CN110231825A - Vehicular intelligent cruising inspection system and method - Google Patents
Vehicular intelligent cruising inspection system and method Download PDFInfo
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- CN110231825A CN110231825A CN201910541576.1A CN201910541576A CN110231825A CN 110231825 A CN110231825 A CN 110231825A CN 201910541576 A CN201910541576 A CN 201910541576A CN 110231825 A CN110231825 A CN 110231825A
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
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Abstract
The present invention relates to automatic detection and image identification technical field, a kind of Vehicular intelligent cruising inspection system and method are disclosed, this method comprises: carrying out action learning using vehicle of the mobile robot to multiple and different vehicles in advance and saving motion path；When carrying out inspection to vehicle, determines and motion path is obtained according to the vehicle of vehicle；Vehicle is detected according to motion path control mobile robot and obtains vehicle data.It can judge whether the component of vehicle breaks down according to vehicle data, improve the detection efficiency of vehicle.
Description
Technical field
The present invention relates to automatic detection and image identification technical field more particularly to a kind of Vehicular intelligent cruising inspection system and
Method.
Background technique
It is all simple in the past by artificial progress that vehicle-state, which is repaired, and this mode does not ensure that these unit status ten thousand
None loses, and since vehicle run the period is whole day 24 hours, relies solely on and manually carry out status maintenance failure to vehicle
Detection will will increase the burden of maintenance worker, and whole process becomes time-consuming and laborious, when worker whether there is in inspection vehicle bottom
When failure, need for a long time to detect its many critical component using naked eyes are subjective, with the continuous increasing of Detection task amount
It will appear some errors in judgement unavoidably greatly, therefore entire vehicle group status maintenance operating efficiency is not very high.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the present invention provides a kind of Vehicular intelligent cruising inspection system and method,
The technical issues of can solving detection method inefficiency in the prior art.
First aspect present invention provides a kind of Vehicular intelligent cruising inspection system, should for the vehicle on inspection railroad track
System includes: vehicle bottom inspection device and vehicle side inspection device；
Vehicle bottom inspection device includes Che Di robot and vehicle bottom rail road, and vehicle bottom rail road is arranged in the rail
On sleeper between two tracks in road, the Che Di robot is movably disposed on vehicle bottom rail road, for detecting
The bottom of the vehicle simultaneously obtains number of allocated passenger trains evidence；
Vehicle side inspection device includes the side Liang Geche robot and two vehicle siding tracks, two vehicle siding track difference
The two sides of the railroad track are set, and the Che Ce robot is movably disposed on the vehicle siding track, for detecting
The side of the vehicle simultaneously obtains vehicle side data.
Optionally, which further includes charging equipment, the charging equipment be arranged in vehicle bottom rail road both ends and
The both ends of two vehicle siding tracks, for powering to the Che Di robot and two Che Ce robots.
Optionally, which further includes web-transporting device, for carrying out the number of allocated passenger trains evidence and the vehicle side data
Wireless network transmissions.
Optionally, which further includes identification server apparatus, for according to the number of allocated passenger trains evidence and the vehicle side data
The component at vehicle bottom and two sides to the vehicle carries out fault identification and obtains maintenance result.
Optionally, which further includes background monitoring equipment, the maintenance sent for showing the identification server
As a result prompt and when the maintenance result indicates that the component on the vehicle breaks down is sounded an alarm, to prompt user to institute
The component to break down on vehicle is stated to repair or replace.
Second aspect of the present invention provides a kind of Vehicular intelligent method for inspecting, this method comprises:
When carrying out inspection to vehicle, determines and the motion path is obtained according to the vehicle of the vehicle；
The mobile robot is controlled according to the motion path, and vehicle data is detected and obtained to the vehicle,
In, the mobile robot includes Che Di robot and the side Liang Geche robot, and the vehicle data includes number of allocated passenger trains evidence and vehicle
Side data.
Optionally, this method further include:
Identification server apparatus obtains maintenance result according to the vehicle data；
Background monitoring equipment shows the maintenance as a result, and indicating that the component on the vehicle occurs in the maintenance result
Prompt is sounded an alarm when failure, to prompt user to repair or replace the component to break down on the vehicle.
Optionally, the motion path obtains by the following method:
Action learning is carried out using vehicle of the mobile robot to multiple and different vehicles in advance and saves motion path
To local.
Optionally, action learning is carried out using vehicle of the mobile robot to multiple and different vehicles in advance and save movement road
The step of diameter includes:
It is multiple and different above vehicle bottom rail road to being parked in using the Che Di robot and two Che Ce robots
The vehicle of vehicle carries out action learning and detects to obtain number of allocated passenger trains evidence and vehicle side data, wherein the action learning includes identification
Default key position in the vehicle and the detection vehicle of the vehicle；
When the number of allocated passenger trains evidence and the vehicle side data meet preset condition, the Che Di robot and two institutes are saved
The motion path of the side Shu Che robot, wherein the motion path includes the Che Di robot and two vehicle side machines
The people movement routine on vehicle bottom rail road and two vehicle siding tracks and the Che Di robot and two institutes respectively
The path of motion of mechanical arm in the robot of the side Shu Che；
When the number of allocated passenger trains evidence and the vehicle side data are unsatisfactory for the preset condition, the vehicle is continued to test.
Optionally, include: before when carrying out inspection to vehicle
Judge whether the vehicle meets testing conditions, if so, performing the next step suddenly, the testing conditions include described
Whether vehicle is on railroad track to be detected, whether the engine of the vehicle is out of service and user or described
Whether vehicle triggers beginning detection switch.
Optionally, the step of determining the vehicle of the vehicle include:
So that the mobile robot is in preset state, the preset state include current electric quantity reach default electricity, when
Front position is respectively positioned on one end and/or the other end in vehicle bottom rail road and two vehicle siding tracks；
The vehicle, which is detected, by the mobile robot in the current location obtains vehicle described in the vehicle data
Vehicle.
Optionally, the mobile robot is made to be in preset state, the preset state includes that current electric quantity reaches default
Electricity, current location are respectively positioned on the step of one end and/or other end in vehicle bottom rail road and two vehicle siding tracks and include:
Judge whether the current electric quantity of each robot in the mobile robot reaches the default electricity；
If the current electric quantity of some or all robots is not up to the default electricity in the mobile robot, make institute
State some or all robots be moved to vehicle bottom rail road and two vehicle siding tracks one end and/or the other end it is described
It charges at charging equipment.
Optionally, this method further include:
When the current electric quantity of robot a part of in the mobile robot reaches the default electricity, control described one
Partial robotic detects the vehicle of the vehicle, and the vehicle of the vehicle synchronized be sent to it is another in the mobile robot
Partial robotic.
Optionally, the step of mobile robot detects vehicle packet is controlled according to the motion path
It includes:
The localization for Mobile Robot is controlled to the default key position according to the movement routine in the motion path；
Judge whether the mobile robot positions success, if no-fix success, makes the mobile robot fixed manually
The default key position is arrived in position；
If positioning successfully, the mobile robot is controlled to described default according to the path of motion in the motion path
Key position is detected.
The invention discloses a kind of Vehicular intelligent cruising inspection system and methods, by carrying out different automobile types to mobile robot
The action learning of vehicle automatically detects the default key position of vehicle, so to the component to break down on vehicle into
Row maintenance, improves the detection efficiency of vehicle.
Detailed description of the invention
It, below will be to embodiment in order to illustrate more clearly of embodiment of the present invention or technical solution in the prior art
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the present invention, for those skilled in the art, without creative efforts, may be used also
To obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram for the Vehicular intelligent cruising inspection system that embodiment of the present invention one provides；
Fig. 2 is the flow diagram for the Vehicular intelligent method for inspecting that embodiment of the present invention two provides；
Fig. 3 is the flow chart for the Vehicular intelligent method for inspecting that embodiment of the present invention three provides.
Specific embodiment
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment is clearly and completely described the technical solution in embodiment of the present invention, it is clear that described
Embodiment be only some embodiments of the invention, and not all embodiments.Based on the embodiment in the present invention,
Those skilled in the art's every other embodiment obtained without making creative work, belongs to the present invention
The range of protection.
Referring to Fig. 1, Fig. 1 is the structural schematic diagram for the Vehicular intelligent cruising inspection system that embodiment of the present invention one provides.
As shown in Figure 1, first aspect present invention provides a kind of Vehicular intelligent cruising inspection system, it to be used for inspection railroad track
Vehicle 200 on 100, for convenience of description, the vehicle 200 in the present invention are C80 type open-top car.The system includes: that the inspection of vehicle bottom is set
Standby 1 and vehicle side inspection device 2.
Vehicle bottom inspection device 1 includes Che Di robot 11 and vehicle bottom rail road 12, and vehicle bottom rail road 12 is arranged in railroad track 100
Two tracks between sleeper on, Che Di robot 11 is movably disposed on vehicle bottom rail road 12, for detecting vehicle 200
Bottom and obtain number of allocated passenger trains evidence.
Che Di robot 11 is made of intelligent vehicle, robotic arm, rail side wireless communication module, is responsible for maintenance vehicle 200
Vehicle bottom critical component carries out data acquisition, and number of allocated passenger trains evidence includes: image data, AEI (readout equipment) license number data, video data
Deng.Wherein AEI license number data include vehicle, corresponding coach number, factory data of vehicle 200 etc..Preferably, Vehicular intelligent inspection
System only detects vehicle number information, i.e. electronic tag, just can know that vehicle and vehicle number information by label information.
It, will not placement of mechanical arm due to vehicle base space very little.But design vehicle bottom camera shooting angle have it is lateral, vertical
To, yaw, pitching four direction freedom degree, the image of section bottom sheltering part can be collected.General shooting angle is
Vertically upward, it so some bolts or controlled valve may be blocked, can not take.
Vehicle side inspection device 2 includes the side Liang Geche robot 21 and two vehicle siding tracks 22, and two vehicle siding tracks 22 are distinguished
The two sides of railroad track 100 are set, and Che Ce robot 21 is movably disposed on vehicle siding track 22, for detecting vehicle
200 side simultaneously obtains vehicle side data.Vehicle side data includes the first vehicle side data and the second vehicle side data, the first vehicle side and second
Vehicle side is the two sides of vehicle 200.Number of allocated passenger trains evidence includes: image data, AEI license number data, video data etc..Wherein AEI license number
Data include vehicle, corresponding coach number, factory data of vehicle 200 etc..
Che Ce robot 21 is by moving trolley (RGV), robot core controller, safe obstacle avoidance module, Image Acquisition mould
The composition such as block, battery and charging equipment, sixdegree-of-freedom simulation, robot detection end, is mainly responsible for and automatically controls machine people
Movement, image information collecting is carried out to each critical component in 200 two sides of vehicle for carrying out status maintenance, to wheel alignment and moving machine
Device arm measure wheel relative dimensions data.
Che Ce robot 21 mainly goes to detect by mechanical arm, and detection range is mainly side body and vehicle end interconnecting piece,
Mechanical arm limited length can not extend into vehicle bottom, so vehicle bottom goes to shoot by the camera disposed on the trolley of bottom.
The detection of the robot headstock tailstock is completed by the laser range sensor on bottom and side trolley.Trolley
After positioning, the mechanical arm or camera disposed thereon just bring into operation work.
Preferably, the system may also include that roof inspection device, headstock inspection device and tailstock inspection device.Roof patrols
It examines equipment and vehicle bottom inspection device 1 is opposite, then may also comprise roof robot and roof track, roof track is arranged in vehicle
200 top, roof robot are movably disposed on roof track, for detecting the top of vehicle 200 and obtaining roof
Data.Preferably, roof track is chosen as cable wire, roof robot, which can be suspended on cable wire, to be moved to detect the vehicle of vehicle 200
Top.Preferably, since Che Ce robot 21 has robotic arm, in robotic arm long enough, Che Ce robot 21 can also be examined
Measuring car top.
The both ends of vehicle 200 are arranged in headstock and tailstock inspection device, it may include head machine people and headstock track, and
Tailstock robot and tailstock track.Preferably, headstock track and tailstock track movably or are telescopically disposed in vehicle
200 headstock and the tailstock, preferably, headstock track and tailstock track are chosen as railing or telescopic rod, head machine people and
Tailstock robot is movably disposed at the both ends of railing or telescopic rod respectively.When vehicle 200 is out of the station, liftable railing
Or retraction telescopic rod can put down railing or the telescopic rod that trails when vehicle 200 is parked on railroad track 100, control vehicle
Head robot and tailstock robot detect the headstock and the tailstock of vehicle 200.
Preferably, since the area of detection of headstock and the tailstock is smaller, under specific circumstances, can directly in headstock and
Fixed test device is arranged in tailstock position, is detected without using mobile robot.If in fixed position installation camera
Similar to TFDS equipment, picture needed for part can be also photographed, but each camera is that an angle takes pictures to car body,
Lack flexibility, and the visual field of each camera shooting is bigger, the detection accessory for including in image is more, is unfavorable for particular portion
The fault message of position carries out automatic identification.
On the basis of existing maintenance craft, repairs functional requirement according to reorganizing and outfit, merges newest technological achievement, with it is advanced, at
It is ripe, be reliably principle, using C80 type open-top car as test carrier, with wheel to every technical parameter and brake shoe with a thickness of key detection pair
As with each traditional visual inspection corner such as fastener of EEF bogie is lost, bearing gets rid of oily, components defect and displacement etc. and covers for overall detection
Lid target formulates rolling stock Intelligent robot inspection system overall technological scheme, specifies the requirement of system general technical.
Project is detected using vehicle C80 type open-top car as target at present, and C80 type open-top car length is 12 meters.In the present invention
Robot is to be trained study by target of C80 type open-top car, can be detected to C80 after training, each compartment conduct
One detection cycle.
If detecting other vehicles (parameters such as vehicle commander are different) also to need again to be trained robot, determine newly
Robot localization position and mechanical arm running track.
It in the present invention,, can be direct for individually shorter vehicle 200 when vehicle bottom rail road 12 and shorter vehicle siding track 22
Vehicle 200 is detected using mobile robot.For the train with more piece compartment, moves train or split vehicle
Compartment, one section compartment of a section compartment are detected or are trained.Certainly, the detection data and fortune of shorter Vehicular intelligent cruising inspection system
Dynamic path etc. can be transmitted to the Vehicular intelligent cruising inspection system being arranged in around train longlyer.
The purpose of the present invention is as follows:
(1) a set of Vehicular intelligent robot inspection system is developed, the standard which at least presses 2 Work robots carries out
Configuration, and have the feasibility promoted and applied in other vehicles.
(2) technical requirements reorganized and outfit and repaired be can satisfy in terms of system functionality, emphasis test object is the complete of wheelset profile
Azimuthal measurement and the measurement of brake shoe residual thickness, at the same should cover at least 80% other include that fastener is lost, bearing gets rid of
The automatic detection of the traditional artificial visual inspection corners such as oil, components defect and displacement.
(3) in terms of measurement accuracy, wheelset profile measurement, brake shoe thickness measure precision can reach to reorganize and outfit and repair operation mark
It is quasi-.
(4) in terms of operating efficiency, Intelligent robot inspection system (2 Work robots are configured) is to single vehicle inspection
Time, the working efficiency of crusing robot system can fully meet produced on-site job requirements less than 4 minutes.
Further, which further includes charging equipment, charging equipment be arranged in vehicle bottom rail road 12 both ends and two
The both ends of vehicle siding track 22, for powering to Che Di robot 11 and the side Liang Geche robot 21.
Further, which further includes web-transporting device, for number of allocated passenger trains evidence and vehicle side data to be carried out wireless network
Network transmission.
Each critical component image of vehicle 200 that web-transporting device then obtains Che Di robot 11 and Che Ce robot 21
Information carries out wireless network transmissions.The image information that identification server apparatus acquires during will test carries out fault identification, sentences
Other 200 vehicle bottom of vehicle and each critical component in two sides whether there is failure.Background monitoring equipment is mainly responsible for the inspection for checking vehicle 200
It repairs result and fault message is sent to maintenance or the replacement personnel that scene carries handheld device.
Further, which further includes identification server apparatus, is used for according to number of allocated passenger trains evidence and vehicle side data to vehicle
200 vehicle bottom and the component of two sides carry out fault identification and obtain maintenance result.
Further, which further includes background monitoring equipment, for showing the maintenance result of identification server transmission simultaneously
Prompt is sounded an alarm when overhauling the component on result instruction vehicle 200 and breaking down, to prompt user to occurring on vehicle 200
The component of failure is repaired or is replaced.
Intelligent robot carry out status maintenance when, by the real time status of 200 critical component of vehicle be transferred to identification server into
Row malfunction setting is finally committed to system platform or background monitoring equipment.
Specifically, Che Di robot 11 is run on vehicle bottom rail road 12, comprising: wheeled robot platform, image collector
It sets, video acquisition device, AEI license number acquisition device, position is from sensing device, radio transmitting device, anticollision device, collision-prevention device, intelligent charge
Device etc..
Che Di robot 11 is adopted by Laser Detecting Set, AEI number identification device, location aware device and optical imagery
Acquisition means obtain 200 information of vehicle, carry out processing analysis and decision using intelligent identification module, while exporting vehicle 200 and working as
Preceding critical component and brake apparatus (vehicle 200 of the checking cylinder in bottom) state outcome, and suspected malfunctions are forecast.
When electricity is low, Che Di robot 11 is filled the intelligent garage for moving to 12 both ends of vehicle bottom rail road automatically automatically
Electricity.
Che Ce robot 21 is run in the dedicated track that 200 two sides of vehicle are laid with, including robot chassis, high-precision six
Shaft mechanical arm, sample of high-resolution image module, dimension measuring unit, image and video information wireless transport module, power supply
System, main body control system etc..
Image acquisition units in every trolley side robot 21 include high-resolution lines array camera mould group, area array cameras mould
Group, 3D structure light dimension measuring unit, video acquisition unit.When robot at the uniform velocity in orbit moved when, can be to vehicle
200 sides carry out entire scan imaging, and the 3D of mechanical arm tail end is then utilized to tie when robot body runs to wheel position
Structure light dimension measuring unit measurement wheel carries out face battle array Image Acquisition, video acquisition to relative dimensions, to local critical component details
Unit can monitor robot operating status and external environment in real time.
When Che Ce robot 21 does not have job task, it is parked in the bicycle shed at route both ends, has automatic charging to set in bicycle shed
It is standby, the charging of Che Ce robot 21 can be automatically performed.It is also equipped with wireless transport module in bicycle shed, can be counted in real time with robot
According to interaction.There is network connection between bicycle shed and inspection center, has power conditions.
The major technique for including in 21 body design of Che Ce robot is described below:
1, the movement of intelligent robot is controlled by wheel track walking in orbit, is driven by servo motor,
Servo motor has the advantages that precision is high, revolving speed is high, adaptable, stability is good, fast response time, low, low noise of generating heat, by watching
Robot ambulation speed and position can flexibly be controlled by taking motor driven robot.
2, robot chassis module is by two driving wheels, two driven wheels composition.Driving wheel uses the wheel pair similar with train,
Operation is in orbit.It is able to maintain the straight trip speed of highest 5km/h, drive module has itself high pressure, low pressure, overcurrent, short circuit, breaks
Road, excess temperature, communication real-time monitoring and control, automatic stopping and can report error condition when being abnormal.
3, robot body is furnished with industrial personal computer, as the core of robot control system, is used for the various data of acquisition process.
Platform is executed as moveable perception, robot can carry a variety of detection sensors, can be by inspection real-time data transmission to originally
Ground monitoring backstage, completes the functions such as analysis processing and early warning, the alarm of data.
4, robot supports complete autonomous, under two kinds of control models of remote control inspection.Under full autonomous mode, system is according in advance
The parameter informations such as the inspection content of setting, time, period, route, independently start and complete tour task.
It 5, is simultaneously the operating environment for considering trench, robot uses lithium battery power supply.It is installed certainly in trench terminal position
Main charging unit is used for autonomous charging of robots, and device has positive and negative anodes contact and signal contact, after successfully charging, charging instruction
Lamp meeting greening, and ammeter shows current charging current.In addition recharging device also can be carried out hand pattern switching, work as switching
At under manual powered mode situation, can be plugged in as long as car body charging positive and negative anodes contact is contacted with cradle positive and negative anodes.
6, the safe obstacle avoidance module of robot ambulation: both ends dual mechanical+radar avoidance.
7, broadband wireless communications means are provided between crusing robot and monitoring backstage, robot and local monitor platform into
Row two-way information interaction, the content of information exchange include the robotary data of detection.
8, robot chassis running fix mode: driving wheel servo motor controls movement, and driven turns encoder is had the records of distance by the log positioning.
The chassis material and structure of robot are all made of waterproofing design, while external electrical component also uses waterproofing design, can prevent goods
Car state repairs the phenomenon that hindering robot ambulation there are ponding in trench.Its driving motor uses low-voltage direct servo motor,
Powerful, load capacity and driving power with higher, moreover it is possible to realize accurate control and positioning.Its mobile travel speed
It can reach 5km/h, can meet the needs of freight car is repaired to timeliness.
9, intelligent robot uses robot arm device by 3D dimension measuring unit and the mobile arrival of high-resolution area array cameras
Vehicle vehicle bottom and two sides critical component position are taken pictures and video record transmission, mechanical arm are designed using 6 axis mechanisms, can make 3D ruler
Very little measuring unit and area array cameras are moved in horizontal and vertical any angle.
Robotic arm assembly own wt is 28.9kg, can bear the load of 10kg, the articulate freedom degree of institute can
Realize 360 ° of rotations, mobile repeatable accuracy is 0.1mm, and the arm exhibition of single stem-winder is 1300mm, when work can carry camera into
The linear movement process while rotation speed that scanning frequency degree is 100cm/s are 180 °/s, and robot arm device main body is supplied using DC48V
Electricity, cruise duration were up to two hours.Entire mechanical arm uses modular construction and design, has and is driven in the reverse direction function, can be quick
Dismounting, replacement, while easy to maintain and maintenance, its service life can reach 35000 hours.
The key technology of Vehicular intelligent cruising inspection system provided by the invention is as follows:
1) intelligent robot high accuracy positioning and control technology
This system carries out robot Automatic Positioning Control using active laser ranging technology, which uses advanced calculation
Method and go-go Photoelectric Signal Processing technology precisely and quickly measure, it can be achieved that safety.As frequency acquisition≤20Hz
When, measurement accuracy can reach ± 1mm, can meet the required precision in maintenance to robot localization.
2) the mobile control technology of mechanical arm high-precision multi-angle
Due to more complexity of lorry bottom Critical component locations, system needs to carry out multi-angle to different critical components
Detection, therefore system uses carrier of the sixdegree-of-freedom simulation as 3D dimension measuring unit and area array cameras, and in machinery
Arm end is equipped with carriage, enables the system to quickly and effectively carry out dimensional measurement, the mechanical arm resetting to critical component
Precision is ± 0.1mm, and the speed that carriage can hold 0-0.4m/s is slided, finally can be effectively to wheel to the size with brake shoe
Measurement, including wheel rim is thick, wheel rim is high, wheel rim is wide, wheel rim is thick, brake shoe thickness etc. critical component carries out the survey of quick high accuracy size
Amount.
3) robot ultra-long time cruise technology
To effectively improve the robot cruise time, system uses high-capacity lithium battery design scheme, and battery storage capacity can
Reach 15kwh, when total system power consumption is 1500W, can meet 10 hours the needs of working continuously of system.And system matches are certainly
Dynamic charging unit can carry out automatic charging process when system operation stops operation automatically, and whole process is participated in without artificial.When lithium electricity
Pond enters low battery (20%) state, and electricity restores only to need 1.5 hours to the charging time of Full Charge Capacity (100%), greatly
The activity duration of system is extended, therefore can detect more lorries in finite time.
4) robot speed wireless data transfer technology
It is wirelessly communicated between robot and image recognition server, using point-to-point single base station scheme, on RGV
Three number of units according to acquisition industrial personal computer connected with network cable formula 24V gigabit direct current fission POE interchanger, then through 5.8GHz, 866M carrier class
Antenna integrated wireless bridge carries out data transmission, and base station and image recognition server are set to trench one end.Wireless module is theoretical
Transmission rate is 1000Mbps, is able to satisfy image capture module (500m) within the scope of entire trench real-time 300Mbps picture number
According to transmission requirement.
5) high-precision camera 3D size measurement technique
To enable the system to analyze different images data, the image acquisition units of system design include 3 groups of high-speed lines
Property camera, 3 groups of 3D high-precision configuration light cameras, 1 3D dimension measuring unit, 1 high-resolution face battle array industrial camera, the part
Can the overall situation to critical component, part carry out the detection and overall size measurement of multi-angle, the X-direction of 3D dimension measuring unit
Reachable ± the 0.006mm of resolution ratio, vehicle bottom Critical component can be carried out accurate dimension measurement and to detect failure.
6) high-accuracy critical component fault identification algorithmic technique
Lorry complicated integral structure, components are very more on vehicle, only manually confirm that the state of each components is one
Part very difficult thing.So according to actual needs, being now widely used for the fields such as communication, military affairs, space flight, biomedicine
Image recognition technology apply on railway, give full play to the function that freight car repairs intelligent robot image detecting system.It should
Image recognition technology, after camera acquired image is handled and is analyzed, without exception, the root that determines that spare parts logistics have
According to prompting as a result, generating classifying alarm for image recognition, manually only need to handle the information of warning note.Due to image
The high reliability and stability of algorithm, greatly reduce relevant staff sees figure workload, while decreasing dynamic and making
The activity duration of industry personnel, to substantially increase the detection efficiency of lorry.In order to which further system raising automatic identification is accurate
Rate, system assist automatic identification in such a way that linear array images acquisition module and 3D image-forming module combine, using 3D rendering information,
Automatic identification accuracy rate can preferably be improved.
7) end equipment receiving and transmission technology are held
In view of trench length and site environment, system designs and is equipped with handheld terminal control equipment, and upkeep operation can be transmitted
Initiation command, subsequent freight car repair intelligent robot and just start to carry out the detection of each critical component in lorry vehicle bottom, and detection is completed
Being sent afterwards by handheld terminal terminates order, and crusing robot stops operation immediately and enters charging process.Handheld terminal interface can input
The vehicle group number information of current detection, and show current time.It is greatly improved the efficiency that maintenance order is assigned using the equipment,
The burden of service personnel's walking over long distances can be removed from.
8) robot inspection report generation and memory technology
For convenient for being managed to system detection results, system designs report generation and store function, will can examine every time
The data of survey are counted, and the user and service personnel of system can learn the critical component easily to break down by report messages.
Emphasis " treatment " can be carried out to the critical component easily to break down in practical maintenance process, the reliability and intelligence of maintenance are provided
Property.
9) system compact type mechanical designing technique
Since system function module is more, and system space is effective, therefore system will be more compact in Machine Design, respectively
The design of functional module is laid out using adjustable mode, both effectively saved space and shape is more beautiful.
10) multi-sensor fusion technology
It combines in system comprising multiple sensors technology, robot control, laser ranging, holds and sets mechanical arm control
Data interaction interface standby, between each module of image acquisition units is packaged using respectively unified standard, after being convenient in this way
Phase maintenance and secondary development.Good supporting condition has been done for the functions expanding of system and upgrading.
The invention discloses a kind of Vehicular intelligent cruising inspection systems, by the vehicle for carrying out different automobile types to mobile robot
200 action learning automatically detects the default key position of vehicle 200, and then to the portion broken down on vehicle 200
Part is overhauled, and the detection efficiency of vehicle 200 is improved.
Second aspect of the present invention provides a kind of Vehicular intelligent method for inspecting, this method comprises:
S100, to vehicle 200 carry out inspection when, determine simultaneously according to the vehicle of vehicle 200 obtain motion path.Move road
Diameter includes that mobile robot moves along the movement routine of track and the path of motion of mechanical arm.
S200, vehicle 200 is detected according to motion path control mobile robot and obtains vehicle data, wherein
Mobile robot includes Che Di robot 11 and the side Liang Geche robot 21, and vehicle data includes number of allocated passenger trains evidence and vehicle side data.
It is generally divided into and default key position is navigated to according to movement routine, mechanical arm is then controlled to default crucial position according to path of motion
It sets and is detected.
Further, this method further include:
S300, identification server apparatus obtain maintenance result according to vehicle data.Vehicle data includes number of allocated passenger trains evidence, vehicle side
Data can also include roof data, headstock data and tailstock data.And vehicle data includes image data, vehicle license number number
According to, video data etc..It detects to obtain by the detection device that mechanical arm tail end in mobile robot is arranged in, detection device includes
The various kinds of sensors device such as range sensor, camera, infrared sensor, acoustic wave device.
S400, background monitoring equipment show the maintenance that identification server is sent as a result, and indicating vehicle 200 in maintenance result
On component sound an alarm prompt when breaking down, to prompt user to repair the component to break down on vehicle 200 or
Replacement.Alarm sounds include flash of light and sound etc..
Preferably, can also have simple timely repair function, such as spray painting mark in robot after critical component identification
Note, cleaning barrier etc., remotely operate user can and repair defective component etc..
Further, motion path obtains by the following method:
S500, action learning is carried out using vehicle 200 of the mobile robot to multiple and different vehicles in advance and saves movement
Path.Mobile robot includes Che Di robot 11 and the side Liang Geche robot 21.Preferably, mobile robot may also include vehicle
Robot, head machine people, tailstock robot etc. are pushed up, correspondingly, mobile robot can match moving track to specify moving machine
The displacement of device people.
Initial stage is tested in Vehicular intelligent cruising inspection system, mobile robot needs manual operation to be trained, to every kind of vehicle
Position and training mechanical arm acts.Later when commencement of commercial operation, robot can carry out mobile machine according to the vehicle of vehicle 200
Then the automatic positioning of people is realized that mechanical arm memory track carries out mechanical arm movement, is clapped the specific position of vehicle 200
According to.
Charging unit is only arranged in the both ends of detection route at present, and in detection line Lu Shangwu charging unit, battery can expire
Electricity required for sufficient one-time detection process.
Further, action learning is carried out using vehicle 200 of the mobile robot to multiple and different vehicles in advance in S500
And the step of saving motion path, includes:
S501, using Che Di robot 11 and the side Liang Geche robot 21 to be parked in 12 top of vehicle bottom rail road it is multiple not
Vehicle 200 with vehicle carries out action learning and detects to obtain number of allocated passenger trains evidence and vehicle side data, wherein action learning includes identification
Default key position in the vehicle and detection vehicle 200 of vehicle 200.In embodiments of the present invention, the vehicle etc. of vehicle 200
Information is stored in vehicle bottom electron label, and certain electronic tag may be provided at any position of vehicle 200, as long as mobile machine
People, which can be convenient, efficiently detects electronic tag.What default key position generally included to be easy to damage in 200 driving process of vehicle
Position and appearance damage will result in the position seriously affected, such as the comprehensive measurement and brake shoe residue of wheelset profile
The measurement of thickness, at the same should cover at least 80% other include fastener lose, bearing get rid of oil, components defect and displacement etc. pass
The automatic detection of system Manual Visual Inspection corner.
S502, when number of allocated passenger trains evidence and vehicle side data meet preset condition, save Che Di robot 11 and two vehicle side machines
The motion path of device people 21, wherein motion path includes Che Di robot 11 and the side Liang Geche robot 21 respectively in vehicle bottom rail
Mechanical arm on road 12 and movement routine and Che Di robot 11 and the side Liang Geche robot 21 on two vehicle siding tracks 22
Path of motion.In embodiments of the present invention, number of allocated passenger trains evidence and vehicle side data are usually that camera is used to carry out acquisition of taking pictures
Image, preset condition is the image that clarity meets the default key position of default clarity.Therefore, when number of allocated passenger trains evidence and
Picture in vehicle side data is respectively the corresponding default key position in vehicle bottom and vehicle side when being clearly picture, that is, is met default
Condition.
S503, when number of allocated passenger trains evidence and vehicle side data are unsatisfactory for preset condition, continue to test vehicle 200.
It should be noted that due to train bottom construct it is more relative complex, so by the line-scan digital camera on trolley into
The holoscan of row vehicle bottom, i.e. acquisition train bottom rail inside line whole visual image.Bottom trolley can be the bottom of to later
Portion's keypoint part carries out fixed point shooting, shoots the 2D and 3D rendering of privileged site, carries out image recognition.It it requires bottom trolley
It is faster than side trolley travel speed.
Side trolley counter-lateral quadrents privileged site carries out Image Acquisition, and because having thereon than heavier mechanical arm,
Travel speed more slowly, facilitates trolley to position.
Due to time restriction, detects doubtful damaged location not and will do it robot reinspection, but notice is manually answered
Inspection.
It should be noted that the testing process of robot planning is exactly in sequence from the first vehicle directly to last one at present
Vehicle carries out sequence detection, if staff has found suspected malfunctions, robot can be required to stop current detection, directly arrive system
Positioning, which is set, carries out suspected malfunctions detection, and photographs to record, and carries out identification alarm.When this task is completed, before robot is retracted
The test point of stopping is detected again.
It certainly, in other embodiments, can be in the detection when mobile robot is detected according to fixed motion path
Way carries out manual intervention, i.e., the damage relatively obtained when the directly visible defective component of user's naked eyes or directly by general image
Component can preferentially detect the suspicious lesion component, then start to detect forward or backward using the defective component as node.Move
Fixed motion path can also be split at least both ends to be performed separately the detection of detection vehicle 200 by robot.
Further, include: before when carrying out inspection to vehicle 200 in S100
S600, judge whether vehicle 200 meets testing conditions, if so, performing the next step rapid S200, testing conditions include
Vehicle 200 whether on the railroad track 100 to be detected, whether the engine of vehicle 200 out of service and user or
Whether vehicle 200 triggers beginning detection switch.200 engine stop of vehicle operation, be in order to avoid vehicle 200 run when into
Row detection, to influence maintenance as a result, and avoiding occurring what mobile robot collided with vehicle 200 during inspection
Situation.
Further, include: the step of the vehicle of determining vehicle 200 in S100
S101, mobile robot is made to be in preset state, preset state includes that current electric quantity reaches default electricity, present bit
Set the one end for being respectively positioned on vehicle bottom rail road 12 and two vehicle siding tracks 22 and/or the other end.
S102, the vehicle of vehicle 200 in vehicle data is obtained by the mobile robot detection vehicle 200 in current location
Type.
Further, mobile robot is made to be in preset state in S101, preset state includes that current electric quantity reaches default
Electricity, current location are respectively positioned on the step of one end and/or other end in vehicle bottom rail road 12 and two vehicle siding tracks 22 and include:
S111, judge whether the current electric quantity of each robot in mobile robot reaches default electricity.
If the not up to default electricity of the current electric quantity of some or all robots, makes part in S112, mobile robot
Or all robots are moved at the one end in vehicle bottom rail road 12 and two vehicle siding tracks 22 and/or the charging equipment of the other end and fill
Electricity.
Further, this method further include:
S700, when the current electric quantity of robot a part of in mobile robot reaches default electricity, control a part of machine
Device people detects the vehicle of vehicle 200, and the vehicle of vehicle 200 is synchronized and is sent to another part robot in mobile robot.
Preferably, when a part of robot detects the vehicle of vehicle 200 and notifies to another part machine in charging
When people, a part of robot can call the corresponding motion path of vehicle in advance and be detected, and another part robot needs
Start to detect again after charged.It is complete to detection to start asynchronous detection vehicle 200, mobile robot returns to charging successively
Stake.Preferably, multiple charging piles can also be arranged between railroad track 100, midway robot electric quantity deficiency, which is then returned, to be closer
Charging pile goes to charge, while saving and having detected location point, selects optimal path, the position that do not detect is detected again from charging pile to be referred to
It leads to encounter and has detected location point stopping detection, that has detected does not detect what since the detection having detected location point do not detected.If
Electricity is sufficient, then determines vehicle and detection and localization simultaneously.
Further, controlling the step of mobile robot detects vehicle 200 according to motion path in S200 includes:
S201, localization for Mobile Robot is controlled to default key position according to the movement routine in motion path.
S202, judge whether mobile robot positions success, if no-fix success, arrives localization for Mobile Robot manually
Default key position.
If S203, positioning successfully, according to the path of motion control mobile robot in motion path to default crucial position
It sets and is detected.
Illustratively, after Vehicular intelligent cruising inspection system is installed in place, early period needs to compare the key of vehicle 200 according to vehicle
Component is trained mechanical arm movement, guarantees that mechanical arm can stretch in place, camera above can take required portion
Part picture, and complete the dimensional measurement of critical component.In the process, after the image data of bottom and the acquisition of side camera is
Image recognition technology do data accumulation.This cycle of training is 2-4 weeks, and system starts commencement of commercial operation later.
System detects lorry by 3 trolleies, is located at lorry left side, bottom, right side.Each trolley has solely
From track, complete it is various acquisition or dimensional measurement task carry out upload server.Bottom trolley mainly completes lorry bottom diagram
The acquisition tasks of picture, line scan camera and high definition area array cameras are installed on trolley, and line scan camera carries out trolley bottom holographic
Image Acquisition, high definition area array cameras capture Focusing on components after trolley accurate positioning.The vehicle structure of left and right side
With function all, the mechanical arm of a set of 6DOF, mechanical arm tail end mounting structure light dimension measuring unit are arranged on trolley
With high definition area array cameras.Brake shoe thickness, rim size etc. are detected by structure light dimension measuring unit.Pass through high definition area array cameras
The emphasis key position images such as brake shoe, bogie bolt, adapter, car door are shot, fault identification is carried out.
3 trolleies use lithium battery power supply respectively, when not working, all rest on charging zone and charge to trolley.Work as lorry
It into area to be checked, and stops, intelligence examines vehicle system starts.Machine, which is controlled, by robot core controls bottom trolley to full vehicle
Bottom Image Acquisition is carried out, is positioned by laser range sensor and captures bottom Critical component.Machine is controlled by robot core
It commands side trolley to move forward or back, by the feedback information of laser range sensor, goes to designated position, side is captured in positioning
Critical component, and carry out critical component dimensional measurement.The picture transfer of shooting is to image capture device, by acquisition equipment compression
Processing is uploaded to identification server by wireless bridge, and recognition result and shooting picture are shown in system platform by server,
It is checked for staff.
It is the important ring for ensureing train safety, the railway Intelligent robot inspection system of this project development that freight car, which is repaired,
Starting point be exactly be lorry traffic safety service.Make the knot of detection by introducing safe and reliable robot progress inspection operation
Fruit is more acurrate, promotes the efficiency of lorry maintenance, ensures the safety of lorry traveling.This project can fill up the sky of domestic field application
It is white, and many intellectual properties and patent in the field are obtained, directly or indirectly interests are huge.
The invention discloses a kind of Vehicular intelligent cruising inspection system and methods, by carrying out different automobile types to mobile robot
The action learning of vehicle automatically detects the default key position of vehicle, so to the component to break down on vehicle into
Row maintenance, improves the detection efficiency of vehicle.
In the above-described embodiment, it all emphasizes particularly on different fields to the description of each embodiment, without detailed in some embodiment
The part stated may refer to the associated description of other embodiment.The above are to Vehicular intelligent inspection provided by the present invention system
The description of system and method, for those of ordinary skill in the art, the thought of embodiment according to the present invention, in specific embodiment party
There will be changes in formula and application range, and to sum up, the contents of this specification are not to be construed as limiting the invention.
Claims (14)
1. a kind of Vehicular intelligent cruising inspection system, which is characterized in that for the vehicle (200) on inspection railroad track (100), this is
System includes: vehicle bottom inspection device (1) and vehicle side inspection device (2)；
Vehicle bottom inspection device (1) includes Che Di robot (11) and vehicle bottom rail road (12), vehicle bottom rail road (12) setting
On sleeper between two tracks of the railroad track (100), the Che Di robot (11) is movably disposed at institute
It states on vehicle bottom rail road (12), for detecting the bottom of the vehicle (200) and obtaining number of allocated passenger trains evidence；
Vehicle side inspection device (2) includes the side Liang Geche robot (21) and two vehicle siding tracks (22), two vehicle sides
Track (22) is separately positioned on the two sides of the railroad track (100), and the Che Ce robot (21) is movably disposed at institute
It states on vehicle siding track (22), for detecting the side of the vehicle (200) and obtaining vehicle side data.
2. system according to claim 1, which is characterized in that the system further includes charging equipment, and the charging equipment is set
The both ends at the both ends in vehicle bottom rail road (12) and two vehicle siding tracks (22) are set, are used for the Che Di robot
(11) it powers with two Che Ce robots (21).
3. system according to claim 1, which is characterized in that the system further includes web-transporting device, and being used for will be described
Number of allocated passenger trains evidence and the vehicle side data carry out wireless network transmissions.
4. system according to claim 3, which is characterized in that the system further includes identification server apparatus, is used for basis
The number of allocated passenger trains evidence that the web-transporting device is sent and the vehicle side data are to the vehicle bottom of the vehicle (200) and two sides
Component carries out fault identification and obtains maintenance result.
5. system according to claim 4, which is characterized in that the system further includes background monitoring equipment, for showing
It states and identifies the maintenance result that server is sent and the component appearance event on the maintenance result instruction vehicle (200)
Prompt is sounded an alarm when barrier, to prompt user to repair or replace the component to break down on the vehicle (200).
6. a kind of Vehicular intelligent method for inspecting, which is characterized in that this method comprises:
When carrying out inspection to vehicle (200), determines and motion path is obtained according to the vehicle of the vehicle (200)；
The vehicle (200) is detected according to motion path control mobile robot and obtains vehicle data, wherein
The mobile robot includes Che Di robot (11) and the side Liang Geche robot (21), and the vehicle data includes number of allocated passenger trains evidence
With vehicle side data.
7. according to right to go 6 described in method, which is characterized in that this method further include:
Identification server apparatus obtains maintenance result according to the vehicle data；
Background monitoring equipment shows the maintenance as a result, and indicating that the component on the vehicle (200) goes out in the maintenance result
Prompt is sounded an alarm when existing failure, to prompt user to repair or replace the component to break down on the vehicle (200).
8. according to the method described in claim 6, it is characterized in that, the motion path obtains by the following method:
Action learning is carried out using vehicle (200) of the mobile robot to multiple and different vehicles in advance and saves motion path
To local.
9. according to the method described in claim 8, it is characterized in that, in advance using mobile robot to the vehicle of multiple and different vehicles
(200) carry out action learning and save motion path to local step
Using the Che Di robot (11) and two Che Ce robots (21) to being parked in above vehicle bottom rail road (12)
The vehicle (200) of multiple and different vehicles carries out action learning and detects to obtain number of allocated passenger trains evidence and vehicle side data, wherein the movement
Study includes the default key position in the vehicle and the detection vehicle (200) for identify the vehicle (200)；
When the number of allocated passenger trains evidence and the vehicle side data meet preset condition, the Che Di robot (11) and two institutes are saved
The motion path of the side Shu Che robot (21), wherein the motion path includes described in the Che Di robot (11) and two
Che Ce robot (21) movement routine on vehicle bottom rail road (12) and two vehicle siding tracks (22), Yi Jisuo respectively
The path of motion of Shu Chedi robot (11) and the mechanical arm on two Che Ce robots (21)；
When the number of allocated passenger trains evidence and the vehicle side data are unsatisfactory for the preset condition, the vehicle (200) are continued to test.
10. according to the method described in claim 6, it is characterized in that, including: before when carrying out inspection to vehicle (200)
Judge whether the vehicle (200) meets testing conditions, if so, performing the next step suddenly, the testing conditions include institute
State vehicle (200) whether on railroad track to be detected (100), the engine of the vehicle (200) it is whether out of service,
And whether user or the vehicle (200) trigger beginning detection switch.
11. according to the method described in claim 6, it is characterized in that, the step of determining the vehicle of the vehicle (200) includes:
The mobile robot is set to be in preset state, the preset state includes that current electric quantity reaches default electricity, present bit
Set the one end for being respectively positioned on vehicle bottom rail road (12) and two vehicle siding tracks (22) and/or the other end；
The vehicle (200), which is detected, by the mobile robot in the current location obtains vehicle described in the vehicle data
The vehicle of (200).
12. according to the method for claim 11, which is characterized in that so that the mobile robot is in preset state, it is described
Preset state includes that current electric quantity reaches default electricity, current location is respectively positioned on vehicle bottom rail road (12) and two vehicle sides
The step of one end of track (22) and/or the other end includes:
Judge whether the current electric quantity of each robot in the mobile robot reaches the default electricity；
If the current electric quantity of some or all robots is not up to the default electricity in the mobile robot, make the portion
It is divided to or all robots is moved to one end and/or the other end in vehicle bottom rail road (12) and two vehicle siding tracks (22)
It charges at the charging equipment.
13. according to the method for claim 12, which is characterized in that this method further include:
When the current electric quantity of robot a part of in the mobile robot reaches the default electricity, described a part is controlled
Robot detects the vehicle of the vehicle (200), and the vehicle of the vehicle (200) is synchronized and is sent to the mobile robot
Middle another part robot.
14. according to the method described in claim 9, it is characterized in that, controlling the mobile robot according to the motion path
The step of detecting to the vehicle (200) include:
The localization for Mobile Robot is controlled to the default key position according to the movement routine in the motion path；
Judge whether the mobile robot positions success, if no-fix success, makes the localization for Mobile Robot described in
Default key position；
If positioning successfully, the mobile robot is controlled to the default key according to the path of motion in the motion path
It is detected position.
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| CN111240340A (en) * | 2020-02-11 | 2020-06-05 | 北京海益同展信息科技有限公司 | Inspection robot, safe operation system, safe operation method and storage medium |
| CN111390975A (en) * | 2020-04-27 | 2020-07-10 | 浙江库科自动化科技有限公司 | Inspection intelligent robot with air pipe removing function and inspection method thereof |
| CN111409085A (en) * | 2020-04-27 | 2020-07-14 | 浙江库科自动化科技有限公司 | Inspection intelligent robot with folding angle cock closing function and inspection method thereof |
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| CN111409085A (en) * | 2020-04-27 | 2020-07-14 | 浙江库科自动化科技有限公司 | Inspection intelligent robot with folding angle cock closing function and inspection method thereof |
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| CN113436366A (en) * | 2021-06-25 | 2021-09-24 | 北京铁道工程机电技术研究所股份有限公司 | Synchronous and cooperative inspection method for bottom and side edges of rail transit vehicle |
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