CN108982527B - Intelligent detection system for subway chassis - Google Patents
Intelligent detection system for subway chassis Download PDFInfo
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- CN108982527B CN108982527B CN201811039196.XA CN201811039196A CN108982527B CN 108982527 B CN108982527 B CN 108982527B CN 201811039196 A CN201811039196 A CN 201811039196A CN 108982527 B CN108982527 B CN 108982527B
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- 238000001514 detection method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 230000001360 synchronised effect Effects 0.000 claims description 25
- 238000007689 inspection Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000002354 daily effect Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/08—Railway vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The application discloses an intelligent detection system for a subway chassis, which is characterized in that the subway chassis has a plurality of complex structures, if the subway chassis is shot only by positioning, some corners or blocked parts cannot be shot, and an XY moving platform and a six-axis mechanical arm can effectively avoid the obstacle to shoot the blocked parts, so that a camera extends to any part which wants to shoot for detection. When the running mechanism runs under the subway wheels, the telescopic driving wheels retract as long as one of the laser sensors at the two sides of the telescopic driving wheels is blocked by the subway wheels, the wheels extend out when the laser sensors at the two sides of the telescopic driving wheels are not blocked when the running mechanism runs continuously, the telescopic driving wheels can also stretch out and draw back when the running mechanism rotates, and the running mechanism can quickly stretch out and draw back when encountering the subway wheels when running on a track, so that the machine can run in a shuttle way under the subway chassis.
Description
Technical Field
The application relates to the field of full-automatic intelligent machine vision detection, in particular to an intelligent detection system for a subway chassis.
Background
Along with the development of society, subways become an indispensable part in urban traffic gradually, and rapid and safe operation of subways brings great convenience for social people. Because the subway can have some potential safety hazards such as car body cracks, chassis cracks, abrasion, screw looseness and the like after continuous running for a period of time, in order to ensure normal and safe running of the subway, daily inspection is required after the subway enters the warehouse every day, wherein the most complicated inspection belongs to the inspection of the chassis, the inspection work of the subway is finished by manpower at present, however, the potential safety hazards are generally difficult to find by naked eyes, the manual inspection is time-consuming and labor-consuming, and the condition of false omission can also occur.
Disclosure of Invention
According to the problems existing in the prior art, the application discloses an intelligent detection system of a subway chassis, and the detection device runs below the subway chassis on a subway track to carry out omnibearing shooting on the subway chassis, and the intelligent detection system comprises the following components: the mechanical arm camera is fixedly connected to the XY moving platform, and two ends of the XY moving platform are fixedly connected with the running mechanism; the operation mechanism comprises a plurality of shrinkage driving wheels which run on rails to shrink and avoid obstacles, the shrinkage driving wheels are fixedly connected with laser sensors for detecting moving targets of the subway wheels, the operation mechanism is internally provided with a control terminal, the laser sensors transmit detected target signals of the subway wheels to the control terminal, and the control terminal controls shrinkage movement of the shrinkage driving wheels according to the received target signals.
The retractable driving wheel comprises a bearing seat, one end of the bearing seat is connected with a spline shaft, one end of the spline shaft is connected with a wheel, two deep groove ball bearings are arranged in the bearing seat side by side, a rotary shaft sleeve penetrates through the two deep groove ball bearings, one end of the rotary shaft sleeve is connected with a spline, and the spline shaft form a spline pair; the other end of the rotary shaft sleeve is connected with a synchronous pulley, the other end of the spline shaft is connected with a bearing, the bearing is fixedly connected on a connecting block, one end of the connecting block is connected with a sliding block, the other end of the connecting block is connected with a hydraulic cylinder, the sliding block is connected with a guide rail, and the sliding block is movably connected on a bottom plate.
The XY moving platform comprises a second bottom plate, two parallel linear guide rails and a ball screw are fixedly connected to the bottom plate, an X-direction moving plate is fixedly connected to the two linear guide rails, the ball screw is movably connected with the X-direction moving plate, the ball screw is arranged on the bottom plate through a fixed end and a supporting end, a motor is fixedly connected to the bottom plate, the motor and the ball screw are connected with two synchronous pulleys, and a synchronous belt is connected to the two synchronous pulleys; the X-direction moving plate is fixedly connected with a ball screw II, the X-direction moving plate comprises two guide rails which are arranged in parallel, the guide rails are connected with a Y-direction moving plate, the ball screw II is movably connected with the Y-direction moving plate, the ball screw II is installed on the X-direction moving plate through a fixed end II and a supporting end II), a motor II is fixedly connected onto the X-direction moving plate, the motor II is connected with two synchronous pulleys II, and the two synchronous pulleys II are connected with a synchronous belt II.
The mechanical arm camera comprises a six-axis mechanical arm, and the six-axis mechanical arm is fixedly connected with a camera, a sensor and a light source.
By adopting the technical scheme, the intelligent detection system for the subway chassis provides a perfect solution for automatically identifying hidden threats at the bottom of the subway, and the mechanical arm camera of the system adopts a high-speed and high-resolution camera, so that an ultra-clear image of the vehicle chassis can be displayed in a short time, and good evidence support is provided for security inspection staff of the subway. The robot camera uses a built-in camera, so the system can automatically read the license plate number of the vehicle and store all the information thereof in a safe database for later inquiry. The operation mechanism part adopts 8 unprecedented telescopic driving wheel structures, can shuttle under the subway chassis and walk, realizes quick uninterrupted continuous detection, and the full-range no dead angle shooting of the mechanical arm camera, so the whole system can realize maximum efficiency in space or time.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a schematic diagram of an intelligent detection system of a subway chassis;
FIG. 2 is a schematic diagram of the internal structure of the running mechanism of the present application;
FIG. 3 is a schematic view of the internal structure of the running mechanism of the present application;
FIG. 4 is a schematic view of a retractable driving wheel according to the present application;
FIG. 5 is a cross-sectional view of a retractable drive wheel configuration according to the present application;
FIG. 6 is a schematic diagram of an XY moving stage and robotic camera combination according to the present application;
FIG. 7 is a schematic diagram of a mechanical arm camera according to the present application;
FIG. 8 is a schematic diagram of the structure of an XY moving stage according to the present application;
FIG. 9 is a schematic diagram of the intelligent detection system of the subway chassis working together with the subway in the application;
fig. 10 is a schematic diagram of the cooperation of the subway chassis intelligent detection system and a subway in the application.
Detailed Description
In order to make the technical scheme and advantages of the present application more clear, the technical scheme in the embodiment of the present application is clearly and completely described below with reference to the accompanying drawings in the embodiment of the present application:
in the intelligent detection system for a subway chassis shown in fig. 1, because a subway exists on a track, wheels of the safety inspection device collide with subway wheels when the safety inspection device walks on the track to perform fault inspection on the subway. As shown in fig. 9 and 10, the intelligent detection system for the subway chassis of the present application travels in the direction of the drawing, and when the laser sensors 12 on both sides of the wheels in the contracted state come out, the wheels are immediately extended to the original positions, and the system continues to travel for security inspection.
The application discloses an intelligent detection system for a subway chassis, which comprises a mechanical arm camera 200 for shooting images of the subway chassis, wherein the mechanical arm camera 200 is fixedly connected to an XY moving platform 300, two ends of the XY moving platform 300 are fixedly connected with a running mechanism 100, the running mechanism 100 is a mechanical trolley, the running mechanism 100 comprises a plurality of shrinkage driving wheels 11 which run on rails to shrink and avoid when encountering obstacles, 4 shrinkage driving wheels 11 are arranged on one running mechanism 100, a laser sensor 12 for detecting a moving object of the subway wheel is arranged on each shrinkage driving wheel 11, a control terminal 13 is arranged in the running mechanism 100, and the control terminal 13 controls shrinkage movement of each shrinkage driving wheel 11 according to received object signals. Wherein the control terminal 13 adopts a singlechip structure to realize the control process.
Further, as shown in fig. 2 and 3, the internal rotation shaft 74 and the rotation shaft 75 of the running mechanism 100 are connected to a driving wheel mechanism (not shown in the drawings) through a first synchronous pulley 71 and a first synchronous belt 76, respectively, the internal rotation shaft 74 and the rotation shaft 75 are connected to a second synchronous pulley 73 and a second synchronous belt 72, the internal rotation shaft 74 is connected to the motor 70 through a coupling 77, and the driving wheel mechanism inside the whole running mechanism 100 is connected in series in such a way as to be driven to run by one motor 70.
Further, as shown in fig. 4 and 5, the retractable driving wheel 11 includes a bearing housing 50, the bearing housing 50 is fixed on a bottom plate 63, and one end of a spline shaft 51 is connected to a wheel 52. Two deep groove ball bearings 53 are arranged in parallel in the bearing seat 50, a rotary shaft sleeve 54 is arranged through the two deep groove ball bearings 53, one end of the rotary shaft sleeve 54 is connected with a spline 55, and the spline 55 and the spline shaft 51 form a spline pair. The spline pair is characterized in that the spline 55 rotates while driving the spline shaft 51 to rotate and the spline shaft 51 can move in the spline 55. A timing pulley 56 is connected to the other end of the rotary sleeve 54. The spline shaft 51 is driven to rotate through rotation of the synchronous pulley 56, the other end of the spline shaft 51 is connected with a bearing 57, the bearing 57 is fixedly connected to a connecting block 58, one end of the connecting block 58 is connected with a sliding block 59, and the other end of the connecting block 58 is connected with a hydraulic cylinder 60. The slider 59 is connected to a rail 62, and the rail 62 is fixed to a bottom plate 63. Based on the transmission and connection relation, when the hydraulic cylinder 60 stretches and contracts, the spline shaft 51 and the wheels 52 are driven to stretch and contract together, and the whole telescopic driving wheel structure can also realize rapid stretching and contraction while rotating.
Further, the spline 55 is embedded and penetrates through the rotary shaft sleeve 54 to be arranged, and is locked by the locking sleeve 64 to prevent movement, so that stable power transmission is ensured.
Further, the hydraulic cylinder 60 is fixedly connected to the bearing housing 50.
Further, as shown in fig. 6 and 7, the XY moving platform 300 and the robot arm camera 200 are combined into a visual inspection structure of a whole set of machine, the whole set of structure is installed at the central part of the running mechanism 100, the camera 22 is located at the end of the six-axis robot arm 21, lifting and small-range movement can be realized, the six-axis robot arm 21 is installed on the XY moving platform 300, and wide-range back and forth and left and right movement can be realized through the XY moving platform 300, so that any desired part of the subway chassis can be shot by the camera 22 through the combination of the six-axis robot arm 21 and the XY moving platform 300.
As shown in fig. 8, the XY moving platform 300 includes a second bottom plate 31, two parallel linear guide rails 32 and a ball screw 33 are fixedly connected to the second bottom plate 31, an X-direction moving plate 34 is fixedly connected to the two linear guide rails 32, the ball screw 33 is movably connected to the X-direction moving plate 34, and the ball screw 33 is mounted on the bottom plate 31 through a fixed end 35 and a supporting end 36. The stable movement of the ball screw 33 is ensured by the fixed end 35 and the supporting end 36. The second bottom plate 31 is fixedly connected with a motor 43, two synchronous pulleys 44 are respectively connected with the motor 43 and the ball screw 33, a synchronous belt 45 is connected with the two synchronous pulleys 44, the motor 43 rotates to drive the ball screw 33 to rotate, and the ball screw 33 drives the X-direction moving plate 34 to move forwards and backwards in the X-axis direction. The X-direction moving plate 34 is fixedly connected with a second ball screw 38, the X-direction moving plate 34 comprises two parallel guide rails 37, the guide rails 37 are connected with a Y-direction moving plate 39, and the second ball screw 38 is movably connected with the Y-direction moving plate 39. The second ball screw 38 is mounted on the Y-direction moving plate 39 through a fixed end 351 and a second supporting end 361, so that the second ball screw 38 can stably run on the X-direction moving plate 34. The X-direction moving plate 34 is fixedly connected with a second motor 40, and two second synchronous pulleys 41 are respectively connected with the second motor 40 and the second ball screw 38, and two second synchronous pulleys 41 are connected with a second synchronous belt 42. The second motor 40 rotates to drive the second ball screw 38 to rotate, and the second ball screw 38 drives the Y-direction moving plate 39 to move to realize the forward and backward movement in the Y-axis direction.
According to the intelligent detection system for the subway chassis, disclosed by the application, when the running mechanism 100 walks below subway wheels, the laser sensors 12 on two sides of the telescopic driving wheel 11 retract as long as one of the laser sensors is blocked by the subway wheels, and when the running mechanism is continued to walk, the laser sensors 12 on two sides of the telescopic driving wheel 11 are not blocked, and the wheels extend out, so that the running mechanism 100 can stretch out and draw back while rotating, and therefore, the running mechanism 100 can quickly stretch out and draw back when encountering the subway wheels during walking on a track, and the machine can shuttle under the subway chassis. Because the subway chassis has a plurality of complex structures, if some parts are shot only by positioning, corners or blocked parts are not shot, and the XY moving platform 300 and the six-axis mechanical arm 21 can effectively avoid obstacles to shoot the blocked parts, and the camera 22 extends to any part which wants to shoot for detection, the combination of the XY moving platform 300, the six-axis mechanical arm 21 and the camera 22 can realize dead-angle-free shooting and omnibearing detection.
The foregoing is only a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art, who is within the scope of the present application, should make equivalent substitutions or modifications according to the technical scheme of the present application and the inventive concept thereof, and should be covered by the scope of the present application.
Claims (1)
1. The utility model provides a subway chassis intelligent detection device, this detection device moves the below on subway track subway chassis and carries out all-round shooting to the subway chassis, its characterized in that: comprising the following steps: the mechanical arm camera (200) is used for shooting images of the subway chassis, the mechanical arm camera (200) is fixedly connected to the XY moving platform (300), and two ends of the XY moving platform (300) are fixedly connected with the running mechanism (100); the running mechanism (100) comprises a plurality of shrinkage driving wheels (11) which run on rails and encounter obstacles to shrink and avoid, the shrinkage driving wheels (11) are fixedly connected with laser sensors (12) for detecting moving targets of subway wheels, a control terminal (13) is arranged in the running mechanism (100), the laser sensors (12) transmit detected target signals of the subway wheels to the control terminal (13), and the control terminal (13) controls shrinkage movement of the shrinkage driving wheels (11) according to the received target signals;
the retractable driving wheel (11) comprises a bearing seat (50), a spline shaft (51) is arranged through the bearing seat (50), one end of the spline shaft (51) is connected with a wheel (52), two deep groove ball bearings (53) are arranged in the bearing seat (50) side by side, a rotary shaft sleeve (54) is arranged through the two deep groove ball bearings (53), one end of the rotary shaft sleeve (54) is connected with a spline (55), and the spline (55) and the spline shaft (51) form a spline pair; the other end of the rotary shaft sleeve (54) is connected with a synchronous pulley (56), the other end of the spline shaft (51) is connected with a bearing (57), the bearing (57) is fixedly connected to a connecting block (58), one end of the connecting block (58) is connected with a sliding block (59), the other end of the connecting block is connected with a hydraulic cylinder (60), the sliding block (59) is connected with a guide rail (62), and the guide rail (62) and the bearing seat (50) are fixed on a bottom plate (63);
the XY moving platform (300) comprises a second bottom plate (31), two parallel linear guide rails (32) and a ball screw (33) are fixedly connected to the second bottom plate (31), an X-direction moving plate (34) is fixedly connected to the two linear guide rails (32), the ball screw (33) is movably connected with the X-direction moving plate (34), the ball screw (33) is arranged on the second bottom plate (31) through a fixed end (35) and a supporting end (36), a motor (43) is fixedly connected to the second bottom plate (31), the motor (43) and the ball screw (33) are connected with two synchronous pulleys (44), and a synchronous belt (45) is connected to the two synchronous pulleys (44); the X-direction moving plate (34) is fixedly connected with a ball screw II (38), the X-direction moving plate (34) comprises two guide rails (37) which are arranged in parallel, the guide rails (37) are connected with a Y-direction moving plate (39), the ball screw II (38) is movably connected with the Y-direction moving plate (39), the ball screw II (38) is installed on the X-direction moving plate (34) through a fixed end II (351) and a supporting end II (361), a motor II (40) is fixedly connected to the X-direction moving plate (34), the motor II (40) is connected with two synchronous belt pulleys II (41), and the synchronous belt II (42) is connected to the two synchronous belt pulleys II (41);
the mechanical arm camera (200) comprises a six-axis mechanical arm (21), and a camera (22), a sensor (23) and a light source (24) are fixedly connected to the six-axis mechanical arm (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811039196.XA CN108982527B (en) | 2018-09-06 | 2018-09-06 | Intelligent detection system for subway chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811039196.XA CN108982527B (en) | 2018-09-06 | 2018-09-06 | Intelligent detection system for subway chassis |
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| Publication Number | Publication Date |
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| CN108982527A CN108982527A (en) | 2018-12-11 |
| CN108982527B true CN108982527B (en) | 2023-11-24 |
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| CN201811039196.XA Active CN108982527B (en) | 2018-09-06 | 2018-09-06 | Intelligent detection system for subway chassis |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109407174A (en) * | 2018-12-28 | 2019-03-01 | 同方威视技术股份有限公司 | Safety detecting system and method |
| CN109795521B (en) * | 2019-02-03 | 2024-06-28 | 北京新联铁集团股份有限公司 | Rail transit rolling stock inspection device and system |
| CN109969226A (en) * | 2019-03-28 | 2019-07-05 | 唐山百川智能机器股份有限公司 | Telescopic wheeled power unit and railing EMU floor detection device |
| CN109941311A (en) * | 2019-03-28 | 2019-06-28 | 唐山百川智能机器股份有限公司 | Lift EMU detects carrying platform |
| CN110001708B (en) * | 2019-04-01 | 2024-07-02 | 唐山百川智能机器股份有限公司 | Auxiliary exit mechanism and track walking type motor train unit bottom detection device |
| CN110450816A (en) * | 2019-09-12 | 2019-11-15 | 西安文理学院 | A kind of round-the-clock intelligence rail inspection platform and method for inspecting |
| CN110987468A (en) * | 2019-11-27 | 2020-04-10 | 无为县金顺机动车检测有限公司 | Vehicle chassis central region scanning detector |
| CN111487073A (en) * | 2020-05-15 | 2020-08-04 | 哈尔滨市科佳通用机电股份有限公司 | Wheel structure rail vehicle bottom check out test set |
| CN111855232A (en) * | 2020-07-29 | 2020-10-30 | 南京工程学院 | Full-automatic electronic measuring instrument for vehicle chassis |
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| CN108982527A (en) | 2018-12-11 |
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