CN208233068U - Train library check system - Google Patents
Train library check system Download PDFInfo
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- CN208233068U CN208233068U CN201821438755.XU CN201821438755U CN208233068U CN 208233068 U CN208233068 U CN 208233068U CN 201821438755 U CN201821438755 U CN 201821438755U CN 208233068 U CN208233068 U CN 208233068U
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Abstract
A kind of train library check system, comprising: crusing robot, crusing robot include robot body and walking mechanism, and walking mechanism includes the driving device for being set to the traveling wheel of robot body bottom and connecting with traveling wheel；It is oriented to distance measuring unit, guiding distance measuring unit is set to robot body, the distance between the side wall of the side of robot measurement ontology and library inspection tunnel；Image acquisition units, image acquisition units are set to robot body, for acquiring the vehicle base map picture of train；And drive control unit, drive control unit are electrically connected with driving device and guiding distance measuring unit, are sent according to the measurement result of guiding distance measuring unit to driving device and are turned to activation bit, to control the steering of traveling wheel by driving device.The train library check system can guarantee that crusing robot is walked in the inspection tunnel of library along correct path, avoid being damaged with the collision of tunnel side wall, while guarantee that image acquisition units acquisition can acquire complete vehicle base map picture, improve library inspection efficiency and accuracy.
Description
Technical field
The utility model relates to field of track traffic, in particular to a kind of train library check system.
Background technique
Subway has many advantages, such as that saving soil, freight volume is big, speed is fast, is the important component of urban transportation.In order to protect
The safe operation for hindering subway train needs periodically to carry out fault detection to subway train.Train storage maintenance is detection train event
One of important way of barrier, it is main using detecting vehicle bottom and vehicle side by the way of manually checking at present when train is put in storage and overhauls
Accident defect.The mode of this manual inspection has the disadvantage in that (1) detection efficiency is low, wastes a large amount of manpowers；(2) detection is quasi-
True property is not high and relatively high to the competency profiling of testing staff.So as to lead to accident defect detection processing not in time, to column
The safe operation of vehicle brings hidden danger.
Utility model content
The purpose of the utility model is to provide a kind of train library check system, with overcome existing library procuratorial organ formula detection efficiency it is low,
The not high problem of detection accuracy.
The utility model proposes a kind of train library check systems, comprising:
Crusing robot, the crusing robot include robot body and walking mechanism, and the walking mechanism includes setting
Traveling wheel in the robot body bottom and the driving device that is connect with the traveling wheel；
It is oriented to distance measuring unit, the guiding distance measuring unit is set to the robot body, for measuring the robot sheet
The distance between the side wall of the side of body and library inspection tunnel；
Image acquisition units, described image acquisition unit is set to the robot body, for acquiring the vehicle base map of train
Picture；And
Drive control unit, the drive control unit are electrically connected with the driving device and the guiding distance measuring unit,
It is sent according to the measurement result of the guiding distance measuring unit to the driving device and turns to activation bit, to pass through the driving
Device controls the steering of the traveling wheel.
Preferably, train library check system further includes image comparing unit, described image comparing unit and described image
Acquisition unit electrical connection, described image comparing unit is for the vehicle base map picture and standard vehicle base map picture.
Preferably, the guiding distance measuring unit includes first laser radar and second laser radar, the first laser thunder
Up to the distance between the left side wall L1 of left side and library inspection tunnel for measuring the robot body, the second laser thunder
Up to the distance between the right side wall L2 of right side and library inspection tunnel for measuring the robot body.
Preferably, train library check system further include:
Ranging comparing unit, the ranging comparing unit is for the distance L1 and distance L2；
The drive control unit is electrically connected with the ranging comparing unit, and according to the comparison of the ranging comparing unit
As a result it is sent to the driving device and turns to activation bit, turned to the left to control the traveling wheel by the driving device
Or it turns to the right.
Preferably, described image acquisition unit includes industrial camera.
Preferably, described image acquisition unit is set to the top of the robot body.
Preferably, the driving device includes servo motor.
Preferably, train library check system further includes barrier distance measuring unit, and the barrier distance measuring unit is set to institute
Robot body is stated, and is electrically connected with the drive control unit, the barrier distance measuring unit is for measuring the robot
The distance between the front end of ontology and its front obstacle L.
Preferably, train library check system further include:
Distance comparison unit, the distance comparison unit is for the distance L and preset distance L0；
The drive control unit is electrically connected with the distance comparison unit, and according to the comparison of the distance comparison unit
As a result revolving speed activation bit is sent to the driving device, so that the traveling wheel is kept or reduced by the driving device
Revolving speed.
Preferably, the drive control unit is set to the robot body or the drive control unit is set to institute
It states above the inspection tunnel of library.
The beneficial effects of the utility model are that the complete vehicle base map picture of tunnel automatic collection, Jin Erke can be examined along library
Vehicle bottom failure is identified by manual or automatic mode, improves detection efficiency and detection accuracy.
Detailed description of the invention
The utility model exemplary embodiment is described in more detail in conjunction with the accompanying drawings, the utility model it is above-mentioned
And other purposes, feature and advantage will be apparent, wherein identical in the utility model exemplary embodiment
Appended drawing reference typically represents same parts.
Fig. 1 shows the main view of the train library check system according to the utility model exemplary embodiment；
Fig. 2 shows the side view of the train library check system according to the utility model exemplary embodiment.
Description of symbols:
Tunnel, 3- traveling wheel, 4- robot body, 5- guiding distance measuring unit, 6- Image Acquisition list are examined in 1- train, the library 2-
Member.
Specific embodiment
The utility model is more fully described below with reference to accompanying drawings.Although showing the preferred of the utility model in attached drawing
Embodiment, however, it is to be appreciated that may be realized in various forms the utility model without that should be limited by embodiments set forth here
System.On the contrary, thesing embodiments are provided so that the utility model is more thorough and complete, and can be by the utility model
Range is completely communicated to those skilled in the art.
The utility model provides a kind of train library check system, comprising:
Crusing robot, crusing robot include robot body and walking mechanism, and walking mechanism includes being set to robot
The traveling wheel of body bottom portion and the driving device being connect with traveling wheel；
It is oriented to distance measuring unit, guiding distance measuring unit is set to robot body, and the side of robot measurement ontology and library inspection are cheated
The distance between the side wall in road；
Image acquisition units, image acquisition units are set to robot body, for acquiring the vehicle base map picture of train；And
Drive control unit, drive control unit are electrically connected with driving device and guiding distance measuring unit, according to guiding ranging
The measurement result of unit sends to driving device and turns to activation bit, to control the steering of traveling wheel by driving device.
When executing the inspection of train library, train is docked above the inspection tunnel of library, and crusing robot is placed in the inspection tunnel of library, survey monitor
Device people walks in the inspection tunnel of library under the driving of its driving device, while the vehicle base map of train is acquired by image acquisition units
Picture.The robot body of crusing robot is equipped with guiding distance measuring unit, and the side and library inspection for being used for robot measurement ontology are cheated
The distance between the side wall in road, drive control unit send to turn to and drive according to the measurement result of guiding distance measuring unit to driving device
Dynamic information, so that the steering of traveling wheel is controlled by driving device, so that crusing robot is in the inspection tunnel of library along correct road
Diameter walking avoids bumping against damage crusing robot with tunnel side wall, while the vehicle base map picture for also avoiding image acquisition units from acquiring
It is imperfect.The vehicle base map picture of image acquisition units acquisition can be transmitted to data analytics server and be analyzed, and whether analysis vehicle bottom
There are failures.
The train library check system can examine the complete vehicle base map picture of tunnel automatic collection along library, so can by artificial or
Automated manner identifies vehicle bottom failure, improves detection efficiency and detection accuracy.
In one example, train library check system further includes image comparing unit, image comparing unit and Image Acquisition list
Member electrical connection, image comparing unit is for comparing vehicle base map picture and standard vehicle base map picture.
The standard vehicle base map picture not comprising failure can be acquired in advance, and inspection machine man-hour passes through Image Acquisition list
First collecting vehicle base map picture, the vehicle base map picture and standard vehicle base map gathered in advance that image comparing unit acquires image acquisition units
As being compared.When having differences therebetween, then show that there are failures for corresponding vehicle bottom point.Image comparing unit can be with
The comparison result is further marked, and comparison result is transmitted to data analytics server and is further divided by technical staff
Analysis.Further, image comparing unit also can use existing image and compare comparison vehicle base map picture and standard vehicle base map
Picture, this is that those skilled in the art are readily apparent that.
In one example, guiding distance measuring unit includes first laser radar and second laser radar, first laser radar
The distance between left side wall for the left side of robot measurement ontology and library inspection tunnel L1, second laser radar is for measuring
The distance between the right side wall of the right side of robot body and library inspection tunnel L2.
Laser radar is the radar system to emit the characteristic quantities such as the position of detecting laser beam target, speed.Its work is former
Reason be to objective emission detectable signal (laser beam), then by the reflected signal of slave target (target echo) received with
Transmitting signal is compared, after making proper treatment, so that it may target is obtained for information about, such as target range, orientation, height, speed
Degree, posture, the even parameters such as shape, to be detected, tracked and be identified to target.The working principle and radar of laser radar
It is very close, using laser as signal source, is got to by the pulse laser that laser is launched and cause to scatter on object, one
Shunt excitation light can be reflected on the receiver of laser radar, be calculated according to laser distance measuring principle, so that it may be obtained from laser thunder
Reach the distance of target point, pulse laser constantly scans object, so that it may the data of target complete point on object are obtained,
After carrying out imaging with this data, so that it may obtain accurate three-dimensional image.The high resolution of laser radar, it is small in size,
Light weight, suitable in the check system of train library.
In one example, train library check system further includes ranging comparing unit, and ranging comparing unit is for comparing distance
L1 and distance L2；Drive control unit is electrically connected with ranging comparing unit, and according to the comparison result of ranging comparing unit to drive
Dynamic device, which is sent, turns to activation bit, to be turned to by driving device control traveling wheel or be turned to the right to the left.
More specifically, ranging comparing unit compares distance L1 and distance L2, when comparison result is that distance L1 is greater than distance
When L2, drive control unit sends to driving device and turns to activation bit, turns left to control traveling wheel by driving device
To；When comparison result is that distance L1 is less than distance L2, drive control unit sends to driving device and turns to activation bit, thus
Traveling wheel is controlled by driving device to turn to the right.It is the existing skill of this field by the steering that driving device controls traveling wheel
Art, details are not described herein.By the control of drive control unit, crusing robot can be made along the center line row in library inspection tunnel
It walks, it is avoided to be damaged with the collision of tunnel side wall, while the vehicle base map for also avoiding image acquisition units from acquiring is as imperfect.
Specifically, driving device includes servo motor.Servo motor can very accurately control speed, position, will
Voltage signal is converted into torque and revolving speed with drive control object.Servo motor rotor revolving speed is controlled by input signal, and can be fast
Speed reaction, has the characteristics such as electromechanical time constant is small, the linearity is high, pickup voltage is low, the electric signal received can be converted into
Angular displacement or angular speed output on motor reel.
In one example, image acquisition units include industrial camera.Industrial camera is a kind of suitable for intelligence friendship
The crowds such as logical, public security bayonet, high-definition electronic police system, industrial detection, semiconductor detection, printed board detection, food and drink detection
Multi-field high-resolution color digital camera.It has the characteristics that transmission speed is fast, color reducibility is good, imaging clearly,
The parameters in series such as length, angle, the area for being not only able to facilitate shooting micro-image, and shooting object capable of being measured.Industry
Video camera has high picture steadiness, high-transmission ability and high anti-jamming capacity.Industrial camera is divided by picture pick-up device
Electrovacuum picture pick-up device (i.e. pick-up tube) video camera and solid photographic device (CCD device, cmos device) video camera two major classes.
In one example, image acquisition units are set to the top of robot body, in order to collecting vehicle base map picture.
In one example, train library check system further includes barrier distance measuring unit, and barrier distance measuring unit is set to machine
Human body, and be electrically connected with drive control unit, barrier distance measuring unit is for the front end of robot measurement ontology and its front
The distance between barrier L.Barrier distance measuring unit may include laser radar.
In one example, train library check system further includes distance comparison unit, and distance comparison unit is for comparing distance L
With preset distance L0；Drive control unit is electrically connected with distance comparison unit, and according to the comparison result of distance comparison unit to
Driving device sends revolving speed activation bit, so that the revolving speed of traveling wheel is kept or reduced by driving device.
More specifically, distance comparison unit compares distance L and preset distance L0, when comparison result is that distance L is less than in advance
Definite value L0When, drive control unit sends revolving speed activation bit to driving device, to reduce traveling wheel by driving device
Revolving speed；When comparison result is that distance L is greater than or equal to predetermined value L0When, drive control unit sends revolving speed driving to driving device
Information, to keep the revolving speed of traveling wheel by driving device.Being changed by driving device or keeping the revolving speed of traveling wheel is this
The prior art in field, details are not described herein.
In one example, drive control unit is set to robot body or is set to above the inspection tunnel of library, drive control list
Member can be communicated to connect by wireless network and other units and device.
Embodiment
Fig. 1 and Fig. 2 shows main view and the side of the train library check system according to the utility model exemplary embodiment respectively
View.As depicted in figs. 1 and 2, which includes:
Crusing robot, crusing robot include robot body 4 and walking mechanism, and walking mechanism includes being set to robot
The traveling wheel 3 of body bottom portion and the driving device being connect with traveling wheel 3；
It is oriented to distance measuring unit 5, guiding distance measuring unit 5 is set to robot body 4, the side and library of robot measurement ontology 4
Examine the distance between the side wall in tunnel 2；Wherein, guiding distance measuring unit 5 include first laser radar and second laser radar, first
The distance between left side wall of the laser radar for the left side of robot measurement ontology 4 and library inspection tunnel 2 L1, second laser thunder
Up to the distance between the right side wall L2 of right side and library inspection tunnel 2 for robot measurement ontology 4；
Image acquisition units 6, image acquisition units 6 are set to the top of robot body 4, for acquiring the vehicle bottom of train 1
Image；Wherein, image acquisition units 6 are industrial cameras；
Drive control unit, drive control unit are electrically connected with driving device and guiding distance measuring unit, according to guiding ranging
The measurement result of unit sends to driving device and turns to activation bit, to control the steering of traveling wheel 3 by driving device.
Wherein, train library check system further includes ranging comparing unit, and ranging comparing unit is for comparing distance L1 and distance
L2；Drive control unit is electrically connected with ranging comparing unit, and is sent out according to the comparison result of ranging comparing unit to driving device
Steering activation bit is sent, to turn to by driving device control traveling wheel 3 or turn to the right to the left.
When executing the inspection of train library, train 1 docks at 2 top of library inspection tunnel, and crusing robot is placed in the inspection tunnel 2 of library,
Crusing robot is walked in the inspection tunnel 2 of library under the driving of its driving device, while acquiring train by image acquisition units 6
1 vehicle base map picture.The vehicle base map picture that image acquisition units 6 acquire can be transmitted to data analytics server and be analyzed, and analyze vehicle
Bottom whether there is failure.Two sides and library for being oriented to a pair of of laser radar difference robot measurement ontology of distance measuring unit 5 are examined
The distance between the two side walls in tunnel L1 and L2；Ranging comparing unit compares distance L1 and distance L2, when comparison result be away from
When being greater than distance L2 from L1, drive control unit sends to driving device and turns to activation bit, to be controlled by driving device
Traveling wheel turns to the left；When comparison result is that distance L1 is less than distance L2, drive control unit sends to driving device and turns to
Activation bit turns to the right to control traveling wheel by driving device.
The train library check system can guarantee that crusing robot is walked in the inspection tunnel of library along correct path, avoid and tunnel
Side wall bumps against impaired, while guaranteeing that image acquisition units acquisition can acquire complete vehicle base map picture, improve library inspection efficiency and
Accuracy.
Each embodiment of the utility model is described above, above description is exemplary, and non-exclusive, and
And it is also not necessarily limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for
Many modifications and changes are obvious for those skilled in the art.
Claims (10)
1. a kind of train library check system characterized by comprising
Crusing robot, the crusing robot include robot body and walking mechanism, and the walking mechanism includes being set to institute
The driving device stating the traveling wheel of robot body bottom and being connect with the traveling wheel；
It is oriented to distance measuring unit, the guiding distance measuring unit is set to the robot body, for measuring the robot body
The distance between the side wall of side and library inspection tunnel；
Image acquisition units, described image acquisition unit is set to the robot body, for acquiring the vehicle base map picture of train；With
And
Drive control unit, the drive control unit are electrically connected with the driving device and the guiding distance measuring unit, according to
The measurement result of the guiding distance measuring unit is sent to the driving device turns to activation bit, to pass through the driving device
Control the steering of the traveling wheel.
2. train library according to claim 1 check system, which is characterized in that further include image comparing unit, described image
Comparing unit is electrically connected with described image acquisition unit, and described image comparing unit is used for the vehicle base map picture and standard vehicle
Base map picture.
3. train library according to claim 1 check system, which is characterized in that the guiding distance measuring unit includes first laser
Radar and second laser radar, the first laser radar is used to measure the left side of the robot body and tunnel is examined in library
The distance between left side wall L1, the second laser radar is used to measure the right side of the robot body and tunnel is examined in library
The distance between right side wall L2.
4. train library according to claim 3 check system, which is characterized in that further include:
Ranging comparing unit, the ranging comparing unit is for the distance L1 and distance L2；
The drive control unit is electrically connected with the ranging comparing unit, and according to the comparison result of the ranging comparing unit
Sent to the driving device and turn to activation bit, thus turned to the left by the driving device control traveling wheel or to
Right turn.
5. train library according to claim 1 check system, which is characterized in that described image acquisition unit includes industry camera shooting
Machine.
6. train library according to claim 1 check system, which is characterized in that described image acquisition unit is set to the machine
The top of human body.
7. train library according to claim 1 check system, which is characterized in that the driving device includes servo motor.
8. train library according to claim 1 check system, which is characterized in that further include barrier distance measuring unit, the barrier
Hinder object distance measuring unit to be set to the robot body, and is electrically connected with the drive control unit, the barrier distance measuring unit
The distance between front end and its front obstacle for measuring robot body L.
9. train library according to claim 8 check system, which is characterized in that further include:
Distance comparison unit, the distance comparison unit is for the distance L and preset distance L0；
The drive control unit is electrically connected with the distance comparison unit, and according to the comparison result of the distance comparison unit
Revolving speed activation bit is sent to the driving device, so that turning for the traveling wheel is kept or reduced by the driving device
Speed.
10. train library according to claim 1 check system, which is characterized in that the drive control unit is set to the machine
Device human body or the drive control unit are set to above the inspection tunnel of the library.
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| CN201821438755.XU CN208233068U (en) | 2018-09-04 | 2018-09-04 | Train library check system |
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| CN201821438755.XU CN208233068U (en) | 2018-09-04 | 2018-09-04 | Train library check system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115514922A (en) * | 2021-06-04 | 2022-12-23 | 同方威视技术股份有限公司 | Scanning method, device, equipment and computer storage medium |
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- 2018-09-04 CN CN201821438755.XU patent/CN208233068U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115514922A (en) * | 2021-06-04 | 2022-12-23 | 同方威视技术股份有限公司 | Scanning method, device, equipment and computer storage medium |
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