, including sensitivity test, stable test and lasting pressure maintaining tested for three stages；Specifically such as
Shown in lower:
Step 401 is directed to sensitivity test, and 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, vehicle
Braking system is alleviated or is braked；
Step 403, each robot start to be displaced, and successively acquire the braking of each vehicle in the range that system is specified
Cylinder image；
Step 404, system calculate the length that piston stretches out according to checking cylinder image and pixel dimension.
Step 405, system are stretched out according to vehicle bare weight parking stall, current test mode, checking cylinder type, braking the cylinder piston
Length exports Braking test, and forecasts to failure checking cylinder.
The physical relationship for the length that vehicle bare weight parking stall, current brake mode, checking cylinder type and braking the cylinder piston are stretched out
By " railway freight-car column inspection job instruction " regulation.
Step 406 repeats the above steps, and respectively obtains sensitivity test, stable test and the test knot for continuing pressure maintaining test
Fruit.
Step 5: control shows that program according to the failure logging and Braking test of vehicle component, generates column inspection event again
Hinder diagnostics table, column checking maintenance personnel monitor wheeled robot in real time and carry out field repair；
Specifically:
Column checking maintenance personnel assign breakdown maintenance monitoring instruction to Lie Jian robot, and instruction includes: monitoring 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 handles simultaneously review result
Review vehicle trouble repairs rear state.
The check instruction includes: to check work pattern, travel speed, operating range range etc.,
Robot starts to drive at a constant speed after receiving check instruction, while recording a video to vehicle vehicle bottom, center monitoring management
Program, which handles video and checks vehicle trouble, repairs rear state.
Step 7: programming automatic generation upkeep operation report is shown in control again；
Each corresponding report of maintenance vehicle, the report data includes: license number, vehicle, repair time, failure name
Claim, repair state, operator etc..
Step 8: control shows that program sends operation and completes instruction again, wheeled robot completes this automatically into standby mode
Secondary column examine operation.
The present invention has the advantages that
(1) a kind of rolling stock column inspection intelligent robot operating system, realizes " machine examination is examined instead of people ", wheeled by column inspection
The intelligent operation of robot improves to replace column to examine the operation of running of worker and examines vehicle work quality, and transformation operating mode improves and arranges
Operating environment is examined, is cut payroll to improve efficiency, there is larger Social benefit and economic benefit.
(2), a kind of rolling stock column inspection intelligent robot operating system, wheeled robot have rain and snow, dust-proof, shockproof
Dynamic, low-power consumption easy heat radiation design, be suitable for column inspection application in all parts of the country varying environment, meet actual production line requirement.
(3) method of a kind of rolling stock column inspection intelligent robot operation is realized information of vehicles automatically scanning to be checked, is learnt by oneself
It practises, record of examination automatically records；Realize the foundation of column 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.
Detailed description of the invention
Fig. 1 is a kind of overall construction drawing of rolling stock column inspection intelligent robot operating system of the present invention；
Fig. 2 a is bearing track type schematic diagram in rolling stock of the present invention column inspection intelligent robot operating system；
Fig. 2 b is bearing track type of topical schematic diagram in rolling stock of the present invention column inspection intelligent robot operating system；
Fig. 3 is the big lock connection schematic diagram of air control in rolling stock of the present invention column inspection intelligent robot operating system；
Fig. 4 is column inspection wireless network platform schematic diagram in rolling stock of the present invention column inspection intelligent robot operating system.
Fig. 5 is the flow chart of rolling stock of the present invention column inspection intelligent robot operational method.
Specific embodiment
Specific implementation method of the invention is described in detail with reference to the accompanying drawing.
The present invention provides a kind of rolling stock column inspection intelligent robot operating system, as shown in Figure 1, including Lie Jian robot
System, column inspection monitoring operation management platform and column inspection wireless network platform；
The column inspection robot system includes bearing track, wheeled robot and the big lock of air control；
Wheeled robot below vehicle to be checked, carry out operation on bearing track, carry control processing chip, infrared laser
Transceiver, passive RF antenna and reader, position acquisition sensor, anticollision detector, machine vision Image Acquisition
Device, video collector and orientation wireless receiving transmitter.Wheeled robot is driven by electricity by on-board batteries, in bearing track
On along track carry out operation, have the function of multi gear speed traveling (- 10 meter per second of 1 meter per second), position from perception and correct (error≤
0.1 meter) function, barrier self-identifying (≤10 meters of identification distance) 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, components quality state
Diagnosis, troubleshooting and the acquisition tasks for repairing vehicle image data, video data, license number data in rear state check, robot
Height meets rail side building limit high request (≤230mm), and width is less than track (≤600mm), and electric shape is once expired by robot
State can provide the inspection operation of at least 3 times or more complete columns, and when not operation can move away from column inspection scene.
The control processing built-in chip type is the high-speed computation processing core of robot operation operation in robot interior,
Major function includes: signal triggering, data convergence, data compression, data storage function.
The Infrared laser emission receiver transmitting and receiving port are unobstructed, have measurement range capability.
The passive RF antenna and reader major function are the license number labels for exciting vehicle to be checked, and receive license number number
According to.
The position acquisition sensor major function acquires current location information in real time, carries out self-positioning.
The anticollision detector major function is to detect the barrier of robot driving 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 acquisition and splicing.
The video collector is high speed video device, has control holder, and light inlet can carry out 0 ° -360 ° horizontal rotations
Turn, it can upper and lower -45 ° -+45 ° adjustment elevations angle.
The orientation wireless receiving transmitter is responsible for robot and external data wireless transmission and is received.
As shown in Figure 2 a and 2 b, bearing track between two rails, is being put down by 2 steel rail layings in column inspection station track with rail
Row, the gauge between 2 rail are fixed by fixed plate, major function be to provide operating path when wheeled robot operation,
Ensure that robot is run according to intended trajectory, provide real-time position information for robot, on per share bearing track at least 2 or
The 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 three kinds I-shaped.
The fixed plate is the processing of duroplasts material, embeds station location marker instrument, equidistant every 10 meters along rail direction
Install a set of, major function includes: that bearing track is fixed on sleeper by (1)；(2) keep 2 rail of bearing track it
Between gauge；(3) auxiliary wheel robot carries out position from perception.
The station location marker instrument is embedded in fixed plate, has the function of storage location data, is the position on wheeled robot
It sets and sensor offer reading interface is provided.
As shown in figure 3, the big lock of air control is that intelligent wind pressure controls instrument, connection overhauling train air hose and column inspection factory atmosphere pipe dress
It sets；It is connect by signal wire with center management server, receives wind pressure and adjust control command and feed back current wind pressure value, main function
Can carry out filling wind pressurization to the air hose of vehicle to be checked and alleviate, and required according to retardation test, adjust automatically wind pressure pressure values,
Common wind pressure value is 600 kPas, 530 kPas, 550 kPas, 500 kPas, 430 kPas.
The column inspection monitoring operation management platform includes that terminal server is shown in center management server and 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
Server-side；
Center monitoring management program is the nerve center of whole system, and major function includes that (1) handles and issue control machine
Device people's job command handles and issues the control big lock job command of air control；(2) parsing Lie Jian robot acquisition laser data,
(mainly each module operation health of robot refers to for position encoded, image data, video data, license number label data, self-inspection data
Number), and correlation analysis and processing are carried out to data；(3) failure of output maintenance vehicle discovery, and decision and pre- is carried out automatically
It is alert；(4) coordinate operation while multiple wheeled robots.
Control shows that programmatic client is shown in terminal server carrying control again again, examines field distribution according to each column of column inspection field scale
1-5 platform differs, mainly by column inspection section chief and teams and groups' worker operation.
Control shows that program is whole system and the interface of operator again, is divided into server-side and client, server-side is at center
Management server operation, client show that terminal server is run in control again, and major function includes (1) real time inspection column inspection machine
People's system job state；(2) control command is issued according to column inspection work flow, order includes: cruise scan command, retardation test
Order, the big lock job command of air control, maintenance vehicle image distribution command, maintenance real time monitoring order, check job command and from
Inspection order.(3) maintenance vehicle diagnostics table is generated；(4) fault pre-alarming；(5) column inspection historical information inquiry, report generation.
The column inspection wireless network platform includes network transmission module and radio repeater station.
As shown in figure 4, network transmission module is divided into the end A, the end B and C-terminal three parts, network transmission is using orientation bridge equipment
Communication, the end A and C-terminal are deployed in the both ends of column inspection station track respectively, pass through data line (cable or optical fiber) and center management server
Network interface connection；The end B is deployed on wheeled robot, as mentioned-above robot wireless receiving transmitter, by cable with
The control of robot handles chip network interface connection.
Radio repeater station is deployed in the side of column inspection station track, a set of every 200 meters of deployment, disposes 4 sets altogether, is mainly used for putting
Big rail side wireless signal, the wireless signal of covering column inspection operation station track, guarantees between wheeled robot and center management server
Wireless telecommunications.
Based on the intelligent operation system, the present invention also provides the sides that a kind of rolling stock arranges inspection intelligent robot operation
Method, as shown in Figure 5, the specific steps are as follows:
Step 1: being directed to each train to be checked, preparation before operation.
Safety protection facility including vehicle to be checked is arranged；Open the big lock of air control and connection air hose；Robot startup self-detection；
Vehicle to be checked is to complete marshalling to be parked on column inspection station track, is carrying out the rolling stock of technical inspection of train operation.
(1) safety protection facility is set.Vehicle marshalling to be checked completion stops falling in lines examine station track after, wanted according to railway train inspection operation
It asks and derailer (derailer is column inspection field necessary equipment) is set in train head and the tail two sides, guarantee operation safety.
(2) the big lock of air control and connection air hose are opened.Blow in control big lock power on it is ready, for overhauling train install the big lock of air control go out
Wind connects air duct, it is ensured that the normal air feed of vehicle.
(3) robot startup self-detection.Wheeled robot booting powers on, and automaticly inspects each internal module health status, from
Inspection data include but is not limited to: battery capacity, temperature humidity, each working sensor state, traffic direction obstacle distance
Deng, guarantee when forefront inspection operation completely go on smoothly.
Step 2: each wheeled robot starts the scanning operation that cruises, and feed back respective holoscan overhauling train letter
It ceases to center management server.
It is specific as follows:
(1) cruise instruction shows that programmatic client is initiated by controlling again, is compiled processing by center monitoring management program
Afterwards, it is issued by center management server, cruise instruction is sent to corresponding wheeled robot by column inspection wireless network platform；
Cruise instruction includes but is not limited to: work pattern, robot travel speed, robot number 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 of maintenance vehicle；
Scanning obtained data includes but is not limited to: overhauling license number, vehicle, seamless image, video and the vehicle bottom institute of vehicle
There is the geomery etc. of visual components.
(3) after scan data handles chip convergence processing by respective control, center monitoring management program is fed back to, is managed
Program parses data and carries out obtaining cruise data after 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
Vehicle seamless image, video record and each car braking cylinder position from scale etc..
Step 3: after control shows that programmatic client receives holoscan overhauling train information again, the inspection of vehicle mass state
Look into operation.
Column inspection person on duty shows that programmatic client receives holoscan overhauling train information by control again, patrols 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: normal, doubtful wait check or failure.
Step 4: column inspection person on duty shows that programmatic client sends retardation test instruction by control again, system carries out automatic
Retardation test operation.
Described instruction includes but is not limited to: work pattern, test type, robot manipulating task speed, checking cylinder positional distance
The range etc. run with every robot in bearing track；
The retardation test is to try wind operation, tests three parts structure by sensitivity test, stable test and lasting pressure maintaining
At.It overhauls vehicle air hose wind pressure and is equal to 600KP referred to as alleviation, checking cylinder piston retraction shape；Wind pressure is less than 600KP and is known as braking,
It brakes the cylinder piston and stretches out shape, retardation test is just to look under different wind pressure, and whether the length that checking cylinder is stretched out or shunk is up to standard.
The sensitivity test includes: to overhaul the sense that vehicle air hose wind pressure value is 550KP (the above are 530KP for marshalling 60)
Sensitivity 600KP when degree 50KP (or 70KP) test and wind pressure value are 600KP, which is tested, to be formed.Sensitivity 50KP (or sensitivity 70KP)
When: braking the cylinder piston is all stretched out, and is normal without alleviating in one minute, otherwise is failure.
The stable test includes: to overhaul the stable 170KP test that vehicle air hose wind pressure value is 430KP to be with wind pressure value
Stable 600KP when 600KP tests composition.When stable 170KP: the air hose wind pressure value of vehicle is reduced no more than in one minute
20KP is normal, otherwise is failure.
The described lasting pressure maintaining test include: overhaul lasting pressure maintaining 100KP test that vehicle air hose wind pressure value is 500KP and
Lasting pressure maintaining 600KP when wind pressure value is 600KP tests composition.When continuing pressure maintaining 100KP: braking the cylinder piston is all stretched out, and
It is normal for cannot occurring to alleviate in 3 minutes, otherwise is failure.
Specific step is as follows:
It (1) is sensitivity test first, robot reaches operation start position, the starting point of every robot according to examination wind instruction
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 receives after examination wind instructs according to retardation test mode, adjusts vehicle wind pressure value, vehicle
Braking system is alleviated or is braked；
(3) each robot starts to be displaced in the range that system is specified, and successively acquires the checking cylinder figure of each vehicle
Picture；
(4) length that system is stretched out according to checking cylinder image and pixel dimension calculating piston again.
(5) system exports retardation test according to the length that vehicle bare weight parking stall, current test mode, braking the cylinder piston are stretched out
As a result, and being forecast to failure checking cylinder.
The physical relationship for the length that vehicle bare weight parking stall, current brake mode, checking cylinder type and braking the cylinder piston are stretched out
By " railway freight-car column inspection job instruction " regulation.
(6) it repeats the above steps, respectively obtains sensitivity test, stable test and the test result for continuing pressure maintaining test.
After obtaining Braking test for sensitivity test, then stable experiment is carried out, repeats the above steps to obtain braking examination
After testing result, finally carries out continuing pressure maintaining test, repeat the above steps to obtain final test result.
Step 5: field maintenance monitors operation.
Program Generating column inspection fault diagnosis table is shown in control again, and live column checking maintenance personnel carry out according to column inspection fault diagnosis table
It repairs, while assigning breakdown maintenance monitoring instruction to Lie Jian robot；
The monitoring instruction includes but is not limited to: work pattern, robot travel 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 refers to
It leads.
Step 6: vehicle repairs rear state check operation.
Control shows that program sends check instruction again, and the check, which instructs, includes but is not limited to: work pattern, travel speed,
Operating range range etc., robot starts to drive at a constant speed after receiving check instruction, while recording a video to vehicle vehicle bottom, center prison
Control management program, which handles video and checks vehicle trouble, repairs rear state.
Step 7: programming automatic generation upkeep operation report is shown in control again；
One table of report, the report data includes but is not limited to: license number, the repair time, failure title, is repaired at vehicle
Multiple state, operator etc..Show program again by control, column inspection person can inquire above-mentioned work data.
Step 8: control shows that program sends operation and completes instruction again, after field operation robot is connected to order, it is displaced one by one
To operation starting point, while automatically into standby mode.
Live station inspector removes safety protection equipment, completes this column inspection operation.
Claims (7)
1. a kind of rolling stock column inspection intelligent robot operating system, which is characterized in that make including column inspection robot system, column inspection
Industry monitoring management platform and column inspection wireless network platform；
Column inspection robot system includes wheeled robot, bearing track and the big lock of air control；
Bearing track is laid among column inspection station track rail, parallel with rail；The fortune that wheeled robot is provided along bearing track
Walking along the street diameter operation；The big lock of air control connects the air hose of train to be checked and the wind-pressure tube of Lie Jian factory, is filled to the air hose of vehicle to be checked
Wind, and control wind pressure in air hose, comprising: pressurization and alleviation；
Column inspection monitoring operation management platform includes that terminal server is shown in center management server and control again；
Procedure service end is shown in center management server carrying center monitoring management program and control again；Terminal server is shown in control again
Programmatic client is shown in carrying control again；
The center monitoring management program is the nerve center of whole system, and major function includes: (1) processing and issues control
Robot manipulating task order handles and issues the control big lock job command of air control；(2) the laser number of parsing Lie Jian robot acquisition
According to, position encoded, image data, video data, license number label data and self-inspection data, and to data carry out correlation analysis and
Processing；(3) failure of output maintenance vehicle discovery, and decision and early warning are carried out automatically；(4) coordinate the same of multiple wheeled robots
Shi Zuoye；
Column inspection wireless network platform includes network transmission module and radio repeater station；
Network transmission module is divided into the end A, the end B and C-terminal；The end A and C-terminal are deployed in the both ends of column inspection station track respectively, pass through data line
With center management server network interface connection；The end B is deployed on wheeled robot；
Radio repeater station is deployed in the side of column inspection station track, by data line and center management server network interface connection, for covering
The wireless signal of Gai Liejian operation station track guarantees the wireless telecommunications between wheeled robot and center management server.
2. a kind of rolling stock column inspection intelligent robot operating system as described in claim 1, which is characterized in that the wheel
Formula robot carries control processing 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 column inspection intelligent robot operating system as described in claim 1, which is characterized in that described holds
Carrier rail road is examined in station track between two rails by 2 steel rail layings in column, and parallel with rail, the gauge between 2 rail is by fixed plate
Be fixed, major function be to provide operating path when 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 column inspection intelligent robot operating system as described in claim 1, which is characterized in that the control
System shows that program major function includes: (1) real time inspection column inspection robot system job state again；(2) work flow is examined according to column
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 order of maintenance real time monitoring, check job command and self-test order；(3) maintenance vehicle diagnostics table is generated；(4) event
Hinder early warning；(5) column inspection historical information inquiry, report generation.
5. a kind of application intelligent operation method of rolling stock column inspection intelligent robot operating system as described in claim 1,
Characterized by comprising the following steps:
Step 1: it is directed to each train to be checked, the preparation before carrying out operation；
Step 2: each wheeled robot start cruise scanning operation, and feed back respective holoscan overhauling train information to
Center management server；
Step 3: column inspection person according to holoscan overhauling train information, check the quality state of vehicle component and to failure into
Row record；After control shows that programmatic client receives holoscan overhauling train information again, column inspection person is by a verification cruise data
In vehicle image, and diagnostic result is made to vehicle component quality according to image: normal, doubtful wait check or failure；
Step 4: column inspection person shows that programmatic client sends retardation test instruction by control again, system carries out automatic braking test
Operation；
Step 5: control shows that program according to the failure logging and Braking test of vehicle component, generates column inspection failure and examines again
Disconnected table, column checking maintenance personnel monitor wheeled robot in real time and carry out field repair；
Specifically: column checking maintenance personnel assign breakdown maintenance monitoring instruction to Lie Jian robot, and instruction includes: monitoring operation mould
Formula, robot travel 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 is checked to review result
Vehicle trouble repairs rear state；
The check instruction includes: check work pattern, travel speed, operating range range；
Robot starts to drive at a constant speed after receiving check instruction, while recording a video to vehicle vehicle bottom, center monitoring management program
Video is handled and checks vehicle trouble and repairs rear state；
Step 7: programming automatic generation upkeep operation report is shown in control again；
Each corresponding report of maintenance vehicle, the report data include: license number, vehicle, the repair time, failure title, repair
Multiple state, operator；
Step 8: control shows that program sends operation and completes instruction again, wheeled robot completes this column automatically into standby mode
Examine operation.
6. a kind of rolling stock column inspection intelligent robot operational method as claimed in claim 5, which is characterized in that the step
Rapid two, the specific steps are as follows:
Step 201, control show that programmatic client initiates cruise instruction again, after center monitoring management program is compiled processing,
It is issued by center management server, cruise instruction is sent to corresponding wheeled robot by column inspection wireless network platform；
Cruise instruction includes: work pattern, robot travel speed, robot number and maintenance vehicle number；
Step 202, the wheeled robot for each receiving instruction start operation of cruising, during command speed traveling, to inspection
The footer information to repair carries out holoscan；
After step 203, the scan data of each wheeled robot handle chip convergence processing by respective control, feed back to
Heart monitor supervisor is parsed to obtain the cruise data of whole wheeled robots；
Data of cruising 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 brake cylinder position.
7. a kind of rolling stock column inspection intelligent robot operational method as claimed in claim 5, which is characterized in that the step
In rapid four, retardation test instruction includes: work pattern, test type, robot manipulating task speed, checking cylinder positional distance and every
The range that platform robot is run in bearing track；
System carries out automatic braking test, including sensitivity test, stable test and lasting pressure maintaining tested for three stages；Institute specific as follows
Show:
Step 401 is directed to sensitivity test, and 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 is braked；
Step 403, each robot start to be displaced, and successively acquire the checking cylinder figure of each vehicle in the range that system is specified
Picture；
Step 404, system calculate the length that piston stretches out 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 mode, checking cylinder type, braking the cylinder piston
Braking test is exported, and failure checking cylinder is forecast；
Step 406 repeats the above steps, and respectively obtains sensitivity test, stable test and the test result for continuing pressure maintaining test.
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