CN115116160A - Inspection method, inspection device, computer system and readable storage medium - Google Patents

Inspection method, inspection device, computer system and readable storage medium Download PDF

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Publication number
CN115116160A
CN115116160A CN202110304609.8A CN202110304609A CN115116160A CN 115116160 A CN115116160 A CN 115116160A CN 202110304609 A CN202110304609 A CN 202110304609A CN 115116160 A CN115116160 A CN 115116160A
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China
Prior art keywords
track
information
automatic inspection
inspection equipment
preset
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CN202110304609.8A
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Chinese (zh)
Inventor
赵坚钧
姚秀军
桂晨光
石晶晶
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Jingdong Technology Information Technology Co Ltd
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Jingdong Technology Information Technology Co Ltd
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Priority to CN202110304609.8A priority Critical patent/CN115116160A/en
Publication of CN115116160A publication Critical patent/CN115116160A/en
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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
    • G07C1/20—Checking timed patrols, e.g. of watchman
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
    • B61K9/08—Measuring installations for surveying permanent way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
    • B61K9/08—Measuring installations for surveying permanent way
    • B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Machines For Laying And Maintaining Railways (AREA)

Abstract

The present disclosure provides a polling method, including: acquiring running information of automatic running of the automatic inspection equipment along the extending direction of the track; performing defect detection on an object to be detected under the condition that the automatic inspection equipment reaches a preset site based on the driving information to obtain a detection result of the object; positioning an object to obtain positioning information; and associating the positioning information with the detection result to generate target detection data. The disclosure also provides an inspection device, a computer system, a readable storage medium and a computer program product.

Description

Inspection method, inspection device, computer system and readable storage medium
Technical Field
The present disclosure relates to the field of computer technologies and rail transit, and more particularly, to a method and apparatus for routing inspection, a computer system, a readable storage medium, and a computer program product.
Background
Rail transport is a land transportation mode, and development and construction of rails influence economic development. The safety of the rail facility is the key for ensuring the long and stable development of the transportation tool. Therefore, rail inspection is a very important task, and in order to ensure the safety of the rail, the rail is required to be inspected regularly.
In implementing the disclosed concept, the inventors found that there are at least the following problems in the related art: the existing inspection tool needs manpower cooperation for detection and operation, and the working efficiency is low.
Disclosure of Invention
In view of the above, the present disclosure provides a polling method, device, computer system, readable storage medium and computer program product.
One aspect of the present disclosure provides a method for inspection, including:
acquiring running information of automatic running of the automatic inspection equipment along the extending direction of the track;
performing defect detection on an object to be detected under the condition that the automatic inspection equipment reaches a preset site based on the driving information to obtain a detection result of the object;
positioning an object to obtain positioning information; and
and associating the positioning information with the detection result to generate target detection data.
According to an embodiment of the present disclosure, wherein the object comprises a track bed system or a track fastener system;
the method comprises the following steps of carrying out defect detection on an object to be detected, and obtaining a detection result of the object, wherein the detection result comprises the following steps:
collecting image information of a track bed system or a track fastener system; and
and identifying the defects of the image information to obtain a detection result, wherein the detection result is a defect identification result.
According to the embodiment of the disclosure, the inspection method further comprises:
judging whether the track bed system or the track fastener system has defects or not based on the defect identification result;
under the condition that the track bed system or the track fastener system has defects, marking an early warning mark on the image information; and
in the case of a track bed system or a track clip system having no defects, the defect identification result is discarded.
According to an embodiment of the present disclosure, wherein the object comprises a rail of a rail;
the method comprises the following steps of carrying out defect detection on an object to be detected, and obtaining a detection result of the object, wherein the detection result comprises the following steps:
acquiring geometric characteristic data of a rail of a track;
acquiring original form data of a rail of the track based on a preset locus; and
and processing the geometric characteristic data by using a processing method matched with the original form data based on the original form data of the rail to obtain the current form data of the rail.
According to an embodiment of the present disclosure, the travel information includes a first separation distance and a second separation distance separated from two track rails of the track by the automatic inspection apparatus;
the inspection method further comprises the following steps:
judging whether the automatic inspection equipment runs in the middle or not based on the first spacing distance and the second spacing distance, wherein the running in the middle is the running between two track steel rails;
determining that the automatic inspection equipment runs in the middle under the condition that the difference value of the first spacing distance and the second spacing distance meets a preset condition;
determining that the automatic inspection equipment is not in the centered running state under the condition that the difference value between the first spacing distance and the second spacing distance does not meet the preset condition; and
the automatic inspection equipment is adjusted by a motor differential control mode so that the automatic inspection equipment can run in the middle.
According to the embodiment of the disclosure, the inspection method further comprises:
the current position of the automatic inspection equipment is positioned in real time, and real-time positioning information is obtained;
acquiring environmental information of a preset range of the current position of the automatic inspection equipment based on the real-time positioning information; and
under the condition that the automatic inspection equipment is determined to be not in the middle of running, the automatic inspection equipment is adjusted by a push rod motor control mode based on the environmental information within the preset range so as to be convenient for the automatic inspection equipment to run in the middle of running.
According to an embodiment of the present disclosure, wherein the driving information includes a driving distance;
based on the information of going, confirm that automatic equipment of patrolling and examining reachs and predetermine the position and include:
judging whether the driving distance reaches a preset distance threshold value or not;
determining that the automatic inspection equipment reaches a preset position point under the condition that the driving distance reaches a preset distance threshold value; and
and under the condition that the driving distance does not reach the preset distance threshold value, determining that the automatic inspection equipment does not reach the preset site.
Another aspect of the present disclosure provides a patrol inspection device, including:
the acquisition module is used for acquiring the running information of the automatic inspection equipment running along the extending direction of the track;
the detection module is used for detecting the defects of the object to be detected under the condition that the automatic inspection equipment reaches the preset site based on the driving information to obtain the detection result of the object;
the positioning module is used for positioning the object to obtain positioning information; and
and the association module is used for associating the positioning information with the detection result to generate target detection data.
Yet another aspect of the present disclosure provides an inspection system, including:
the automatic inspection equipment is used for automatically driving along the extending direction of the track;
the system comprises an acquisition device, a detection device and a control device, wherein the acquisition device is arranged on the automatic inspection equipment and is used for acquiring inspection information, and the inspection information comprises driving information of the automatic inspection equipment, defect detection information of an object to be detected and positioning information of the object;
the processing device is arranged on the automatic inspection equipment and used for receiving the detection information sent by the acquisition device and executing the method;
and the remote control terminal is used for controlling the automatic running of the automatic inspection equipment and generating an inspection report based on the target detection data sent by the processing device.
According to an embodiment of the present disclosure, wherein, collection system includes:
the stroke acquisition device comprises a monitoring ball machine, an attitude sensor, an ultrasonic sensor and/or a first displacement sensor and is used for acquiring the running information of the automatic inspection equipment;
the defect acquisition device comprises a linear array camera, a horizontal sensor and/or a second displacement sensor and is used for acquiring defect detection information of the object;
the positioning device comprises an odometer and a positioning measuring instrument and is used for acquiring positioning information of an object.
Yet another aspect of the present disclosure provides a computer system comprising:
one or more processors;
a memory for storing one or more programs,
wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method described above.
Yet another aspect of the present disclosure provides a computer-readable storage medium storing computer-executable instructions for implementing the above-described method when executed.
Yet another aspect of the disclosure provides a computer program product comprising computer executable instructions that when executed perform the method described above.
According to the embodiment of the disclosure, the method and the system have the advantages that the driving information of the automatic inspection equipment which automatically drives along the extending direction of the track is acquired; performing defect detection on an object to be detected under the condition that the automatic inspection equipment reaches a preset site based on the driving information to obtain a detection result of the object; positioning an object to obtain positioning information; and the technical means is used for associating the positioning information with the detection result to generate target detection data, and in the automatic driving process, the driving information is utilized to automatically perform positioning and defect detection of the preset locus, position the object and associate the positioning information with the detection result, so that the technical problems of manual cooperation and low working efficiency in the prior art in the process of carrying out inspection on the track are at least partially overcome, and the technical effects of automatic inspection, high inspection efficiency and manpower liberation are further achieved.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure with reference to the accompanying drawings, in which:
fig. 1 schematically illustrates an exemplary system architecture to which the inspection method and apparatus of the present disclosure may be applied, according to an embodiment of the present disclosure;
FIG. 2 schematically illustrates a flow chart of a patrol method according to an embodiment of the present disclosure;
FIG. 3 schematically illustrates a flow chart of defect detection according to an embodiment of the present disclosure;
FIG. 4 schematically illustrates a flow diagram of defect detection according to another embodiment of the present disclosure;
FIG. 5 schematically illustrates a flow chart for controlling the centering of the automatic inspection device according to an embodiment of the disclosure;
FIG. 6 schematically illustrates a block diagram of an inspection device according to an embodiment of the disclosure; and
fig. 7 schematically illustrates a block diagram of a computer system suitable for implementing a patrol method according to an embodiment of the present disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that these descriptions are illustrative only and are not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).
The ballastless track is a track structure which adopts integral foundations such as concrete, asphalt mixture and the like to replace a granular gravel track bed. The ballastless track main structure comprises a track steel rail, a track bed system, a track fastener system and the like. The quality of ballastless tracks requires high levels of maintenance to provide assurance. The higher the inspection precision and the higher the inspection speed of the ballastless track, the more the geometric state of the track can be kept, and the competitiveness of the ballastless track is further improved.
In the correlation technique, the dolly of patrolling and examining that traditional track work patrolled and examined the dependence can not walk voluntarily, needs artifical hand push, in addition, only can carry out the detection of the geometric configuration structure of rail, still stops adopting the mode of naked eye observation to track fastener system etc. and detects.
The manual pushing mode of the inspection trolley leads to the basic manual pushing speed of 4-5 kilometers per hour, and the quality of a conventional inspection track bed system, a track fastener system and the like is only observed and judged by inspection personnel with naked eyes. The method has the advantages of low detection speed, low detection efficiency, single function, no comprehensive detection capability, incapability of realizing high-precision positioning and incapability of ensuring the positioning precision under complex disclosure.
The embodiment of the disclosure provides a routing inspection method. The method comprises the steps of obtaining running information of automatic routing inspection equipment running along the extending direction of a track; performing defect detection on an object to be detected under the condition that the automatic inspection equipment reaches a preset site based on the driving information to obtain a detection result of the object; positioning an object to obtain positioning information; and associating the positioning information with the detection result to generate target detection data.
By utilizing the inspection method provided by the embodiment of the disclosure, automatic inspection is realized by utilizing automatic inspection equipment, and the collection of the driving information in the driving process is utilized to realize automatic determination of the preset site, automatic defect detection is carried out, the positioning information and the detection result are automatically associated, so that the automation degree is high, the manpower is liberated, and the inspection efficiency is improved.
The embodiment of the disclosure provides an inspection system, which can comprise automatic inspection equipment, a collecting device, a processing device and a remote control end. The arrangement and the function of each component will be described in detail below.
According to the embodiment of the disclosure, the automatic inspection equipment is used for automatically driving along the extending direction of the track; the system comprises an acquisition device, a detection device and a processing device, wherein the acquisition device is arranged on the automatic inspection equipment and is used for acquiring inspection information, and the inspection information comprises driving information of the automatic inspection equipment, defect detection information of a detected object and positioning information of the object; the processing device is arranged on the automatic inspection equipment and used for receiving the detection information sent by the acquisition device and executing the method; and the remote control terminal is used for controlling the automatic running of the automatic inspection equipment and generating an inspection report based on the target detection data sent by the processing device.
Wherein, the collection device can include a stroke collection device, a defect collection device and a positioning device. The travel acquisition device can comprise one or more of a monitoring ball machine, an attitude sensor, an ultrasonic sensor and a first displacement sensor and is used for acquiring the running information of the automatic inspection equipment; the defect acquisition device can comprise one or more of a linear array camera, a horizontal sensor and a second displacement sensor and is used for acquiring defect detection information of the object; the positioning device, which may comprise, for example, an odometer and/or a positioning gauge, is used to collect positioning information of the object.
Fig. 1 schematically illustrates an exemplary system architecture 100 to which the patrol method and apparatus may be applied, according to an embodiment of the present disclosure. It should be noted that fig. 1 is only an example of a system architecture to which the embodiments of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, and does not mean that the embodiments of the present disclosure may not be applied to other devices, systems, environments or scenarios.
As shown in fig. 1, a system architecture 100 according to this embodiment may include an automated inspection device 101, a network 102, and a remote control terminal 103.
The automatic inspection apparatus 101 may be provided with a processing device and a collecting device.
The processing device is used for main control of the automatic inspection equipment, and is responsible for geometric characteristic data operation, motion control, defect identification by using an intelligent image identification model, task scheduling and data storage.
And the acquisition device is used for collecting information such as level, displacement, environment, anti-collision, posture and the like and controlling signals such as state, illumination and the like.
The automatic inspection equipment 101 can be provided with a power control board, a line camera, a monitoring ball machine, a positioning measuring instrument, a motor, a push rod motor, a displacement sensor, a horizontal sensor, an attitude sensor, an ultrasonic sensor, a lighting system and the like. The power control board is used for being responsible for power conversion and supplying power to each device and equipment. The linear array camera is used for being responsible for image acquisition of a track ballast bed system and a track fastener system, and comprises an encoder which can be adapted to the movement speed of automatic inspection equipment to acquire images. And the monitoring ball machine is used for acquiring the video of the patrol environment in real time. The positioning measuring instrument can be matched with a milemeter and used for realizing centimeter-level accurate positioning by utilizing a GPS-RTK differential positioning technology. And the driving motor is used for realizing the movement and walking of the automatic inspection equipment. And the push rod motor is used for matching with the odometer and the displacement sensor to realize automatic turnout crossing of the automatic inspection equipment. The displacement sensors can comprise a plurality of displacement sensors which are respectively used for realizing the measurement of the track gauge and the detection of the automatic inspection equipment to the side; but not limited to this, can also utilize a displacement sensor, and be used for realizing the gauge measurement and the detection of automatic inspection equipment to the side simultaneously, namely first displacement sensor and second displacement sensor are one. And the horizontal sensor is used for measuring the horizontal angle of the track bed system and the track fastener system. And the attitude sensor is used for controlling and correcting the attitude of the automatic inspection equipment. And the ultrasonic sensor is used for preventing collision in a long distance. And the lighting system is used for lighting and state display.
In addition, the automatic inspection device 101 may also be equipped with three data buses, for example, a CAN bus for high-speed motion control; a relatively low speed sensor data CAN bus; and an ethernet bus with a huge amount of data; the data bussing design facilitates expansion, integration and management of the equipment.
The network 102 is used to provide a medium for a communication link between the automated inspection device 101 and the remote control terminal 103. Network 102 may include various connection types, such as wired and/or wireless communication links, and so forth.
The remote control terminal 103 may be a server providing various services, such as a background management server responsible for task establishment, motion control, data presentation, polling report generation, and the like.
It should be understood that the number of automatic inspection devices, networks, and remote control terminals in fig. 1 is merely illustrative. Any number of automatic inspection devices, networks and remote control terminals can be provided according to implementation requirements.
Fig. 2 schematically shows a flow chart of a patrol method according to an embodiment of the present disclosure.
As shown in fig. 2, the inspection method includes operations S210 to S240.
In operation S210, driving information of automatic travel of the automatic inspection apparatus in the rail extending direction is acquired.
According to the embodiment of the present disclosure, the automatic inspection apparatus may be an automatic traveling cart with traveling wheels, a robot, or the like, but is not limited thereto as long as the automatic traveling function is realized.
According to the embodiment of the disclosure, the track in the embodiment of the disclosure can be a ballastless track, and between two track steel rails, the track can be a stable track plate and other facilities, so that automatic inspection equipment is ensured to automatically and stably run along the extending direction of the track.
According to the embodiment of the disclosure, devices such as a displacement sensor, an anti-collision sensor, a speed sensor and a distance detector can be installed on the automatic inspection equipment, and then the driving information such as the driving posture, the driving speed, the driving environment and the driving distance of the automatic inspection equipment can be monitored.
In operation S220, in the case that it is determined that the automatic inspection apparatus reaches the preset location based on the driving information, defect detection is performed on the object to be detected, so as to obtain a detection result of the object.
According to an embodiment of the present disclosure, the preset site may be a preset patrol site. In the process of routing inspection, a plurality of routing inspection sites can be preset along the extension direction of the track. The selection of the preset position can be preset according to the actual requirement, for example, according to the spacing distance.
According to the embodiment of the disclosure, the driving information may be a driving distance, and the automatic inspection device may perform driving configuration according to the setting of the preset location, for example, start to record the driving distance at one preset location, and in a case that it is determined that the driving distance reaches the interval distance, it may be determined that the automatic inspection device reaches the next preset location.
According to the embodiment of the disclosure, the encoder can be used for recording the travel distance, for example, the encoder is used for recording the rotation number of the travel wheel of the automatic inspection equipment, and then the effect of recording the travel distance is achieved. And then determining whether the preset position is reached based on the pulse signal fed back by the encoder.
According to the embodiment of the disclosure, the mode that the automatic inspection equipment reaches the preset site is determined based on the driving information, so that the implementation mode is simple, the signal transmission speed is high, and the reaction speed is increased.
According to the embodiment of the disclosure, the object to be detected can be a component on the track or the surrounding environment, and any facility which ensures the safe operation of the track can be used as the object to be detected.
In operation S230, the object is located, and location information is obtained.
In operation S240, the positioning information is associated with the detection result, and target detection data is generated.
According to the embodiment of the disclosure, not only the function of providing defect detection but also the function of providing positioning are designed.
According to the embodiment of the disclosure, the object is positioned, and the positioning information is associated with the detection result, so that the object with defects can be traced conveniently, and the follow-up maintenance is facilitated; and a complete detection report can be provided, and the inspection work is convenient to complete.
By using the inspection method provided by the embodiment of the disclosure, on the basis of realizing automatic driving, the driving information is used for automatically positioning the preset site and detecting the defect, and positioning the object, and associating the positioning information with the detection result. Therefore, the technical problems that in the prior art, manual cooperation is needed for routing inspection of the track, and the working efficiency is low are at least partially solved, and the technical effects of automatic routing inspection, high routing inspection efficiency and manpower liberation are achieved.
The method shown in fig. 2 is further described with reference to fig. 3 to 5 in conjunction with the specific embodiments.
According to embodiments of the present disclosure, the object to be detected may be a track bed system or a track fastener system.
According to the embodiment of the present disclosure, the track bed system may include a concrete foundation bed, a mortar bed layer, a track slab, and the like, which are sequentially arranged from bottom to top. A rail clip system, also known as a rail clip system, is a component on a rail used to couple a rail and a tie (or other type of underfloor foundation) of the rail, also known as an intermediate coupling component. The function of the tie is to fix the rail on the sleeper, maintain the gauge and prevent the rail from moving longitudinally and transversely relative to the sleeper. Rail fastener systems can be classified as spring fastener systems, buckle fastener systems, and/or spring-strip fastener systems.
According to other embodiments of the present disclosure, defect detection such as cracks, defects, etc. may be performed on a track bed system or a track fastener system in a manual inspection, visual inspection manner.
However, the mode of visual observation is adopted, on one hand, the method is not beneficial to observation in the dark or in the environment with low visibility, and the detection precision is low; on the other hand, manual inspection is inefficient.
According to the embodiment of the disclosure, the defect detection can be performed by using an automatic detection mode, for example, image information of a track bed system or a track fastener system is collected; and identifying the defects of the image information to obtain a detection result, wherein the detection result is a defect identification result.
According to an embodiment of the present disclosure, the defect recognition result may include a recognition result having a defect or not having a defect.
According to the embodiment of the disclosure, the linear array camera can be utilized for collecting image information. In the embodiment of the disclosure, an encoder for recording the running stroke can be in signal connection with the line camera, and the pulse signal directly passing through the encoder is used as an instruction signal for triggering the line camera to acquire image information.
According to the embodiment of the disclosure, the device for acquiring the image information of the object is not limited to the line camera, but the line camera according to the embodiment of the disclosure can adapt to the driving speed of the automatic inspection device to acquire the image.
According to the embodiment of the disclosure, two linear-array cameras can be installed and carried on the automatic inspection equipment, and the defect detection is respectively and simultaneously carried out on the track bed system and the track fastener system, but the method is not limited to the method, the defect detection can also be carried out on different preset sites designed for the track bed system and the track fastener system, the setting can be carried out according to the actual situation, and the repeated description is omitted.
According to the embodiment of the disclosure, the image information of the track bed system and/or the track fastener system can be subjected to defect identification through the intelligent image identification model. In the embodiment of the disclosure, the intelligent image recognition model may be stored in the automatic inspection device, and the automatic inspection device is used as a terminal to directly perform defect recognition on the image information, but the method is not limited to this, and the intelligent image recognition model may also be stored in a remote control terminal, and the image information is sent to the remote control terminal through the automatic inspection device, so that the intelligent image recognition model is used for defect recognition.
According to the optional embodiment of the disclosure, the intelligent image recognition model is stored in the automatic inspection equipment, so that the data transmission is reduced, the processing efficiency is improved, the signal interference and loss caused by the data in the transmission process are avoided, and the reduction of the recognition accuracy caused by the signal interference and the loss is avoided.
Utilize this disclosed embodiment's inspection method, can carry out the defect detection to track ballast bed system or track fastener system is automatic, and the testing result is accurate, overcomes the influence of external factors such as various weather, time, liberates the manpower, raises the efficiency.
FIG. 3 schematically shows a flow diagram of defect detection according to an embodiment of the disclosure.
As shown in fig. 3, the defect detection of the track bed system or the track clip system may include operations S310 to S330, S341, S342, and S350 to S360.
In operation S310, image information of a track bed system or a track clip system is collected.
In operation S320, defect recognition is performed on the image information to obtain a detection result, where the detection result is a defect recognition result.
In operation S330, it is determined whether the track bed system or the track clip system has a defect based on the defect identification result.
In operation S341, in the case where the track bed system or the track clip system has a defect, an early warning flag is marked on the image information.
In operation S342, in case the track bed system or the track clip system has no defect, the defect identification result is discarded.
In operation S350, the image information is compressed and stored by the image processor, generating a real-time video stream.
In operation S360, the image information marked with the early warning identifier and the real-time video stream are pushed to the remote control end.
According to the embodiment of the disclosure, the image information marked with the early warning identification can be associated with the corresponding positioning information, and the compressed and stored image information can be associated with the corresponding positioning information, so that the information in the generated real-time video stream is complete.
By utilizing the defect detection method and device, the acquisition of image information and the identification and detection of the defects can be automatically carried out, the automation degree is improved, and the working efficiency and the defect detection precision are improved.
According to other embodiments of the present disclosure, the object to be detected may also be a rail of a track.
According to the embodiments of the present disclosure, the defect detection on the track rail may be generally a defect detection on the geometrical form of the track rail such as a track gauge, a track level, a track height, and a triangular pit.
According to embodiments of the present disclosure, the track gauge may be defined as the shortest distance between the left and right track gauge points within the same track cross section, and more specifically, may be the smallest distance between two rail actions within 16mm of the top surface of the rail. The track level can be defined as the difference in rail top height of the horizontal plane where the left and right track rails are located on the same track cross section. Track height can be defined as the deviation of the top surface of a rail of the track from the average position of the top surface of the rail perpendicular to the direction of track extension. The triangular pits can be defined as the distortion of the top surfaces of the left and right track rails relative to the track plane, and can be within 18m, and the two track rails have three or more pits or bulges.
FIG. 4 schematically shows a flow diagram of defect detection according to another embodiment of the present disclosure.
As shown in fig. 4, the defect detection of the rail of the track may include operations S410 to S430.
In operation S410, geometric feature data of a rail of a track is acquired.
According to the embodiment of the disclosure, different geometric characteristic data can be acquired according to the preset geometric form of the rail to be detected. For example, the distance between the left and right rail rails of a preset site is acquired through a displacement sensor to obtain the rail gauge; for example, the horizontal angle of the surface to be measured is acquired by the tilt sensor, and geometric data such as track height, track level, triangular pits and the like can be obtained by combining calculation.
In operation S420, original shape data of the rail of the track is acquired based on the preset loci.
According to the embodiment of the disclosure, before data processing is performed on the acquired geometric feature data, corresponding original form data can be called first, so that reasonable processing and accurate judgment can be performed.
For example, due to a topographic reason or a practical factor of an actual implementation operation, a certain height difference or a certain level difference exists when the rail of the track at the position to be detected is initially constructed. In the routine inspection process, if the original form data of the initial state is not considered and no height difference or no level difference is considered, the problem of wrong defect detection and judgment is caused.
According to the embodiment of the disclosure, the rail to be detected can be positioned based on the preset position point, so as to retrieve the original form data. However, the present invention is not limited to this, and the original shape data may be retrieved by determining the position information of the rail to be detected from the timing information.
In operation S430, the geometric feature data is processed by using a processing method matched with the original form data based on the original form data of the rail, so as to obtain current form data of the rail.
According to the embodiment of the disclosure, in the embodiment of the disclosure, the geometric characteristic data is processed, and the geometric characteristic data may be subjected to data processing such as filtering and temperature compensation, so as to obtain actual real data such as displacement and inclination.
According to the embodiment of the disclosure, the real data after data processing such as filtering, temperature compensation and the like can be combined with data such as mileage sensor data and body size of automatic inspection equipment, and the current form data can be obtained through mathematical operation.
According to the embodiment of the disclosure, whether the rail position of the track to be detected currently has the geometric defects can be judged by comparing the current form data with the original form data.
According to the optional embodiment of the disclosure, the defect detection result, the current form data and the corresponding positioning information can be associated and uploaded to the remote control terminal.
According to the optional embodiment of the disclosure, the encoder for recording the running stroke can be in communication connection with the displacement sensor, the inclination angle sensor and the like, and the pulse signal directly passing through the encoder is used as an instruction signal for triggering the displacement sensor and the inclination angle sensor to acquire the geometric characteristic data.
By utilizing the defect detection method and device, the acquisition of geometric characteristic data and the accurate calculation and judgment of geometric form data can be automatically carried out, the automation degree is improved, and the working efficiency and the defect detection precision are improved.
By utilizing the inspection method of other embodiments of the disclosure, the defects of the track bed system, the track fastener system and the track steel rail can be detected, the detection method is accurate and rapid, and the detection objects are diversified and have comprehensive detection capability.
According to the embodiment of the disclosure, in the operation process of determining that the automatic inspection equipment reaches the preset position based on the driving information, the driving distance can be recorded by using the encoder.
According to an optional embodiment of the present disclosure, the running distance is recorded by using an encoder, and a pulse signal corresponding to the running distance is transmitted to the linear array camera, the displacement sensor or the inclination sensor connected thereto. Judging whether the driving distance reaches a preset distance threshold value or not through the pulse signal; determining that the automatic inspection equipment reaches a preset position point under the condition that the driving distance reaches a preset distance threshold value; and under the condition that the driving distance does not reach the preset distance threshold value, determining that the automatic inspection equipment does not reach the preset site.
According to an embodiment of the present disclosure, the preset route threshold may be a route point value, but is not limited thereto, and may also be a route range value, as long as it is within a preset range of the preset location, which may be determined as reaching the preset location. The preset can be performed according to actual situations, and details are not repeated herein.
According to an alternative embodiment of the present disclosure, positioning of objects, such as track bed systems, track clip systems, and track rails, may be performed in a more precise manner than determining the location of the predetermined location. For example, the automatic inspection equipment is loaded with a high-precision RTK (Real Time Kinematic) technology, and simultaneously, the odometer and the image detection technology are integrated for auxiliary positioning, so that centimeter-level positioning accuracy under various working conditions is ensured. Under the condition of good signals, fusion positioning is carried out by means of the odometer and an RTK technology, and the accumulated error of the odometer can be calibrated by the RTK technology; the linear array camera can be used for identifying kilometers in places with poor signals, such as tunnels, mountains and the like, so as to assist the calibration of the odometer.
According to the embodiment of the disclosure, the encoder can be used for roughly positioning the preset position, the operation is simple, and the reaction is quick. The real-time accurate positioning can be carried out by combining an RTK technology with technologies such as a speedometer and a linear array camera, the defect sites are conveniently traced, and the automation degree is high.
According to an embodiment of the present disclosure, the travel information may further include a first separation distance and a second separation distance separated from two track rails of the track by the automatic inspection device. In the embodiment of the present disclosure, the information may be acquired by an edge sensor.
According to the embodiment of the disclosure, whether the automatic inspection equipment runs in the middle or not can be judged based on the first spacing distance and the second spacing distance, wherein the running in the middle is the running between two rail rails.
Determining that the automatic inspection equipment runs in the middle under the condition that the difference value of the first spacing distance and the second spacing distance meets a preset condition; determining that the automatic inspection equipment is not in a centered running state under the condition that the difference value between the first spacing distance and the second spacing distance does not meet the preset condition; and adjusting the automatic inspection equipment by using a motor differential control mode so that the automatic inspection equipment runs in the middle.
According to the embodiment of the disclosure, the motor differential control mode can be used for configuring a plurality of motors for controlling a plurality of running wheels arranged on two sides of the automatic inspection equipment to the automatic inspection equipment. Under the condition that the automatic inspection equipment does not run in the middle, the rotating speeds of running wheels on two sides are controlled by the motors to be different for adjustment, namely, the motor differential control mode is adopted.
According to the embodiment of the disclosure, a motor differential control mode is utilized, the automation degree is high, the adjusting speed is low, and the device is suitable for fine adjustment.
In the disclosed embodiment, the track can not be constructed and implemented along a straight line all the time, and a turnout area exists. When getting into the switch region, utilize motor differential control mode to finely tune and no longer be suitable for, be unfavorable for the automatic equipment of patrolling and examining of quick control can be accurate quick orientation through the motion on one side of switch.
According to other embodiments of the disclosure, the current position of the automatic inspection equipment can be positioned in real time, and real-time positioning information is obtained; acquiring environmental information of a preset range of the current position of the automatic inspection equipment based on the real-time positioning information; for example, real-time location information is used to determine in advance whether to enter a switch area. The automatic inspection equipment can be adjusted by a push rod motor control mode on the basis of environmental information within a preset range under the condition that the automatic inspection equipment is determined not to be driven in the middle, for example, when the automatic inspection equipment enters a turnout area or is about to enter the turnout area, so that the automatic inspection equipment is driven in the middle.
According to the embodiment of the disclosure, the automatic inspection equipment is controlled to run in the middle, so that the running stability is facilitated, and the defect detection is facilitated.
By utilizing the inspection method provided by the embodiment of the disclosure, different automatic centered running control can be performed on the conditions of different areas of the track, so that the automatic running is favorably realized, and the manpower is liberated.
Fig. 5 schematically illustrates a flow chart for controlling the centered travel of the automatic inspection device according to another embodiment of the present disclosure.
As shown in fig. 5, controlling the automated inspection equipment to center may include operations S510 to S570.
In operation S510, issuing a forward or backward control instruction;
driving the running wheels to rotate in operation S520;
in operation S530, a distance from the automatic inspection apparatus to the two rail rails is acquired in real time by using the edge sensor;
in operation S540, it is determined whether or not the center travel (travel with the travel route aligned with the center line of the track) is performed;
in operation S550, in the case of non-centered running, centering of differential control; under the condition of central running, the running wheels are continuously driven to rotate;
in operation S560, performing real-time high-precision positioning, and determining whether to perform centering driving when determining that the turnout zone is about to enter;
in operation S570, if the automatic inspection apparatus is not driven in the center due to an unpredictable situation, the push rod motor is driven to move the automatic inspection apparatus toward a side capable of passing through the turnout.
According to the embodiment of the disclosure, the automatic inspection equipment is flexibly controlled, convenient to adjust and high in automatic running automation degree.
In summary, the embodiment of the disclosure provides an automatic inspection device for the routine inspection of the industrial affairs in the field of railway and subway traffic, innovatively integrates the edge sensor to realize the automatic centering walking of the automatic inspection device, and simultaneously adds a push rod motor to deal with abnormal conditions, thereby ensuring the motion reliability; in addition, the RTK technology, the encoder and the linear array camera are innovatively integrated to realize real-time positioning under the condition of multiple complex working conditions.
Furthermore, automatic centering running of the automatic inspection equipment, defect detection of geometrical shapes of the track steel rail, crack, defect and other defects of the track fastener system and the track ballast bed system are innovatively and simultaneously achieved, and inspection efficiency, speed and precision are greatly improved.
Fig. 6 schematically illustrates a block diagram of an inspection device according to an embodiment of the disclosure.
As shown in FIG. 6, the inspection device 600 includes an acquisition module 610, a detection module 620, a location module 630, and an association module 640.
An obtaining module 610, configured to obtain driving information of automatic driving of the automatic inspection equipment along a track extending direction;
the detection module 620 is configured to perform defect detection on the object to be detected to obtain a detection result of the object when it is determined that the automatic inspection equipment reaches the preset site based on the driving information;
a positioning module 630, configured to position an object to obtain positioning information; and
and the associating module 640 is configured to associate the positioning information with the detection result to generate target detection data.
By using the inspection method provided by the embodiment of the disclosure, on the basis of realizing automatic driving, the driving information is used for automatically positioning the preset site and detecting the defect, and positioning the object, and associating the positioning information with the detection result. Therefore, the technical problems that in the prior art, manual cooperation is needed for routing inspection of the track rail and the working efficiency is low are at least partially solved, and the technical effects of automatic routing inspection, high routing inspection efficiency and manpower liberation are achieved.
According to an embodiment of the present disclosure, wherein the object comprises a track bed system or a track fastener system;
the detection module 620 includes an image acquisition unit and an identification unit.
The image acquisition unit is used for acquiring image information of the track bed system or the track fastener system;
and the identification unit is used for identifying the defects of the image information to obtain a detection result, wherein the detection result is a defect identification result.
According to the embodiment of the disclosure, the inspection device 600 further comprises a first judging module, a marking module and a discarding module.
The first judgment module is used for judging whether the track bed system or the track fastener system has defects or not based on the defect identification result;
the marking module is used for marking an early warning mark on the image information under the condition that the track bed system or the track fastener system has defects;
and the discarding module is used for discarding the defect identification result under the condition that the track bed system or the track fastener system has no defects.
According to an embodiment of the present disclosure, wherein the object comprises a rail of a rail;
the detection module 620 includes a geometric feature acquisition unit, a data acquisition unit, and a processing unit.
The geometric characteristic acquisition unit is used for acquiring geometric characteristic data of the rail;
the data acquisition unit is used for acquiring original form data of the rail of the track based on a preset locus;
and the processing unit is used for processing the geometric characteristic data by using a processing method matched with the original form data based on the original form data of the rail to obtain the current form data of the rail.
According to an embodiment of the present disclosure, the travel information includes a first separation distance and a second separation distance separated from two track rails of the track by the automatic inspection equipment;
the inspection device 600 further includes a second determination module, a first determination module, a second determination module, and a first adjustment module.
The second judgment module is used for judging whether the automatic inspection equipment runs in the middle or not based on the first spacing distance and the second spacing distance, wherein the running in the middle is the running between two rail rails;
the first determining module is used for determining that the automatic inspection equipment runs in the middle under the condition that the difference value of the first spacing distance and the second spacing distance meets a preset condition;
the second determining module is used for determining that the automatic inspection equipment is not in a centered running state under the condition that the difference value between the first spacing distance and the second spacing distance does not meet the preset condition; and
the first adjusting module is used for adjusting the automatic inspection equipment in a motor differential control mode so that the automatic inspection equipment can run in the middle.
According to the embodiment of the disclosure, the inspection device 600 further comprises a positioning module, an environmental information acquisition module and a second adjustment module.
The positioning module is used for positioning the current position of the automatic inspection equipment in real time and acquiring real-time positioning information;
the environment information acquisition module is used for acquiring environment information of a preset range of the current position of the automatic inspection equipment based on the real-time positioning information; and
and the second adjusting module is used for adjusting the automatic inspection equipment based on the environmental information within the preset range under the condition that the automatic inspection equipment is determined not to run in the middle so as to facilitate the automatic inspection equipment to run in the middle.
According to an embodiment of the present disclosure, wherein the driving information includes a driving distance.
According to the embodiment of the disclosure, determining that the automatic inspection equipment reaches the preset position based on the driving information comprises judging whether the driving distance reaches a preset distance threshold value; determining that the automatic inspection equipment reaches a preset position point under the condition that the driving distance reaches a preset distance threshold value; and under the condition that the driving distance does not reach the preset distance threshold value, determining that the automatic inspection equipment does not reach the preset site.
Any number of modules, sub-modules, units, sub-units, or at least part of the functionality of any number thereof according to embodiments of the present disclosure may be implemented in one module. Any one or more of the modules, sub-modules, units, and sub-units according to the embodiments of the present disclosure may be implemented by being split into a plurality of modules. Any one or more of the modules, sub-modules, units, sub-units according to embodiments of the present disclosure may be implemented at least in part as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in any other reasonable manner of hardware or firmware by integrating or packaging a circuit, or in any one of or a suitable combination of software, hardware, and firmware implementations. Alternatively, one or more of the modules, sub-modules, units, sub-units according to embodiments of the disclosure may be at least partially implemented as a computer program module, which when executed may perform the corresponding functions.
For example, any plurality of the obtaining module 610, the detecting module 620, the positioning module 630 and the associating module 640 may be combined and implemented in one module/unit/sub-unit, or any one of the modules/units/sub-units may be split into a plurality of modules/units/sub-units. Alternatively, at least part of the functionality of one or more of these modules/units/sub-units may be combined with at least part of the functionality of other modules/units/sub-units and implemented in one module/unit/sub-unit. According to an embodiment of the present disclosure, at least one of the obtaining module 610, the detecting module 620, the positioning module 630 and the associating module 640 may be implemented at least partially as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented by hardware or firmware in any other reasonable manner of integrating or packaging a circuit, or may be implemented by any one of three implementations of software, hardware and firmware, or any suitable combination of any of the three. Alternatively, at least one of the obtaining module 610, the detecting module 620, the locating module 630 and the associating module 640 may be implemented at least in part as a computer program module, which when executed, may perform corresponding functions.
It should be noted that, the inspection device portion in the embodiment of the present disclosure corresponds to the inspection method portion in the embodiment of the present disclosure, and the description of the inspection device portion specifically refers to the inspection method portion, which is not described herein again.
FIG. 7 schematically illustrates a block diagram of a computer system suitable for implementing the above-described method, according to an embodiment of the present disclosure. The computer system illustrated in FIG. 7 is only one example and should not impose any limitations on the scope of use or functionality of embodiments of the disclosure.
As shown in fig. 7, a computer system 700 according to an embodiment of the present disclosure includes a processor 701, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. The processor 701 may include, for example, a general purpose microprocessor (e.g., a CPU), an instruction set processor and/or associated chipset, and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), among others. The processor 701 may also include on-board memory for caching purposes. The processor 701 may comprise a single processing unit or a plurality of processing units for performing the different actions of the method flows according to embodiments of the present disclosure.
In the RAM 703, various programs and data necessary for the operation of the system 700 are stored. The processor 701, the ROM 702, and the RAM 703 are connected to each other by a bus 704. The processor 701 performs various operations of the method flows according to the embodiments of the present disclosure by executing programs in the ROM 702 and/or the RAM 703. Note that the programs may also be stored in one or more memories other than the ROM 702 and the RAM 703. The processor 701 may also perform various operations of method flows according to embodiments of the present disclosure by executing programs stored in the one or more memories.
According to an embodiment of the present disclosure, the system 700 may also include an input/output (I/O) interface 705, the input/output (I/O) interface 705 also being connected to the bus 704. The system 700 may also include one or more of the following components connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
According to embodiments of the present disclosure, method flows according to embodiments of the present disclosure may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program, when executed by the processor 701, performs the above-described functions defined in the system of the embodiment of the present disclosure. The systems, devices, apparatuses, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the present disclosure.
The present disclosure also provides a computer-readable storage medium, which may be contained in the apparatus/device/system described in the above embodiments; or may exist alone without being assembled into the device/apparatus/system. The computer-readable storage medium carries one or more programs which, when executed, implement the method according to an embodiment of the disclosure.
According to an embodiment of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium. Examples may include, but are not limited to: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
For example, according to embodiments of the present disclosure, a computer-readable storage medium may include the ROM 702 and/or the RAM 703 and/or one or more memories other than the ROM 702 and the RAM 703 described above.
Embodiments of the present disclosure also include a computer program product comprising a computer program containing program code for performing the method provided by the embodiments of the present disclosure, when the computer program product is run on an electronic device, the program code being adapted to cause the electronic device to carry out the patrol method provided by the embodiments of the present disclosure.
The computer program, when executed by the processor 701, performs the above-described functions defined in the system/apparatus of the embodiments of the present disclosure. The systems, apparatuses, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the present disclosure.
In one embodiment, the computer program may be hosted on a tangible storage medium such as an optical storage device, a magnetic storage device, or the like. In another embodiment, the computer program may also be transmitted in the form of a signal on a network medium, distributed, downloaded and installed via the communication section 709, and/or installed from the removable medium 711. The computer program containing program code may be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
In accordance with embodiments of the present disclosure, program code for executing computer programs provided by embodiments of the present disclosure may be written in any combination of one or more programming languages, and in particular, these computer programs may be implemented using high level procedural and/or object oriented programming languages, and/or assembly/machine languages. The programming language includes, but is not limited to, programming languages such as Java, C + +, python, the "C" language, or the like. The program code may execute entirely on the user computing device, partly on the user device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.
The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the present disclosure, and such alternatives and modifications are intended to be within the scope of the present disclosure.

Claims (13)

1. A method of routing inspection comprising:
acquiring running information of automatic running of the automatic inspection equipment along the extending direction of the track;
performing defect detection on an object to be detected under the condition that the automatic inspection equipment reaches a preset site based on the driving information to obtain a detection result of the object;
positioning the object to obtain positioning information; and
and associating the positioning information with the detection result to generate target detection data.
2. The method of claim 1, wherein the object comprises a track bed system or a track fastener system;
the defect detection of the object to be detected is carried out, and the detection result of the object is obtained by the following steps:
collecting image information of the track bed system or the track fastener system; and
and identifying the defects of the image information to obtain a detection result, wherein the detection result is a defect identification result.
3. The method of claim 2, further comprising:
judging whether the track bed system or the track fastener system has defects or not based on the defect identification result;
marking an early warning identification on the image information in the case that the track bed system or the track fastener system has a defect; and
discarding the defect identification result in case the track bed system or track clip system has no defects.
4. The method of claim 1, wherein the object comprises a rail of a track;
the defect detection of the object to be detected is carried out, and the detection result of the object is obtained by the following steps:
acquiring geometric characteristic data of the rail;
acquiring original form data of the rail of the track based on the preset locus; and
and processing the geometric characteristic data by using a processing method matched with the original form data based on the original form data of the rail to obtain the current form data of the rail.
5. The method of claim 1, wherein the travel information includes a first separation distance and a second separation distance separated from two rail rails of the track by the automated inspection equipment;
the method further comprises the following steps:
judging whether the automatic inspection equipment runs in the middle or not based on the first spacing distance and the second spacing distance, wherein the running in the middle is the running between the two track steel rails;
determining that the automatic inspection equipment runs in the middle under the condition that the difference value of the first spacing distance and the second spacing distance meets a preset condition;
determining that the automatic inspection equipment is not in centered running under the condition that the difference value between the first spacing distance and the second spacing distance does not meet the preset condition; and
and adjusting the automatic inspection equipment by using a motor differential control mode so that the automatic inspection equipment runs in the middle.
6. The method of claim 5, further comprising:
the current position of the automatic inspection equipment is positioned in real time, and the real-time positioning information is obtained;
acquiring environmental information of a preset range of the current position of the automatic inspection equipment based on the real-time positioning information; and
and under the condition that the automatic inspection equipment is determined not to run in the middle, based on the environmental information within the preset range, adjusting the automatic inspection equipment by using a push rod motor control mode so that the automatic inspection equipment runs in the middle.
7. The method of claim 1, wherein the driving information includes a driving distance;
based on the driving information, determining that the automatic inspection equipment reaches a preset site comprises:
judging whether the driving distance reaches a preset distance threshold value or not;
determining that the automatic inspection equipment reaches the preset position under the condition that the driving distance reaches the preset distance threshold; and
and under the condition that the driving distance does not reach the preset distance threshold value, determining that the automatic inspection equipment does not reach the preset position point.
8. An inspection device comprising:
the acquisition module is used for acquiring the running information of the automatic inspection equipment running along the extending direction of the track;
the detection module is used for detecting the defects of the object to be detected under the condition that the automatic inspection equipment reaches the preset site based on the running information, so as to obtain the detection result of the object;
the positioning module is used for positioning the object to obtain positioning information; and
and the association module is used for associating the positioning information with the detection result to generate target detection data.
9. An inspection system comprising:
the automatic inspection equipment is used for automatically driving along the extending direction of the track;
the automatic inspection device comprises an acquisition device, a detection device and a control device, wherein the acquisition device is arranged on the automatic inspection device and is used for acquiring inspection information, and the inspection information comprises driving information of the automatic inspection device, defect detection information of an object to be detected and positioning information of the object;
the processing device is arranged on the automatic inspection equipment and used for receiving the detection information sent by the acquisition device and executing the method of any one of claims 1 to 7;
and the remote control end is used for controlling the automatic running of the automatic inspection equipment and generating an inspection report based on the target detection data sent by the processing device.
10. The inspection system according to claim 9, wherein the collection device includes:
the stroke acquisition device comprises a monitoring ball machine, an attitude sensor, an ultrasonic sensor and/or a first displacement sensor and is used for acquiring the running information of the automatic inspection equipment;
the defect acquisition device comprises a linear array camera, a horizontal sensor and/or a second displacement sensor and is used for acquiring the defect detection information of the object;
and the positioning device comprises an odometer and a positioning measuring instrument and is used for acquiring the positioning information of the object.
11. A computer system, comprising:
one or more processors;
a memory for storing one or more programs,
wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-7.
12. A computer readable storage medium having stored thereon executable instructions which, when executed by a processor, cause the processor to carry out the method of any one of claims 1 to 7.
13. A computer program product, comprising:
computer executable instructions for use when executed to implement the method of any one of claims 1 to 7.
CN202110304609.8A 2021-03-22 2021-03-22 Inspection method, inspection device, computer system and readable storage medium Pending CN115116160A (en)

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Publication Number Publication Date
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Country Link
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