CN210324302U - Intelligent inspection system for train inspection of metro vehicles - Google Patents
Intelligent inspection system for train inspection of metro vehicles Download PDFInfo
- Publication number
- CN210324302U CN210324302U CN201921914049.2U CN201921914049U CN210324302U CN 210324302 U CN210324302 U CN 210324302U CN 201921914049 U CN201921914049 U CN 201921914049U CN 210324302 U CN210324302 U CN 210324302U
- Authority
- CN
- China
- Prior art keywords
- robot
- inspection
- control center
- trench
- inspection robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The utility model discloses an intelligence system of patrolling and examining of railcar row examination, including remote control platform, site control center and be used for carrying out the robot of patrolling and examining that detects to the vehicle, the robot of patrolling and examining adopts SLAM navigation to carry out route navigation and location in the trench to be provided with the transport mechanism that supplies to patrol and examine the robot and change between different trenches in the trench, the site control center receives the testing command that remote control platform issued and analyzes it and send for patrolling and examining the robot, the robot of patrolling and examining detect subway vehicle and carry out analysis processes to site control center and obtain the testing result voluntarily in the trench and will detect data feedback, the remote control platform acquires the testing result and demonstrates from site control center. The utility model discloses need not to carry out extensive transformation to the maintenance storehouse, implementation cost is low, and it can change between different trenches to patrol and examine the robot, and one patrols and examines the robot and can detect the operation to many vehicles that overhaul on the track, reduces the robot and drops into quantity, reduce cost.
Description
Technical Field
The utility model relates to a track traffic detects technical field, especially relates to an intelligent system of patrolling and examining of subway vehicle row inspection.
Background
Subway vehicles are important components in urban rail transit, run on rails and are responsible for carrying guests. The subway vehicle has a complex structure, and in order to ensure the daily safe operation of the subway vehicle, the subway vehicle needs to return to a special overhaul warehouse for overhaul after carrying tasks are executed every day. The overhaul content mainly comprises the loosening, the breakage, the loss, the deformation and the like of the parts of the subway vehicle. A plurality of maintenance tracks are arranged in parallel at intervals in a maintenance warehouse for subway vehicle maintenance, the maintenance tracks are supported by upright posts arranged at intervals along the length direction of the tracks, trenches along the length direction of the tracks are arranged below the maintenance tracks, and steps for separation are arranged between the trenches of adjacent maintenance tracks.
In the prior art, a manual maintenance operation mode is usually adopted, inspection operation is performed by using simple tools such as a flashlight (part of the tools with a video recording function), a ruler and a hammer and combining a visual method, and the maintenance operation has low efficiency, uneven inspection quality levels, large influence of human factors and no traceability of inspection results; then, a man-machine overhaul combined mode is adopted, the machine is mainly responsible for detection, repair tasks are executed manually according to detection results, the machine can adopt a visual detection method, an automatic inspection robot is arranged in the trench and is responsible for visual inspection of parts at the bottom of the vehicle, the currently adopted automatic inspection robot adopts an RGV mode, a special track is arranged in the trench, the robot can only travel along the track, the robot is long in length and heavy in weight and can only work in one trench and is difficult to transfer to other trenches for inspection operation, the robot occupies the trench with a certain length, the occupied trench can block normal walking of personnel, one robot is respectively arranged in each trench, the equipment investment quantity is large, large-scale capital construction reconstruction (laying of the special track) is needed, and the cost investment is too high, centralized scheduling management is not facilitated.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve and the technical task that provides are improved prior art, provide an intelligent system of patrolling and examining of railcar row inspection, solve among the prior art subway vehicle maintenance mode inefficiency, the capital construction transformation is big, the equipment input is big, problem with high costs.
For solving the above technical problem, the technical scheme of the utility model is that:
the utility model provides an intelligence system of patrolling and examining of subway vehicle train inspection, includes remote control platform, on-the-spot control center and is used for patrolling and examining the robot that detects the vehicle, patrolling and examining the robot and adopting SLAM navigation system to carry out route navigation and location in the trench to be provided with the transport mechanism that supplies to patrol and examine the robot and change between different trenches in the trench, on-the-spot control center receive the test command that remote control platform issued and analyze it and send to patrolling and examining the robot, patrol and examine the robot and detect the subway vehicle in the trench and feed back the test data to on-the-spot control center and carry out analysis processes and obtain the testing result, remote control platform obtains the testing result from on-the-spot control center and demonstrates. The intelligence system of patrolling and examining of railcar train inspection need not to lay the track that supplies the inspection robot to march in the trench, the inspection robot utilizes SLAM navigation to carry out route navigation and location in the trench, thereby the inspection robot can directly march in current trench, need not to carry out large-scale transformation to the capital construction of examining and repairing the storehouse, the transformation cost is low, and the inspection robot can pass through transfer mechanism and change between the trench of difference, thereby one is patrolled and examined the robot and can be used to examine the railcar on many maintenance tracks and detect the operation, can reduce the input quantity of robot, reduce equipment input cost, and remote control platform carries out unified scheduling to the inspection robot, reduce system user personnel's quantity requirement, reduce the personnel selection cost.
Furthermore, the field control center is provided with a plurality of inspection robots, each field control center manages a plurality of inspection robots, and when the field control center receives a detection command issued by the remote control console, the field control center performs scheduling according to the current working state of the inspection robot under the jurisdiction of the field control center, and selects the most suitable inspection robot to execute the current detection task.
Further, transport mechanism for the lift platform that sets up in the trench, the mode that adopts to go up and down comes to come to patrol and examine the robot and fall into in the trench or promote from the trench in, make that patrol and examine the robot can be convenient convert another trench from a trench, the conversion is convenient, high efficiency, and set up lift platform in the trench and need not to carry out large-scale transformation, destruction to the capital construction of trench, lift platform pass through chemical bolt or expansion bolts fix can at the trench lateral wall, high construction efficiency, low cost, be applicable to various types of maintenance storehouse.
Furthermore, the lifting platform interacts with the inspection robot through the field control center, the field control center receives and forwards the robot state information sent by the inspection robot to the lifting platform, the lifting platform performs corresponding lifting actions, the field control center receives and feeds back the lifting platform state information sent by the lifting platform to the inspection robot, the robot drives in or out of the lifting platform when judging that the lifting platform is in the correct position, centralized interactive control management is adopted, automatic lifting and transferring of the inspection robot are realized without manual intervention, so that the inspection robot automatically switches among different ditches through the lifting platform, the stability and the safety of transferring of the inspection robot among ditches of the maintenance track are ensured, and accidents that the inspection robot falls or impacts the lifting platform due to the fact that the inspection robot does not correspond to the lifting platform are avoided, the integrity and the life of robot are patrolled and examined in the guarantee, and the input cost is low, and the transportation reliability of robot is patrolled and examined is high, the flexibility is good.
Furthermore, the transfer mechanism for set up in the trench extend to the slope on ground, patrol and examine the robot and directly roll into or roll out the trench along the slope, the realization that can be convenient patrols and examines the conversion of robot between the trench, the reliability on slope is high, and construction cost is low, and a robot of patrolling and examining can be used to detect the operation to many subway vehicles on the track of overhauing, can reduce the input quantity of robot, reduction equipment input cost.
Furthermore, a cooperative mechanical arm is arranged on the inspection robot, so that the inspection robot is suitable for working in a man-machine cooperation scene.
Further, patrol and examine and set up the three-dimensional imaging system who is used for carrying out visual inspection to railcar on the robot, furthest avoids water stain, dust, illumination to the harmful effects of testing result.
Furthermore, the field control center is provided with a data analysis computer for processing the detection data to identify the fault condition of the metro vehicle, and the data analysis computer is provided with a special algorithm to accurately identify and judge the fault of the metro vehicle.
Furthermore, the field control center is provided with a data server for storing detection data, so that timely access and data tracing afterwards are facilitated.
Further, the site control center still be provided with the electric pile that fills that supplies to patrol and examine the robot and charge, patrol and examine the robot and go to the electric pile department of filling automatically when the low-power and charge.
Further, the inspection robot leaves the trench through the transfer mechanism after detecting the subway vehicle, so that the inspection robot does not occupy the trench, does not influence the normal passing of repair personnel, and reduces the application risk.
Compared with the prior art, the utility model discloses the advantage lies in:
the intelligent inspection system for the train inspection of the metro vehicles does not need to carry out large-scale reconstruction on the capital construction of an inspection warehouse, the reconstruction cost is low, the inspection robot automatically carries out path navigation and positioning in the trench, the inspection robot is switched among different trenches through the transfer mechanism, thereby a robot of patrolling and examining can be used to detect the operation to many subway vehicles that overhaul on the track, reduce the input quantity of robot, reduce equipment input cost, remote control platform carries out unified dispatch to patrolling and examining the robot, reduce system user personnel's quantity requirement, reduce the personnel selection cost, the robot of patrolling and examining does not occupy the trench after the operation of detecting is accomplished, do not influence repair personnel's normal current, reduce the application risk, the robot of patrolling and examining is miniaturized design, many patrolling and examining the robot and detecting the operation to a subway vehicle simultaneously, and the execution efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of an intelligent inspection system for train inspection of subway vehicles;
fig. 2 is a schematic structural diagram of a second embodiment of the intelligent inspection system for train inspection of subway vehicles.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The embodiment of the utility model discloses an intelligence system of patrolling and examining of subway vehicle train inspection need not to carry out large-scale transformation to the current capital construction of overhauing the storehouse, is applicable to various types and overhauls the storehouse, increases the working range of robot, can transport between the trench, reduces equipment input quantity, and reduce cost drops into, concentrates and dispatches the management, reduces artifical demand, and it is high to overhaul operation efficiency.
Example one
As shown in fig. 1, an intelligent inspection system for train inspection of subway vehicles mainly comprises a remote control console, a field control center and an inspection robot for inspecting vehicles;
the inspection robot adopts a SLAM navigation system to perform path navigation and positioning in the trench, adopts a laser radar obstacle avoidance technology, ensures the safety of the robot during autonomous operation to the maximum extent, enables the robot to flexibly and accurately move in the trench, avoids collision, does not need to lay a special guide rail for the inspection robot to travel in the trench, thereby not needing to carry out large-scale reconstruction on capital construction, reducing the basic construction requirement of the operation ground required by the inspection robot, having high construction efficiency and low cost, and being flexibly applicable to the existing various types of overhaul warehouses;
the inspection robot is provided with a cooperative mechanical arm and is suitable for working under a man-machine cooperation scene, the inspection robot is provided with a three-dimensional imaging system for carrying out visual detection on the metro vehicle, the three-dimensional imaging system can carry out three-dimensional imaging on a specific part of the metro vehicle, the inspection robot can also carry out panoramic image scanning on the metro vehicle, a walking mechanism of the inspection robot adopts a differential wheel structure, and the walking positioning precision of the inspection robot is within +/-10 mm;
and a transfer mechanism for switching the inspection robot among different ditches is arranged in each ditch, in the embodiment, the transfer mechanism is a lifting platform arranged in the ditch, the lifting platform is fixed on the side wall of the ditch and an upright post of an inspection track by adopting chemical bolts without large-scale reconstruction of capital construction, the quick installation of the lifting platform is realized, the ditch and the upright post are not damaged, the integrity of a basic structure of an inspection warehouse is ensured, the service life of the inspection warehouse is prolonged, the lifting platform comprises a power assembly and a supporting plate for bearing the inspection robot, the supporting plate is driven by the power assembly to lift, the power assembly adopts a screw pair lifting mechanism and is driven by a motor, the reliability of the lifting action is high, the stability is good, and the supporting plate is lifted and guided by a vertical guide rail, in the embodiment, the power assembly is arranged at two sides of the diagonal angle of the supporting plate, the guide rails are arranged on two sides of the other opposite angle of the supporting plate, the structure with the opposite angle distribution can effectively increase the structural stability, the uniform distribution of external loads of the lifting platform is guaranteed, the lifting platform does stable linear lifting motion, and the lifting reliability is improved. Specifically, the screw pair lifting mechanism and the guide rail are arranged along the upright posts, a stroke area does not need to be arranged on a ground pit of a trench, a foundation structure does not need to be greatly modified, the supporting plate of the inspection robot is supported to be lifted to be equal to the height of a step between trenches, the inspection robot drives between the upright posts of the maintenance track to be converted into other trenches, the inspection robot is designed in a small size, the width of the inspection robot is smaller than 850mm, the rotation diameter of the inspection robot in situ is smaller than 1300mm, and the height of the inspection robot is smaller than 950mm when the inspection robot is in the lowest posture (mechanical arm contraction state), so that the inspection robot can be smoothly and flexibly converted into other trenches from between the upright posts of the maintenance track, a plurality of inspection robots are allowed to simultaneously detect one subway vehicle, and the execution efficiency is improved;
the lifting platform interacts with the inspection robot through the field control center, the field control center receives robot state information sent by the inspection robot and forwards the robot state information to the lifting platform, the lifting platform performs corresponding lifting actions, the field control center receives the lifting platform state information sent by the lifting platform and feeds the lifting platform state information back to the inspection robot, the robot drives in or drives out of the lifting platform when judging that the lifting platform is in a correct position, interactive control management is adopted, automatic lifting and transferring of the inspection robot are achieved without human intervention, and the inspection robot is enabled to automatically switch among different ditches through the lifting platform;
the on-site control center receives a detection command sent by the remote control console, analyzes the detection command and sends the detection command to the inspection robot, the inspection robot automatically performs visual detection (sound detection, smell detection, vibration detection, nondestructive inspection and the like) on the metro vehicles in the trench after receiving the detection command and feeds visual detection data back to the on-site control center, the inspection robot automatically operates, automatically detects, automatically reports states and automatically charges under the condition of no human intervention, the on-site control center analyzes and processes the detection data to obtain a detection result, the remote control console obtains and displays the detection result from the on-site control center, and the remote control console performs unified scheduling and unified data viewing on the inspection robot;
the field control center is fixedly arranged on the ground of the overhaul warehouse, the inspection robots are controlled and dispatched through a wireless network, a plurality of inspection robots can be arranged in the field control center, each field control center manages a plurality of inspection robots, when the field control center receives a detection command issued by a remote control console, flexible dispatching is carried out according to the current working state of the inspection robots administered by the field control center, the detection command is sent to the most suitable inspection robot (for example, the most suitable inspection robot can be an idle inspection robot, an inspection robot with sufficient electric quantity, an inspection robot closest to a vehicle to be detected and the like), and the most suitable inspection robot is selected to efficiently and stably execute the current detection task;
the field control center is provided with a data analysis computer for processing visual detection data to identify the fault condition of the metro vehicle, the field control center is further provided with a data server for storing the visual detection data and detection results, timely access and subsequent data tracing are facilitated, the remote control console obtains the detection results by accessing the data server, the field control center is further provided with a charging pile for charging the inspection robot, the field control center is further provided with an uninterruptible power supply, the system can operate stably for a long time, the field control center and the inspection robot perform data interaction through a wireless network without wiring, the installation is rapid and convenient, and the field control center and the remote control console can perform command and detection result interaction in a wired or wireless mode.
The work flow of the intelligent inspection system for the train inspection of the metro vehicles is as follows:
the remote console issues a detection command;
the field control center analyzes and forwards the detection command to the inspection robot;
after receiving the detection command, the inspection robot automatically starts to execute the detection task under the condition of no human intervention;
the inspection robot enters the trench through the transfer mechanism;
the inspection robot automatically performs visual inspection on the subway vehicle, acquires image data and transmits the image data to the field control center in real time;
the inspection robot leaves the trench through the transfer mechanism after the detection task is executed;
the field control center processes the image data of the visual detection to identify the fault condition of the subway vehicle to obtain a detection result, meanwhile, the image data of the visual detection and the detection result are stored in the data server, and the remote control console accesses the data server to obtain and display the detection result.
Example two
As shown in fig. 2, the difference with embodiment one lies in, transport mechanism is the slope that extends to ground that sets up in every trench, it directly drives into or drives out the trench along the slope to patrol and examine the robot, entire system is simpler, only patrol and examine the robot and interact with the on-the-spot control center, need not to carry out large-scale transformation to the current infrastructure of overhauing the storehouse equally, be applicable to various types of overhauls storehouse, it can transport between the trench to patrol and examine the robot, increase the working range who patrols and examine the robot, reduce equipment input quantity, reduce the input cost, concentrate on and dispatch the management, reduce artifical demand, overhaul work efficiency is high.
The above is only a preferred embodiment of the present invention, and it should be noted that the above preferred embodiment should not be considered as limiting the present invention, and the protection scope of the present invention should be subject to the scope defined by the claims. It will be apparent to those skilled in the art that various modifications and enhancements can be made without departing from the spirit and scope of the invention, and such modifications and enhancements are intended to be within the scope of the invention.
Claims (10)
1. The intelligent inspection system is characterized by comprising a remote control console, a field control center and an inspection robot for detecting vehicles, wherein the inspection robot adopts a SLAM navigation system to perform path navigation and positioning in a trench, a transfer mechanism for converting the inspection robot among different trenches is arranged in the trench, the field control center receives a detection command issued by the remote control console and analyzes and sends the detection command to the inspection robot, the inspection robot automatically detects the metro vehicles in the trench and feeds detection data back to the field control center for analysis processing to obtain a detection result, and the remote control console obtains the detection result from the field control center and displays the detection result.
2. The intelligent inspection system for the train inspection of the metro vehicles according to claim 1, wherein a plurality of field control centers are arranged, and each field control center manages a plurality of inspection robots.
3. An intelligent inspection system according to claim 1, wherein the transfer mechanism is a lifting platform disposed in a trench.
4. The intelligent inspection system for trains of metro vehicles according to claim 3, wherein the lifting platform interacts with the inspection robot through a field control center.
5. An intelligent inspection system according to claim 1, wherein the transit mechanism is a ramp extending to the ground in the trench.
6. An intelligent inspection system according to any one of claims 1 to 5, wherein the inspection robot is provided with a cooperative mechanical arm.
7. An intelligent inspection system for trains of subways as recited in any of claims 1 to 5, wherein the inspection robot is provided with a three-dimensional imaging system for visually inspecting the subways.
8. An intelligent inspection system for trains of subways as recited in any of claims 1 to 5, wherein said site control center is provided with a data analysis computer for processing inspection data to identify failure conditions of the subways.
9. An intelligent inspection system for trains of subways as recited in any of claims 1 to 5, wherein the site control center is provided with a data server for storing inspection data.
10. An intelligent inspection system for trains of subways as recited in any of claims 1 to 5, wherein the site control center is further provided with a charging pile for charging the inspection robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921914049.2U CN210324302U (en) | 2019-11-07 | 2019-11-07 | Intelligent inspection system for train inspection of metro vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921914049.2U CN210324302U (en) | 2019-11-07 | 2019-11-07 | Intelligent inspection system for train inspection of metro vehicles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210324302U true CN210324302U (en) | 2020-04-14 |
Family
ID=70134713
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921914049.2U Active CN210324302U (en) | 2019-11-07 | 2019-11-07 | Intelligent inspection system for train inspection of metro vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210324302U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110766825A (en) * | 2019-11-07 | 2020-02-07 | 成都铁安科技有限责任公司 | Intelligent inspection system for train inspection of metro vehicles |
-
2019
- 2019-11-07 CN CN201921914049.2U patent/CN210324302U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110766825A (en) * | 2019-11-07 | 2020-02-07 | 成都铁安科技有限责任公司 | Intelligent inspection system for train inspection of metro vehicles |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110766825A (en) | Intelligent inspection system for train inspection of metro vehicles | |
| CN105835063B (en) | Crusing robot system and its method for inspecting in a kind of substation room | |
| CN108638083A (en) | Rail vehicle overhauls auxiliary robot | |
| CN105945900A (en) | Indoor inspection robot for transformer substation | |
| CN107046252A (en) | A kind of conduit line intelligent inspection robot | |
| CN210324302U (en) | Intelligent inspection system for train inspection of metro vehicles | |
| CN107065852A (en) | A kind of photovoltaic plant inspection operational system and its method | |
| CN104709785A (en) | Intelligent group control dispatch and safety control system and implementation method | |
| CN109895805A (en) | A kind of rail traffic vehicles vehicle bottom cruising inspection system and method | |
| CN112590834B (en) | Full-automatic retarder auxiliary detection vehicle | |
| CN113608080A (en) | Underground piping lane transmission line fault detection robot | |
| CN209795478U (en) | Automatic inspection equipment for railway vehicle roof | |
| CN207268898U (en) | Device for production area patrol intelligent linkage | |
| CN109677429A (en) | Subway battery contact net comprehensive operation vehicle | |
| CN212500414U (en) | Orbital transfer device and orbital transfer system of robot are patrolled and examined to rail mounted intelligence | |
| CN108749833A (en) | From traveling pin-connected panel Tunnel testing trolley on a kind of rail | |
| CN216272761U (en) | Traveling control system of waste incineration plant | |
| CN110806750A (en) | Automatic transfer system suitable for subway vehicle train inspection robot | |
| CN202025364U (en) | Programmable control inspection machine for substation | |
| CN210242851U (en) | Mobile monitoring system for operation state of capital construction equipment | |
| CN112428386B (en) | Intelligent vibrating trolley | |
| CN114014163A (en) | Traveling control system of waste incineration plant | |
| CN115019414A (en) | Track intelligence system of patrolling and examining based on VR is immersive | |
| CN107507384A (en) | Device for producing region patrol intelligent linkage | |
| CN210173546U (en) | Parallel orbital transfer subassembly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210623 Address after: Building 5, 389 Wenjia Road, Qingyang District, Chengdu, Sichuan 610000 Patentee after: Chengdu Shengkai Technology Co., Ltd Address before: 6 Donghai Road, Qingyang Park, Jiaolong industrial port, Chengdu, Sichuan 610000 Patentee before: CHENGDU TIEAN SCIENCE & TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |