CN114674838B - Automatic detection system and detection method for motor train unit vehicle bottom - Google Patents
Automatic detection system and detection method for motor train unit vehicle bottom Download PDFInfo
- Publication number
- CN114674838B CN114674838B CN202210269692.4A CN202210269692A CN114674838B CN 114674838 B CN114674838 B CN 114674838B CN 202210269692 A CN202210269692 A CN 202210269692A CN 114674838 B CN114674838 B CN 114674838B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- tail end
- point
- set track
- train unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/08—Railway vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The automatic detection system and the detection method for the motor train unit train bottom solve the problem that a mechanical arm collides with the train bottom in the conventional automatic detection of the train bottom, and belong to the technical field of automatic mechanical detection. The system comprises an intelligent mobile device, a mechanical arm, an image acquisition device, a 3D visual detection device and a controller; the mechanical arm is loaded on the intelligent mobile device, and the image acquisition device and the 3D visual detection device are fixed at the tail end of the mechanical arm; the image acquisition device is used for acquiring vehicle bottom images; the 3D visual detection device is used for acquiring the distance from the tail end of the mechanical arm to the bottom of the vehicle in real time; the controller controls the intelligent mobile device and the tail end of the mechanical arm to move according to a set track, controls the image acquisition device and the 3D visual detection device to work, completes routing inspection, compares the received distance from the tail end of the mechanical arm to the bottom of the vehicle with a set safety value in real time in the routing inspection process, controls the intelligent mobile device and the tail end of the mechanical arm to stop moving if the distance is smaller than the set safety value, and controls the tail end of the mechanical arm to return to the original point.
Description
Technical Field
The invention provides a motor train unit vehicle bottom automatic detection system and a detection method, and belongs to the technical field of mechanical automatic detection.
Background
Detection to EMUs vehicle bottom is manual detection usually, because of its inefficiency, consuming time, the error is great, can not satisfy the quick, accurate, automatic detection requirement of modern railway, consequently use AGV dolly to carry on the simulation people hand function of arm and detect, nevertheless because the dolly has positioning error, arm removal error and the artifical teaching error of arm for the arm collides the vehicle bottom, cause economic loss, and when the arm breaks down, need artificially use the demonstrator to control it to get back to the original point.
Disclosure of Invention
The invention provides an automatic detection system and a detection method for the bottom of a motor train unit car, aiming at the problem that a mechanical arm collides with the bottom of the car when the existing car bottom is automatically detected.
The invention discloses an automatic detection system for motor train unit train bottom, which comprises an intelligent mobile device, a mechanical arm, an image acquisition device, a 3D visual detection device and a controller, wherein the intelligent mobile device is connected with the mechanical arm;
the mechanical arm is loaded on the intelligent mobile device, and the image acquisition device and the 3D visual detection device are fixed at the tail end of the mechanical arm;
the image acquisition device is used for acquiring the train bottom image of the motor train unit and sending the image to the controller;
the 3D visual detection device is used for acquiring the distance from the tail end of the mechanical arm to the bottom of the motor train unit in real time and sending the distance to the controller;
and the controller is used for controlling the intelligent mobile device and the tail end of the mechanical arm to move according to a set track, controlling the image acquisition device and the 3D visual detection device to work, completing routing inspection, comparing the distance from the received tail end of the mechanical arm to the bottom of the motor train unit with a set safety value in real time in the routing inspection process, and controlling the intelligent mobile device and the tail end of the mechanical arm to stop moving if the distance is smaller than the set safety value.
Preferably, when the distance from the tail end of the mechanical arm to the bottom of the motor train unit is smaller than a set safety value, the controller is further used for controlling the tail end of the mechanical arm to return to the original point.
Preferably, the controller controls the intelligent moving device to move according to a set track A, a plurality of position points are arranged in the set track A, after the intelligent moving device reaches one position point in the set track A, the controller controls the tail end of the mechanical arm to move from an original point according to a set track B, the initial point and the terminal point of the set track B are both the original point, a plurality of position points are arranged between the initial point and the terminal point, after the tail end of the mechanical arm reaches one position point in the set track B, the controller controls the image acquisition device to acquire the vehicle bottom image for one time until the tail end of the mechanical arm returns to the original point of the set track B, and in the motion process of the mechanical arm, the controller controls the 3D vision detection device to acquire the distance from the tail end of the mechanical arm to the vehicle bottom of the motor train unit in real time.
Preferably, the controller stores a path from each position point in the set track B to the original point, when the distance from the tail end of the mechanical arm to the bottom of the motor train unit is smaller than a set safety value, the position of the tail end of the mechanical arm at the moment is determined, if the tail end of the mechanical arm is at one position point in the set track B at the moment, the controller controls the tail end of the mechanical arm to return to the original point according to the path from the position point to the original point, if the tail end of the mechanical arm is in the middle of the two position points of the set track B at the moment, the controller controls the tail end of the mechanical arm to return to the original point according to the path from the position point to the original point.
Preferably, the system further comprises a master control platform;
the controller identifies whether a fault exists or not according to the acquired train bottom image, and sends an identification result, the train bottom image acquired by the image acquisition device, the corresponding tail end position of the mechanical arm and the distance information acquired by the 3D visual detection device to the master control platform;
and the master control platform processes the received identification result, the motor train unit train bottom image, the corresponding tail end position of the mechanical arm and the distance information from the tail end of the mechanical arm to the train bottom, and then the user can check the information.
Preferably, the system also comprises a graphic report generation module;
and the image-text report generation module is connected with the main control platform and is used for generating an image-text report from the identification result received by the main control platform, the motor train unit train bottom image, the corresponding tail end position of the mechanical arm and the distance information from the tail end of the mechanical arm to the train bottom.
Preferably, the system further comprises a data retrieval module;
and the data retrieval module is connected with the main control platform, is used for providing corresponding recognition results, motor train unit train bottom images, corresponding tail end positions of the mechanical arms and distance information from the tail ends of the mechanical arms to the train bottom according to retrieval words input by a user through the main control platform, and feeds back the corresponding recognition results, the motor train unit train bottom images and the distance information to the train bottom through the main control platform.
Preferably, the intelligent moving device is implemented by an AGV.
Preferably, the main control platform is connected with the controller through a wireless communication mode.
The invention also provides a motor train unit train bottom automatic detection method, which comprises the following steps:
s1, loading a mechanical arm on an intelligent mobile device, and fixing an image acquisition device and a 3D visual detection device at the tail end of the mechanical arm; path planning is carried out on the intelligent mobile device and the mechanical arm, and a set track A of the intelligent mobile device and a set track B of the tail end of the mechanical arm are determined:
determining the position points of the intelligent mobile device according to each check point of the train bottom of the motor train unit, wherein the plurality of position points form an intelligent mobile device setting track A;
moving the intelligent mobile device to each position point according to the sequence of the set track A, and determining the set track B of the tail end of the mechanical arm at each position point: determining all photographing positions of an image acquisition device at the tail end of the mechanical arm according to the requirement on the vehicle bottom image, further determining each position point at the tail end of the mechanical arm, forming a set track B by the original point of the tail end of the mechanical arm and each position point, wherein the first track point and the last track point in the set track B are both the original points;
storing a path from each position point in the set track B to the origin;
s2, utilizing an automatic detection system at the bottom of the motor train unit to perform inspection:
the intelligent moving device moves according to the set track A, after each position point in the set track A is reached, the tail end of the mechanical arm is controlled to move according to the corresponding set track B from the original point, after each position point in the set track B is reached, the image acquisition device is controlled to acquire the vehicle bottom image once until the vehicle bottom image returns to the original point of the set track B, in the motion process of the mechanical arm, the 3D visual detection device is controlled to acquire the distance from the tail end of the mechanical arm to the vehicle bottom of the motor train unit in real time, the distance from the tail end of the mechanical arm to the vehicle bottom of the motor train unit is compared with a set safety value, if the distance is smaller than the set safety value, the position of the tail end of the mechanical arm at the moment is determined, if the tail end of the mechanical arm is located on one position point in the set track B at the moment, the tail end of the mechanical arm is controlled to return to the original point according to the path from the position point to the original point, and if the tail end of the mechanical arm is located between two position points in the set track B at the moment, the last position point is controlled to return to the original point according to the path from the position point to the position point.
The invention has the advantages that the distance from the tail end of the mechanical arm to the bottom of the vehicle can be detected in real time, collision accidents are prevented, and the mechanical arm can automatically return without manually using a demonstrator when the mechanical arm stops moving after the mechanical arm exceeds a safe distance.
Drawings
FIG. 1 is a schematic diagram of a motor train unit underbody automatic detection system of the invention;
FIG. 2 is a schematic flow diagram of the method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The motor train unit vehicle bottom automatic detection system comprises an intelligent mobile device, a mechanical arm, an image acquisition device, a 3D visual detection device and a controller;
the mechanical arm is loaded on the intelligent mobile device, and the image acquisition device and the 3D visual detection device are fixed at the tail end of the mechanical arm;
the image acquisition device is used for acquiring the train bottom image of the motor train unit and sending the image to the controller;
the 3D visual detection device is used for acquiring the distance from the tail end of the mechanical arm to the bottom of the motor train unit in real time and sending the distance to the controller;
and the controller is used for controlling the intelligent mobile device and the tail end of the mechanical arm to move according to a set track, controlling the image acquisition device and the 3D visual detection device to work, completing routing inspection, comparing the received distance from the tail end of the mechanical arm to the bottom of the motor train unit with a set safety value in real time in the routing inspection process, and controlling the intelligent mobile device and the tail end of the mechanical arm to stop moving if the distance is smaller than the set safety value.
The intelligent mobile device of the embodiment is mainly provided with hardware equipment, supplies power and carries out an automatic inspection process; the mechanical arm is; the six-axis mechanical arm has the main functions of replacing the arm of a person and accurately positioning; the image acquisition device is responsible for acquiring image information of key parts at the bottom of the vehicle; the 3D visual detection device detects the distance from the mechanical arm to the bottom of the vehicle in real time; according to the embodiment, the 3D visual detection device is added under the image acquisition device at the tail end of the mechanical arm, the distance between the motion track at the tail end of the mechanical arm and the bottom of the motor train unit is detected in real time, the measured data is compared with the set safety value, and when the distance between the mechanical arm and the bottom of the motor train unit is smaller than the set safety value, a stop signal is sent, so that the mechanical arm stops acting, and the intelligent mobile terminal stops running.
In a preferred embodiment, when the distance from the tail end of the mechanical arm to the bottom of the motor train unit is smaller than a set safety value, the controller is further used for controlling the tail end of the mechanical arm to return to the original point. When the fact that the distance from the tail end of the mechanical arm to the bottom of the motor train unit exceeds the safe distance is detected, the mechanical arm stops at the current action, the approximate position of the mechanical arm is obtained through the fed back position information, the selected mechanical arm is initialized according to the position information, and the mechanical arm can automatically return to the original point according to a path set in advance so as to facilitate the next flow operation.
In this embodiment, before detection, the mechanical arm needs to be taught manually, the intelligent mobile device is stopped at a proper position according to the position of the vehicle bottom check point, the current position is recorded as a position point 1 of a set track a, the mechanical arm is subjected to path planning at the position point, the starting point of the tail end of the mechanical arm is an original point, the first point of the tail end of the mechanical arm, which needs to be photographed, is marked as a position point 1, the second point is marked as a position point 2, and so on, the last point is marked as 9999, and the original point is shown to be returned. These points form a set locus B, and the point location information of the set locus B is stored in the teach pendant. When the intelligent mobile device automatically inspects, the tail end of the mechanical arm runs according to the sequence of 1-1,1-2,1-3 … … -9999, when the tail end of the mechanical arm runs from 1-1 to 1-9999, the operation is finished at the position 1, then the intelligent mobile device moves to the position point 2 of the set track A, and runs from 2-1 to 2-9999 in sequence, and so on.
During detection, a set track A and a set track B corresponding to the tail end of the mechanical arm at each position point in the set track A are stored in the controller; the controller controls the intelligent moving device to move according to a set track A, a plurality of position points are arranged in the set track A, after the intelligent moving device reaches one position point in the set track A, the controller controls the tail end of the mechanical arm to move from an original point according to a set track B, the initial point and the end point of the set track B are both the original points, a plurality of position points are arranged between the initial point and the end point, after the tail end of the mechanical arm reaches one position point in the set track B, the tail end of the mechanical arm waits for the image acquisition device to acquire images at each position point, the next position point is operated, the operation is performed according to sequential position points, the operation cannot be performed across the position points until the tail end of the mechanical arm returns to the original point of the set track B, and in the motion process of the mechanical arm, the controller controls the 3D vision detection device to acquire the distance from the tail end of the mechanical arm to the bottom of the motor train unit in real time. In the preferred embodiment, in the teaching process, the tail end of the mechanical arm is arranged at each position point, and a path is independently set through manual teaching, so that the mechanical arm can directly return to the original point;
when the distance between the tail end of the mechanical arm and the bottom of the motor train unit is smaller than a set safety value, the position of the tail end of the mechanical arm is determined, if the tail end of the mechanical arm is located at one position point in the set track B, the tail end of the mechanical arm is controlled by the controller to return to the original point according to the path from the position point to the original point, if the tail end of the mechanical arm is located between the two position points of the set track B, the tail end of the mechanical arm is controlled to return to the previous position point, and the tail end of the mechanical arm is controlled by the controller to return to the original point according to the path from the position point to the original point.
For example: when the mechanical arm runs to the 3-2 position point, the distance between the mechanical arm and the bottom of the vehicle is smaller than a set safety value, the mechanical arm stops acting, the mechanical arm is detected to stop at the 3-2 position point, after the fault is processed, the mechanical arm is initialized, and the mechanical arm can directly run to the 3-9999 position point from the 3-2 position point. The process that the mechanical arm returns to the original point by manually using the demonstrator is reduced. Still another situation is that when the end of the robot arm is less than the safety distance during the process from 3-2 to 3-3, the end of the robot arm stops moving, and the robot arm initializes, and the position information of the end of the robot arm received by the intelligent mobile device is still 3-2, at this time, the end of the robot arm will first return to the 3-2 position point, and then move from 3-2 to 3-9999, namely, the origin. Waiting for the next run.
The intelligent mobile device of the embodiment is realized by an AGV.
The system of the present embodiment further comprises a master control platform;
the controller identifies whether a fault exists according to the acquired train bottom image, and sends an identification result, the train bottom image acquired by the image acquisition device, the tail end position of the corresponding mechanical arm and the distance information acquired by the 3D visual detection device to the master control platform; and the main control platform processes the received identification result, the motor train unit train bottom image, the corresponding tail end position of the mechanical arm and the distance information from the tail end of the mechanical arm to the train bottom, and then the user can check the information.
The main control platform and the AGV adopt a wireless communication mode, a controller on the AGV uploads collected data information to the main control platform, and the main control platform sends a control instruction to control the AGV to perform corresponding actions. The image acquisition device, the mechanical arm and the 3D vision detection device are all carried on the AGV trolley, and the image acquisition device and the 3D vision detection device are fixed at the tail end of the mechanical arm through specific mechanical structures. The image acquisition device consists of a camera and a compensation light source and is used for acquiring image information at the bottom of the motor train unit, whether a fault exists is judged by an image recognition algorithm of the controller, and the mechanical arms sequentially perform actions set in advance.
The system of the embodiment also comprises a graphic report generation module;
and the image-text report generation module is connected with the main control platform and is used for generating an image-text report from the identification result received by the main control platform, the motor train unit train bottom image, the corresponding tail end position of the mechanical arm and the distance information from the tail end of the mechanical arm to the train bottom.
The system of this embodiment also includes a data retrieval module;
and the data retrieval module is connected with the main control platform, is used for providing corresponding recognition results, motor train unit train bottom images, corresponding tail end positions of the mechanical arms and distance information from the tail ends of the mechanical arms to the train bottom according to retrieval words input by a user through the main control platform, and feeds back the corresponding recognition results, the motor train unit train bottom images and the distance information to the train bottom through the main control platform.
As shown in fig. 2, the method for automatically detecting the train bottom of the motor train unit according to the embodiment includes:
step one, teaching, planning paths of the AGV trolley and the mechanical arm, and determining a set track A of the AGV trolley and a set track B at the tail end of the mechanical arm:
determining the position points of the AGV according to each check point at the bottom of the motor train unit, wherein the plurality of position points form an AGV trolley set track A;
moving the AGV trolley to each position point according to the sequence of the set track A, and determining the set track B of the tail end of the mechanical arm at each position point: determining all photographing positions of an image acquisition device at the tail end of the mechanical arm according to the requirements on the vehicle bottom image, further determining each position point at the tail end of the mechanical arm, forming a set track B by the original point at the tail end of the mechanical arm and each position point, wherein the first track point and the last track point in the set track B are both the original points;
storing a path from each position point in the set track B to the origin;
secondly, initializing an AGV and starting an automatic process;
step three, stopping the AGV trolley at a specified position point in the set track A, enabling the tail end of the mechanical arm to move from an original point according to a corresponding set track B, controlling the image acquisition device to acquire an underbody image once after the tail end of the mechanical arm reaches one position point in the set track B until the tail end of the mechanical arm returns to the original point of the set track B, switching to step four, controlling the 3D vision detection device to acquire the distance from the tail end of the mechanical arm to the underbody of the motor train unit in real time in the motion process of the mechanical arm, comparing the distance from the tail end of the mechanical arm to the underbody of the motor train unit with a set safety value, if the distance is smaller than the set safety value, stopping the AGV trolley and the mechanical arm to determine the position of the tail end of the mechanical arm at the moment, if the tail end of the mechanical arm is on one position point in the set track B at the moment, controlling the tail end of the mechanical arm to return to the original point according to the path from the position point, and switching to step two;
step four: and the controller uploads the vehicle bottom image to the main control platform according to the existence of faults of the vehicle bottom image.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features from different dependent claims and herein may be combined in ways other than those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other embodiments.
Claims (7)
1. The automatic detection system for the train bottom of the motor train unit is characterized by comprising an intelligent moving device, a mechanical arm, an image acquisition device, a 3D visual detection device and a controller;
the mechanical arm is loaded on the intelligent mobile device, and the image acquisition device and the 3D visual detection device are fixed at the tail end of the mechanical arm;
the image acquisition device is used for acquiring the train bottom image of the motor train unit and sending the image to the controller;
the 3D visual detection device is used for acquiring the distance from the tail end of the mechanical arm to the bottom of the motor train unit in real time and sending the distance to the controller;
the controller is used for controlling the intelligent mobile device and the tail end of the mechanical arm to move according to a set track, controlling the image acquisition device and the 3D visual detection device to work, completing the routing inspection, comparing the distance from the received tail end of the mechanical arm to the bottom of the motor train unit with a set safety value in real time in the routing inspection process, and controlling the intelligent mobile device and the tail end of the mechanical arm to stop moving if the distance is smaller than the set safety value;
the controller controls the intelligent mobile device to move according to a set track A, a plurality of position points are arranged in the set track A, the controller controls the tail end of the mechanical arm to move from an original point according to a set track B after the intelligent mobile device reaches one position point in the set track A, the initial point and the terminal point of the set track B are both the original point, a plurality of position points are arranged between the initial point and the terminal point, the controller controls the image acquisition device to acquire an underbody image once after the tail end of the mechanical arm reaches one position point in the set track B until the tail end of the mechanical arm returns to the original point of the set track B, and the controller controls the 3D vision detection device to acquire the distance from the tail end of the mechanical arm to the underbody of the motor train unit in real time in the motion process of the mechanical arm;
the controller stores a path from each position point in the set track B to the original point, when the distance from the tail end of the mechanical arm to the train bottom of the motor train unit is smaller than a set safety value, the position of the tail end of the mechanical arm is determined, if the tail end of the mechanical arm is located at one position point in the set track B at the moment, the controller controls the tail end of the mechanical arm to return to the original point according to the path from the position point to the original point, if the tail end of the mechanical arm is located between the two position points of the set track B at the moment, the tail end of the mechanical arm is controlled to return to the previous position point, and the controller controls the tail end of the mechanical arm to return to the original point according to the path from the position point to the original point.
2. The motor train unit underbody automatic detection system of claim 1, characterized in that the system further comprises a master control platform;
the controller identifies whether a fault exists or not according to the acquired train bottom image, and sends an identification result, the train bottom image acquired by the image acquisition device, the corresponding tail end position of the mechanical arm and the distance information acquired by the 3D visual detection device to the master control platform;
and the main control platform processes the received identification result, the motor train unit train bottom image, the corresponding tail end position of the mechanical arm and the distance information from the tail end of the mechanical arm to the train bottom, and then the user can check the information.
3. The motor train unit underbody automatic detection system according to claim 2, characterized in that the system further comprises a graphic report generation module;
and the image-text report generation module is connected with the main control platform and is used for generating an image-text report from the identification result received by the main control platform, the motor train unit train bottom image, the corresponding tail end position of the mechanical arm and the distance information from the tail end of the mechanical arm to the train bottom.
4. The motor train unit underbody automatic detection system according to claim 2, characterized in that the system further comprises a data retrieval module;
and the data retrieval module is connected with the main control platform, is used for providing corresponding recognition results, motor train unit train bottom images, corresponding tail end positions of the mechanical arms and distance information from the tail ends of the mechanical arms to the train bottom according to retrieval words input by a user through the main control platform, and feeds back the corresponding recognition results, the motor train unit train bottom images and the distance information to the train bottom through the main control platform.
5. The motor train unit underbody automatic detection system according to claim 1, characterized in that the intelligent moving device is implemented by an AGV.
6. The motor train unit underbody automatic detection system of claim 2, characterized in that the master control platform and the controller are connected in a wireless communication mode.
7. The method for automatically detecting the train bottom of the motor train unit is characterized by comprising the following steps of:
s1, loading a mechanical arm on an intelligent mobile device, and fixing an image acquisition device and a 3D visual detection device at the tail end of the mechanical arm; planning paths of the intelligent mobile device and the mechanical arm, and determining a set track A of the intelligent mobile device and a set track B of the tail end of the mechanical arm:
determining the position points of the intelligent mobile device according to each check point of the train bottom of the motor train unit, wherein the plurality of position points form an intelligent mobile device setting track A;
moving the intelligent mobile device to each position point according to the sequence of the set track A, and determining the set track B of the tail end of the mechanical arm at each position point: determining all photographing positions of an image acquisition device at the tail end of the mechanical arm according to the requirement on the vehicle bottom image, further determining each position point at the tail end of the mechanical arm, forming a set track B by the original point of the tail end of the mechanical arm and each position point, wherein the first track point and the last track point in the set track B are both the original points;
storing a path from each position point in the set track B to the origin;
s2, utilizing an automatic detection system at the bottom of the motor train unit to perform inspection:
the intelligent moving device moves according to the set track A, after each position point in the set track A is reached, the tail end of the mechanical arm is controlled to move according to the corresponding set track B from the original point, after each position point in the set track B is reached, the image acquisition device is controlled to acquire the vehicle bottom image once until the vehicle bottom image returns to the original point of the set track B, in the motion process of the mechanical arm, the 3D visual detection device is controlled to acquire the distance from the tail end of the mechanical arm to the vehicle bottom of the motor train unit in real time, the distance from the tail end of the mechanical arm to the vehicle bottom of the motor train unit is compared with a set safety value, if the distance is smaller than the set safety value, the position of the tail end of the mechanical arm at the moment is determined, if the tail end of the mechanical arm is located on one position point in the set track B at the moment, the tail end of the mechanical arm is controlled to return to the original point according to the path from the position point to the original point, and if the tail end of the mechanical arm is located between two position points in the set track B at the moment, the last position point is controlled to return to the original point according to the path from the position point to the position point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210269692.4A CN114674838B (en) | 2022-03-18 | 2022-03-18 | Automatic detection system and detection method for motor train unit vehicle bottom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210269692.4A CN114674838B (en) | 2022-03-18 | 2022-03-18 | Automatic detection system and detection method for motor train unit vehicle bottom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114674838A CN114674838A (en) | 2022-06-28 |
| CN114674838B true CN114674838B (en) | 2022-11-25 |
Family
ID=82075095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210269692.4A Active CN114674838B (en) | 2022-03-18 | 2022-03-18 | Automatic detection system and detection method for motor train unit vehicle bottom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114674838B (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006043792A (en) * | 2004-08-02 | 2006-02-16 | Yaskawa Electric Corp | Robot with collision preventive function |
| CN108274463B (en) * | 2017-01-06 | 2024-03-26 | 苏州华兴致远电子科技有限公司 | Train garage inspection robot and train part inspection method |
| CN206913143U (en) * | 2017-06-16 | 2018-01-23 | 苏州华兴致远电子科技有限公司 | A kind of Ku Jian robots |
| CN111652227B (en) * | 2020-05-21 | 2021-01-22 | 哈尔滨市科佳通用机电股份有限公司 | Method for detecting damage fault of bottom floor of railway wagon |
| CN214516467U (en) * | 2021-02-24 | 2021-10-29 | 中铁第四勘察设计院集团有限公司 | Intelligent flexible manipulator device that railcar vehicle bottom sweeps |
| CN215701728U (en) * | 2021-06-25 | 2022-02-01 | 北京铁道工程机电技术研究所股份有限公司 | Rail transit vehicle bottom inspection robot system |
| CN113568407A (en) * | 2021-07-27 | 2021-10-29 | 山东中科先进技术研究院有限公司 | Man-machine cooperation safety early warning method and system based on deep vision |
-
2022
- 2022-03-18 CN CN202210269692.4A patent/CN114674838B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114674838A (en) | 2022-06-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110861095B (en) | Robot control method, robot, and readable storage medium | |
| CN111464978A (en) | Vehicle remote driving system established by connection of primary wireless equipment and secondary wireless equipment through Internet of things | |
| KR102359937B1 (en) | System and method for vehicle inspection | |
| CN111624994A (en) | Robot inspection method based on 5G communication | |
| KR20110123975A (en) | Method for battery charge of mobile robot in charging station | |
| US20230049918A1 (en) | Control device, system, control method, and storage medium storing program | |
| US20220392344A1 (en) | Control device, parking lot system, and positional accuracy calculation method | |
| CN110509272B (en) | Vehicle inspection method and system and composite inspection robot | |
| KR20200141944A (en) | Loading of a load with a crane system | |
| CN114674838B (en) | Automatic detection system and detection method for motor train unit vehicle bottom | |
| CN114199247B (en) | Method and device for positioning floors by mobile robot | |
| CN112093070B (en) | Automatic docking method and device and vehicle | |
| CN112265647A (en) | Remote automatic control device, medium and electronic equipment of boarding bridge | |
| JP2022539559A (en) | DAMAGE DETECTION DEVICE AND METHOD | |
| CN110861683A (en) | Automatic passenger clearing method for train | |
| CN112498337B (en) | Vehicle safety management method, device, system and storage medium | |
| KR102169845B1 (en) | Simulation system for autonomous driving | |
| CN210591922U (en) | Detection vehicle suitable for track and track detection system | |
| CN112070007A (en) | Method and device for recognizing the occupancy state of a table of a transfer robot | |
| CN113401749A (en) | Fault diagnosis method for interaction between elevator system and machine passenger, readable storage medium, electronic device and fault diagnosis system | |
| CN115847428B (en) | Mechanical assembly auxiliary guiding system and method based on AR technology | |
| CN115689199A (en) | Autonomous mobile robot dispatching system for intelligent automobile manufacturing | |
| CN114620099B (en) | MATC system vehicle-mounted simulation device | |
| CN220751978U (en) | Automatic offline detection system for engineering machinery | |
| CN116880515B (en) | Vehicle remote control method and device and unmanned vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |