CN113885569A - Motor car bottom intelligent inspection robot system based on computer vision processing - Google Patents
Motor car bottom intelligent inspection robot system based on computer vision processing Download PDFInfo
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Abstract
The application discloses motor car vehicle bottom intelligence inspection robot system based on computer vision is handled includes: the system comprises a UWB positioning system, a patrol image acquisition robot and a visual analysis platform; the inspection image acquisition robot is used for inspecting the bottom of the bullet train and acquiring a shot image of the bottom of the bullet train and a shape image of the bottom of the bullet train; the UWB positioning system is used for positioning the inspection image acquisition robot and generating acquisition point position information of the inspection image acquisition robot; the visual analysis platform is used for detecting the abnormal conditions of the vehicle bottom according to the shot images of the vehicle bottom, the shape images of the vehicle bottom and a preset standard vehicle bottom model, and marking the positions of the abnormal conditions of the vehicle bottom according to the position information of the acquisition points. This application has realized patrolling and examining accurate location of image acquisition robot and the unusual condition of motor car vehicle bottom to from two angles of plane image and radar detection, mark out the unusual condition of motor car vehicle bottom, realize the location and the detection that become more meticulous of motor car vehicle bottom.
Description
Technical Field
The application belongs to the technical field of motor train unit detection equipment, and particularly relates to a motor train unit bottom intelligent inspection robot system based on computer vision processing.
Background
With the rapid development of infrastructure in recent years, particularly the opening operation of a plurality of high-speed railways, the number of running motor trains is rapidly increased year by year, the corresponding motor trains bear heavier and heavier maintenance tasks, and the operation pressure is higher and higher. The daily maintenance of the motor train unit is mainly carried out by first-level maintenance, the first-level maintenance is completed by 1-2 maintenance operation groups each time, a large number of maintenance personnel are needed, the maintenance time is long each time, and along with the gradual increase of the number of the motor train units and the operation traffic routes, the operation tasks of the first-level maintenance of the motor train units are gradually increased every day. At present, robots are mature and applied to various aspects of industry, agriculture, life service and the like, have profound technical background, but detection robots for motor train unit train bottoms do not exist, and are generally special detection equipment.
Therefore, the motor train unit bottom detection robot is really necessary, and has the advantages of simple and convenient operation, high automation degree and accurate detection and positioning.
Disclosure of Invention
The application provides a motor car vehicle bottom intelligence inspection robot system based on computer vision is handled introduces UWB positioning system, can accurately acquire the position of patrolling and examining the robot and the position of the unusual condition of motor car vehicle bottom, realizes detecting full automation, detects the motor car vehicle bottom of the accurate location and patrols and examines fast.
In order to achieve the above purpose, the present application provides the following solutions:
the utility model provides a motor car vehicle bottom intelligence inspection robot system based on computer vision is handled, includes: the system comprises a UWB positioning system, a patrol image acquisition robot and a visual analysis platform;
the inspection image acquisition robot is used for inspecting the bottom of the bullet train, acquiring a vehicle bottom shot image and a vehicle bottom shape image and sending the vehicle bottom shot image and the vehicle bottom shape image to the visual analysis platform;
the UWB positioning system is used for positioning the inspection image acquisition robot, generating acquisition point position information of the inspection image acquisition robot and sending the acquisition point position information to the visual analysis platform;
the visual analysis platform is used for detecting the abnormal conditions of the vehicle bottom according to the shot images of the vehicle bottom, the shape images of the vehicle bottom and a preset standard vehicle bottom model, and marking the position of the abnormal conditions of the vehicle bottom according to the position information of the acquisition point.
Preferably, the UWB positioning system comprises a positioning tag, a plurality of positioning base stations, and a positioning server;
the positioning label is fixedly connected with the inspection image acquisition robot, the positioning base station is installed at a preset position of the bottom of the bullet train, the positioning label is in position data communication with the positioning base station, and the positioning base station sends the position data to the positioning server;
and the positioning server is used for generating the acquisition point position information of the inspection image acquisition robot according to the position of the positioning base station and the position data.
Preferably, the inspection image acquisition robot adopts an unmanned aerial vehicle platform, and the unmanned aerial vehicle platform comprises a flight power unit, a flight control unit, image acquisition equipment, an image radar, a front radar and a height radar;
the unmanned aerial vehicle platform is connected with the positioning tag, the flight power unit, the flight control unit, the image acquisition equipment, the image radar, the front radar and the altitude radar;
the image acquisition equipment is used for acquiring the vehicle bottom shot image and sending the vehicle bottom shot image to the visual analysis platform;
the image radar is used for acquiring the vehicle bottom shape image and sending the vehicle bottom shape image to the visual analysis platform;
the front radar is used for detecting the space obstacle condition in front of the flight of the unmanned aerial vehicle platform, and when the obstacle is detected, the front radar sends an emergency stop signal to the flight control unit;
the altitude radar is used for detecting the altitude between the unmanned aerial vehicle platform and the ground and maintaining the flight altitude between the unmanned aerial vehicle platform and the ground;
the flight control unit is used for according to the positioning server sends the location label with the positional information of location basic station, and flying height, generates the flight route of unmanned aerial vehicle platform, and control flight power unit drives the flight of unmanned aerial vehicle platform, flight control unit still is used for according to emergency stop signal, control flight power unit drives the flight of unmanned aerial vehicle platform stops, and makes the unmanned aerial vehicle platform is in the state of hovering.
Preferably, the visual analysis platform comprises a standard vehicle bottom model, a calibration unit, an image analysis unit, a position marking unit and a display terminal;
the standard image model is used for marking the characteristic data of the bottom of the bullet train;
the display terminal is used for displaying the abnormal conditions of the vehicle bottom;
the calibration unit is used for carrying out position calibration on the vehicle bottom shooting image, the vehicle bottom shape image and the standard vehicle bottom model according to the position of the positioning base station to generate a three-layer three-dimensional simulation image;
the image analysis unit is used for obtaining the abnormal conditions of the vehicle bottom according to the three-layer three-dimensional simulation diagram and marking the abnormal conditions of the vehicle bottom on the standard vehicle bottom model;
and the position marking unit is used for receiving the position information of the acquisition point and displaying the position information of the acquisition point in the standard vehicle bottom model.
Preferably, the vehicle bottom shooting image and the vehicle bottom shape image respectively comprise a vehicle bottom middle image, a vehicle bottom left image and a vehicle bottom right image;
the calibration unit is also used for fusing the vehicle bottom shooting image and the vehicle bottom shape image with the vehicle bottom middle image, the vehicle bottom left image and the vehicle bottom right image respectively according to the position of the positioning base station to generate a complete vehicle bottom shooting image and the vehicle bottom shape image.
Preferably, the feature data includes: flat, curved, gapped, convex, concave.
Preferably, the position marking unit is further configured to send out obstacle alarm information when the unmanned aerial vehicle platform is in an emergency stop-flight and hovering state.
Preferably, the display terminal comprises a first display unit and a second display unit;
the first display unit is used for displaying the vehicle bottom shooting image and the vehicle bottom shape image which are acquired by the unmanned aerial vehicle platform in real time in the flying process, and displaying the position information of the acquisition point of the unmanned aerial vehicle platform at the moment on the standard vehicle bottom model;
the second display unit is used for displaying the standard vehicle bottom model marked with the abnormal vehicle bottom condition.
The beneficial effect of this application does:
the application discloses robot system is patrolled and examined to motor car vehicle bottom intelligence based on computer vision is handled, introduce UWB positioning system, under the interact of UWB location label and location basic station, realized patrolling and examining the accurate location of image acquisition robot and the unusual condition of motor car vehicle bottom, on this basis, through patrolling and examining the image acquisition robot and gather the vehicle bottom in real time and shoot image and vehicle bottom shape image, carry out data processing by visual analysis platform, follow two angles of plane image and radar detection, mark out the unusual condition of motor car vehicle bottom, realize the location and the detection that become more meticulous of motor car vehicle bottom.
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In order to more clearly illustrate the technical solution of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a bullet train bottom intelligent inspection robot system based on computer vision processing according to an embodiment of the application;
FIG. 2 is a schematic diagram of the numbers of the positioning base stations at the head and tail of the motor train unit train set in the embodiment of the application;
FIG. 3 is a schematic diagram of a routing inspection path of each car in the embodiment of the present application;
fig. 4 is a schematic structural diagram of an unmanned aerial vehicle platform in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a visual analysis platform in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.
As shown in fig. 1, a schematic structural diagram of a bullet train underbody intelligent inspection robot system based on computer vision processing according to an embodiment of the present application includes a UWB positioning system, an inspection image acquisition robot, and a vision analysis platform.
The inspection image acquisition robot is used for inspecting the bottom of the bullet train, acquiring a shot image of the bottom of the bullet train and a shape image of the bottom of the bullet train, and sending the shot image of the bottom of the bullet train and the shape image of the bottom of the bullet train to the visual analysis platform;
the UWB positioning system is used for positioning the inspection image acquisition robot, generating acquisition point position information of the inspection image acquisition robot and sending the acquisition point position information to the visual analysis platform;
the visual analysis platform is used for detecting the abnormal conditions of the vehicle bottom according to the shot images of the vehicle bottom, the shape images of the vehicle bottom and a preset standard vehicle bottom model, and marking the positions of the abnormal conditions of the vehicle bottom according to the position information of the acquisition points.
The automatic intelligent inspection of the motor train unit bottom, especially under the condition that a motor train unit comprises a plurality of sections of carriages and a plurality of carriages, firstly can accurately distinguish the carriages from the carriages, and then position which carriage, only if the positioning is accurate, the inspection of the vehicle bottom at the later stage can be carried out.
In this embodiment, the UWB positioning system using area positioning includes: the positioning system comprises a positioning tag, a plurality of positioning base stations and a positioning server. The system comprises a positioning label, a positioning base station, a positioning server and a mobile vehicle, wherein the positioning label is fixedly connected with an inspection image acquisition robot, the positioning base station is installed at a preset position at the bottom of the mobile vehicle, the positioning label and the positioning base station keep position data communication, and the positioning base station sends the position data to the positioning server; and the positioning server is used for generating acquisition point position information of the inspection image acquisition robot according to the position and the position data of the positioning base station.
The UWB positioning system is not large in positioning range, but accurate in positioning, and based on the number of the positioning base station, the inspection robot carrying the positioning label can move along a set route. In this regard, the present embodiment is configured correspondingly as follows;
for the positioning base stations installed on the headstock and the carriage, different forms of coding modes are adopted, in the embodiment, the positioning base station at the front end of the headstock is provided with a serial number of 11, the positioning base station at the tail end of the headstock is provided with a serial number of 11A, the positioning base station at one end of the carriage is provided with a serial number of 1111A, the positioning base station at the other end of the carriage is provided with a serial number of 1111A, namely, the front end of the headstock is provided with a two-digit serial number, the tail end of the headstock is provided with a letter, the carriage is provided with a four-digit serial number, one end of the carriage is provided with a pure four-digit serial number, and the other end of the carriage is provided with a letter. Therefore, the head and the tail are numbered in pairs, the numbering is two numbers, namely the front end of the vehicle head, the two numbers plus letters are the tail end of the vehicle head, and the numbering is four numbers, namely the carriage. As shown in fig. 2, the positioning base station numbers of the head and tail of the train of the motor train unit set for the embodiment are shown. All the positioning base stations are arranged in the middle of the foremost end or the rearmost end of the vehicle head or the carriage.
In addition, due to the shielding of the wheels, the images of the bottom of the vehicle cannot be completely acquired at one time, and the images can be completely acquired through different acquisition paths.
In this embodiment, it is assumed that the positioning tag travels along the paired positioning base stations, and takes one of the positioning base stations as a starting point and a passing point, and takes the other positioning base station as a turning point, as shown in fig. 3, in the traveling process, if starting from 1111, the positioning tag defaults to 1111 as a passing point, and takes 1111A turning point, that is, starts to travel to 1111A from 1111, travels 1 meter to the left when reaching 1111A, then travels in the backward direction, and after traveling 2 meters by turning 1111 in the 1111 lateral direction, travels to 1111A in the lateral direction, and finally returns to 1111A, thereby completing a complete traveling path. The routing inspection path of the head refers to the carriage.
In this embodiment, patrol and examine image acquisition robot and adopt the unmanned aerial vehicle platform, can fly fast at the vehicle bottom, and need not to consider the ground condition. The unmanned aerial vehicle platform is equipped with a flight power unit, a flight control unit, an image acquisition device, an image radar, a front radar and a height radar, as shown in fig. 4.
Wherein, flight power unit, leading radar and altitude radar all are connected with the flight control unit for the flight control of unmanned aerial vehicle platform.
Image acquisition equipment is used for gathering the vehicle bottom and shoots the image to send to visual analysis platform, in this embodiment, adopt high-speed high definition camera as image acquisition equipment.
The image radar is used for collecting vehicle bottom shape images and sending the vehicle bottom shape images to the visual analysis platform, the radar can detect the geometric shape of the vehicle bottom, and the situation of misinformation caused by pure image analysis is avoided.
Leading radar is used for surveying the space obstacle condition in unmanned aerial vehicle platform flight the place ahead, under the general condition, on the flying height of unmanned aerial vehicle platform (for example, with height such as maintenance frame), the vehicle bottom of motor car should not have the barrier, when detecting the barrier, can only explain that the abnormal conditions has appeared in the vehicle bottom, the normal flight that probably directly influences unmanned aerial vehicle platform in addition, leading radar sent emergency stop signal to flight control unit this moment.
The altitude radar is used for detecting the altitude between the unmanned aerial vehicle platform and the ground and maintaining the flight altitude between the unmanned aerial vehicle platform and the ground.
The flight control unit is used for generating the flight route of the unmanned aerial vehicle platform according to the position information of the positioning label and the positioning base station sent by the positioning server and the flight height, as shown in fig. 3, and controlling the flight power unit to drive the unmanned aerial vehicle platform to fly, and the flight control unit is also used for controlling the flight power unit to drive the unmanned aerial vehicle platform to stop flying according to an emergency stop signal and enabling the unmanned aerial vehicle platform to be in a hovering state.
Based on the accurate positioning of the UWB positioning system, the image shooting and the later-stage visual analysis of the vehicle bottom can be implemented so as to find the abnormal condition of the vehicle bottom.
In this embodiment, the visual analysis platform includes a standard vehicle bottom model, a calibration unit, an image analysis unit, a position marking unit and a display terminal, as shown in fig. 5.
Wherein, standard image model is used for marking the characteristic data of motor car vehicle bottom, includes: flat, curved, gapped, convex, concave, etc.
The calibration unit is used for carrying out position calibration on the vehicle bottom shooting image, the vehicle bottom shape image and the standard vehicle bottom model according to the position of the positioning base station to generate a three-layer three-dimensional simulation image;
as before, because the sheltering from of wheel, so can not once only be complete with the image acquisition of vehicle bottom, consequently, just designed foretell unmanned aerial vehicle platform flight route, according to this flight route, the vehicle bottom is shot the image and the vehicle bottom shape image is equallyd divide into the triplex: the image in the vehicle bottom, the image left in the vehicle bottom and the image right in the vehicle bottom. The calibration unit firstly fuses the vehicle bottom middle image, the vehicle bottom left image and the vehicle bottom right image of the vehicle bottom shooting image and the vehicle bottom shape image respectively according to the position of the positioning base station to generate a complete vehicle bottom shooting image and a vehicle bottom shape image.
Because of the fixed position of the positioning base station, the vehicle bottom photographed image, the vehicle bottom shape image and the standard vehicle bottom model can be completely projected in a laminated manner according to the position of the positioning base station, the image analysis unit compares the three-layer three-dimensional simulation images obtained according to the laminated projection, when the image data has a deviation, the abnormality is present, and the abnormal condition of the vehicle bottom is marked on the standard vehicle bottom model. As mentioned above, the vehicle bottom shape image is to prevent the abnormal false alarm of the vehicle bottom captured image, for example, if a mud block is adhered to a plane of the vehicle bottom, the vehicle bottom captured image will show an abnormal condition, while the vehicle bottom shape image can detect that the vehicle bottom captured image is a convex abnormal structure, and the image analysis unit does not report the abnormal condition in view of the fact that the vehicle bottom captured image is not located in such an abnormal structure; for example, when a crack appears at a certain position of the bottom of the car, the photographed image of the bottom of the car can be displayed, and the shape image of the bottom of the car can also be detected, so that the abnormality of the part can be determined.
The position marking unit is used for receiving the position information of the acquisition points, displaying the position information of the acquisition points in a standard vehicle bottom model, and simultaneously sending out obstacle alarm information when the unmanned aerial vehicle platform is in an emergency stop-flight and hovering state.
The display terminal is used for displaying abnormal conditions of the vehicle bottom, and in the embodiment, the display terminal comprises a first display unit and a second display unit; the first display unit is used for displaying a vehicle bottom shooting image and a vehicle bottom shape image which are acquired by the unmanned aerial vehicle platform in real time in the flying process, and displaying the position information of an acquisition point of the unmanned aerial vehicle platform at the moment on a standard vehicle bottom model; the second display unit is used for displaying a standard vehicle bottom model marked with vehicle bottom abnormal conditions.
The above-described embodiments are merely illustrative of the preferred embodiments of the present application, and do not limit the scope of the present application, and various modifications and improvements made to the technical solutions of the present application by those skilled in the art without departing from the spirit of the present application should fall within the protection scope defined by the claims of the present application.
Claims (8)
1. The utility model provides a motor car vehicle bottom intelligence inspection robot system based on computer vision is handled which characterized in that includes: the system comprises a UWB positioning system, a patrol image acquisition robot and a visual analysis platform;
the inspection image acquisition robot is used for inspecting the bottom of the bullet train, acquiring a vehicle bottom shot image and a vehicle bottom shape image and sending the vehicle bottom shot image and the vehicle bottom shape image to the visual analysis platform;
the UWB positioning system is used for positioning the inspection image acquisition robot, generating acquisition point position information of the inspection image acquisition robot and sending the acquisition point position information to the visual analysis platform;
the visual analysis platform is used for detecting the abnormal conditions of the vehicle bottom according to the shot images of the vehicle bottom, the shape images of the vehicle bottom and a preset standard vehicle bottom model, and marking the position of the abnormal conditions of the vehicle bottom according to the position information of the acquisition point.
2. The intelligent motor car bottom inspection robot system based on computer vision processing is characterized in that the UWB positioning system comprises a positioning tag, a plurality of positioning base stations and a positioning server;
the positioning label is fixedly connected with the inspection image acquisition robot, the positioning base station is installed at a preset position of the bottom of the bullet train, the positioning label is in position data communication with the positioning base station, and the positioning base station sends the position data to the positioning server;
and the positioning server is used for generating the acquisition point position information of the inspection image acquisition robot according to the position of the positioning base station and the position data.
3. The intelligent motor car bottom inspection robot system based on computer vision processing as claimed in claim 2, wherein the inspection image acquisition robot adopts an unmanned aerial vehicle platform, and the unmanned aerial vehicle platform comprises a flight power unit, a flight control unit, an image acquisition device, an image radar, a front radar and a height radar;
the unmanned aerial vehicle platform is connected with the positioning tag, the flight power unit, the flight control unit, the image acquisition equipment, the image radar, the front radar and the altitude radar;
the image acquisition equipment is used for acquiring the vehicle bottom shot image and sending the vehicle bottom shot image to the visual analysis platform;
the image radar is used for acquiring the vehicle bottom shape image and sending the vehicle bottom shape image to the visual analysis platform;
the front radar is used for detecting the space obstacle condition in front of the flight of the unmanned aerial vehicle platform, and when the obstacle is detected, the front radar sends an emergency stop signal to the flight control unit;
the altitude radar is used for detecting the altitude between the unmanned aerial vehicle platform and the ground and maintaining the flight altitude between the unmanned aerial vehicle platform and the ground;
the flight control unit is used for according to the positioning server sends the location label with the positional information of location basic station, and flying height, generates the flight route of unmanned aerial vehicle platform, and control flight power unit drives the flight of unmanned aerial vehicle platform, flight control unit still is used for according to emergency stop signal, control flight power unit drives the flight of unmanned aerial vehicle platform stops, and makes the unmanned aerial vehicle platform is in the state of hovering.
4. The intelligent motor car bottom inspection robot system based on computer vision processing as claimed in claim 3, wherein the vision analysis platform comprises a standard car bottom model, a calibration unit, an image analysis unit, a position marking unit and a display terminal;
the standard image model is used for marking the characteristic data of the bottom of the bullet train;
the display terminal is used for displaying the abnormal conditions of the vehicle bottom;
the calibration unit is used for carrying out position calibration on the vehicle bottom shooting image, the vehicle bottom shape image and the standard vehicle bottom model according to the position of the positioning base station to generate a three-layer three-dimensional simulation image;
the image analysis unit is used for obtaining the abnormal conditions of the vehicle bottom according to the three-layer three-dimensional simulation diagram and marking the abnormal conditions of the vehicle bottom on the standard vehicle bottom model;
and the position marking unit is used for receiving the position information of the acquisition point and displaying the position information of the acquisition point in the standard vehicle bottom model.
5. The intelligent motor car bottom inspection robot system based on computer vision processing according to claim 4, wherein the car bottom photographed image and the car bottom shape image each comprise a car bottom middle image, a car bottom left image and a car bottom right image;
the calibration unit is also used for fusing the vehicle bottom shooting image and the vehicle bottom shape image with the vehicle bottom middle image, the vehicle bottom left image and the vehicle bottom right image respectively according to the position of the positioning base station to generate a complete vehicle bottom shooting image and the vehicle bottom shape image.
6. The intelligent motor car bottom inspection robot system based on computer vision processing as claimed in claim 4, wherein the characteristic data comprises: flat, curved, gapped, convex, concave.
7. The intelligent motor car bottom inspection robot system based on computer vision processing as claimed in claim 4, wherein the position marking unit is further used for sending out obstacle alarm information when the unmanned aerial vehicle platform is in an emergency stop-flight and hovering state.
8. The intelligent motor car bottom inspection robot system based on computer vision processing is characterized in that the display terminal comprises a first display unit and a second display unit;
the first display unit is used for displaying the vehicle bottom shooting image and the vehicle bottom shape image which are acquired by the unmanned aerial vehicle platform in real time in the flying process, and displaying the position information of the acquisition point of the unmanned aerial vehicle platform at the moment on the standard vehicle bottom model;
the second display unit is used for displaying the standard vehicle bottom model marked with the abnormal vehicle bottom condition.
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| CN202111239396.1A CN113885569A (en) | 2021-10-25 | 2021-10-25 | Motor car bottom intelligent inspection robot system based on computer vision processing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114777645A (en) * | 2022-04-13 | 2022-07-22 | 中车青岛四方车辆研究所有限公司 | RGV positioning method and RGV positioning system for rail vehicle detection |
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2021
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114777645A (en) * | 2022-04-13 | 2022-07-22 | 中车青岛四方车辆研究所有限公司 | RGV positioning method and RGV positioning system for rail vehicle detection |
| CN114777645B (en) * | 2022-04-13 | 2024-01-26 | 中车青岛四方车辆研究所有限公司 | RGV positioning method and RGV positioning system for rail vehicle detection |
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