CN212340675U - Magnetic wave positioning vehicle bottom intelligent detection system - Google Patents

Abstract

The utility model discloses a magnetic wave location vehicle bottom intellectual detection system, including patrolling and examining the track, patrolling and examining the robot, network transmission equipment, recognition server and backstage supervisory equipment, patrol and examine the track and be equipped with the recess that is used for fixed mounting magnetic scale, patrol and examine and install the magnetic reading head on the robot, operate on patrolling and examining the track, magnetic reading head and magnetic scale constitute the magnetic grid measurement system who patrols and examines the location, patrol and examine robot, network transmission equipment, recognition server and backstage supervisory equipment and connect gradually. The utility model uses the magnetic field to complete the positioning, which is a non-contact type, thus not generating abrasion consumption and the like, and generating no error for a long time; the connecting with the steel rail ground and the like is not needed, and the slipping condition is avoided.

Description

Magnetic wave positioning vehicle bottom intelligent detection system

Technical Field

The utility model relates to a detection robot technical field especially indicates a magnetic wave location vehicle bottom intellectual detection system.

Background

The motor car chassis inspection vehicle needs to have higher positioning accuracy due to the accuracy requirement, and the main positioning modes in the industry at present mainly comprise rack positioning and laser positioning; the rack positioning needs to arrange a rack with the length of more than four hundred meters on the rail side, the installation requirement is high, no deviation exists, the positioning precision can be influenced, and the precision can be influenced by corrosion or abrasion after long time; laser positioning need be at one end of rail or both this laser instrument of dress, realizes the location through the distance of laser instrument to car, and this mode construction is convenient, nevertheless is afraid of the laser instrument and is sheltered from, consequently need cooperate from the relative encoder of driving wheel installation to accomplish jointly, but the encoder installation is on the car, with from the driving wheel transmission, the wheel produces the phenomenon of skidding with the rail contact easily.

SUMMERY OF THE UTILITY MODEL

The utility model provides an intelligent detection system for magnetic wave positioning vehicle bottom, which utilizes a magnetic field to complete positioning and is in a non-contact mode, thereby not generating abrasion consumption and the like, and generating no error for a long time; the connecting with the steel rail ground and the like is not needed, and the slipping condition is avoided.

The technical scheme of the utility model is realized like this:

the utility model provides a magnetic wave location vehicle bottom intellectual detection system, is including patrolling and examining the track, patrolling and examining robot, network transmission equipment, recognition server and backstage supervisory equipment, it is equipped with the recess that is used for fixed mounting magnetic scale to patrol and examine the track, it installs the magnetic reading head on the robot to patrol and examine operation on the track, magnetic reading head and magnetic scale constitute the magnetic grid measurement system who patrols and examines the location, it connects gradually to patrol and examine robot, network transmission equipment, recognition server and backstage supervisory equipment.

Preferably, the magnetic scale and the magnetic reading head are both provided with protective covers used for shielding magnetic field interference, the magnetic reading head is provided with an independent battery, and the periphery of the magnetic scale is also provided with an anti-collision baffle.

Preferably, the inspection robot comprises a robot chassis for driving operation, a robot controller fixed in the robot chassis, a multi-axis mechanical arm fixed on the robot chassis, an image and acoustic acquisition module and a safety obstacle avoidance module fixed on the robot chassis, the robot controller is respectively connected with the multi-axis mechanical arm, the image and acoustic acquisition module and the safety obstacle avoidance module, the safety obstacle avoidance module acquires obstacle information in an operation environment and sends the obstacle information to the robot controller, and the robot controller adjusts the operation start and stop, speed and direction of the robot chassis according to the obstacle information; the multi-axis mechanical arm drives the image and acoustic acquisition module to acquire images and acoustic information of the motor train unit from multiple angles, the image and acoustic acquisition module sends the images and acoustic information of the motor train unit to the robot controller, and the robot controller sends the images and acoustic information of the motor train unit to the network transmission equipment and transmits the images and acoustic information to the identification server through the network transmission equipment; the identification server carries out fault identification, judges whether each key part at the bottom of the motor train unit has a fault or not and feeds the fault back to the background monitoring equipment; and the background monitoring equipment is used for checking a fault maintenance result and sending fault information to maintenance personnel carrying the handheld equipment on site.

Preferably, the robot chassis comprises a base, a driving wheel arranged below the base, a servo motor for driving the driving wheel to move and a mobile positioning module, wherein the mobile positioning module comprises a laser ranging sensor, a high-precision encoder and a position calibration device.

Preferably, still include local supervisory equipment, the robot that patrols and examines carries on a plurality of detection sensors, with detection data real-time transmission extremely local supervisory equipment.

Preferably, the image and acoustic acquisition module comprises a linear array camera module, a 3D structured light camera, an area camera, a 3D dimension measurement unit, acoustic equipment and a camera industrial personal computer, wherein the linear array camera module, the 3D structured light camera and the acoustic equipment are installed on the robot chassis, the area camera and the 3D dimension measurement unit are installed at the tail end of the multi-axis mechanical arm, and the camera industrial personal computer is respectively connected with the linear array camera module and the 3D structured light camera.

Preferably, the safety obstacle avoidance module is composed of a mechanical obstacle avoidance module and a radar obstacle avoidance module.

The beneficial effects of the utility model reside in that: the positioning is completed by utilizing a magnetic field, and the positioning is in a non-contact mode, so that abrasion, consumption and the like cannot be generated, and errors cannot be generated after a long time; the connecting with the steel rail ground and the like is not needed, and the slipping condition is avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a schematic block diagram of an embodiment of an intelligent magnetic wave positioning vehicle bottom detection system of the present invention;

FIG. 2 is a schematic block diagram of an inspection robot;

FIG. 3 is a schematic structural diagram of the inspection robot;

FIG. 4 is a schematic diagram of the structure of the magnetic scale and the read head.

In the figure, 1-an inspection robot, 2-network transmission equipment, 3-an identification server, 4-background monitoring equipment, 5-a robot chassis, 6-a robot controller, 7-a multi-axis mechanical arm, 8-an image and acoustic acquisition module and 9-a safety obstacle avoidance module; 10-a magnetic scale; 11-the read head.

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 efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

As shown in fig. 1-4, the utility model provides a magnetic wave location vehicle bottom intellectual detection system, including patrolling and examining robot 1, network transmission equipment 2, recognition server 3 and backstage supervisory equipment 4, it is equipped with the recess that is used for fixed mounting magnetic scale to patrol and examine the track, it installs the magnetic reading head to patrol and examine on the robot it moves on the track to patrol and examine, magnetic reading head and magnetic scale constitute the magnetic grid measurement system who patrols and examines the location, it connects gradually to patrol and examine robot, network transmission equipment, recognition server and backstage supervisory equipment.

The magnetic grid measuring system is divided into a read head MR and a magnetic scale MS, and the read head MR and the magnetic scale MS work according to the magnetic induction principle. When the MR read magnet does not do linear motion in the magnetoacoustic space of the MS magnetic scale, the read head can output position pulses meeting the standard in real time according to the relevant motion displacement, and then the positioning precision can reach within 1MM through the calculation of the output pulses, and the highest speed can be 25M/S. The original output position of the read head is a relative position, in order to obtain the absolute position of the read head, a position is firstly determined at one end of a magnetic scale as an original position 0, then the moving position of the read head is an absolute position, and meanwhile, in order to continue position calculation after the power failure of a trolley, the read head and a decoding control board are independently powered by batteries. Therefore, the system is in a non-contact mode, has extremely strong anti-pollution and anti-oil capability, and has great advantages compared with vision and the like.

The installation mode is as follows:

firstly, the magnetic ruler is installed and pasted in the groove of the rail, the rail surface is leveled as much as possible, and when the installation environment temperature is lower than minus 10 ℃, the temperature of the pasting surface can be increased by heating equipment such as a hair drier and the like, and then the pasting is carried out. The read head is arranged on the trolley and is at a proper distance from the magnetic scale, and the magnetic scale is protected near the magnetic scale to prevent collision.

The magnetic scale and the magnetic reading head are both provided with protective covers used for shielding magnetic field interference, the magnetic reading head is provided with an independent battery, and the periphery of the magnetic scale is also provided with an anti-collision baffle. The baffle is arranged around the sensor, so that the sensor cannot deviate or collide; a protective cover made of iron is added on the periphery of the magnetic scale to shield the magnetic field.

The inspection robot 1 comprises a robot chassis 5 for driving operation, a robot controller 6 fixed in the robot chassis 5, a multi-axis mechanical arm 7 fixed on the robot chassis 5, an image and acoustic acquisition module 8 and a safety obstacle avoidance module 9 fixed on the robot chassis 5, wherein the robot controller 6 is respectively connected with the multi-axis mechanical arm 7, the image and acoustic acquisition module 8 and the safety obstacle avoidance module 9, the safety obstacle avoidance module 9 acquires obstacle information in an operation environment and sends the obstacle information to the robot controller 6, and the robot controller 6 adjusts the operation start and stop, speed and direction of the robot chassis 5 according to the obstacle information; the multi-axis mechanical arm 7 drives the image and acoustic acquisition module 8 to acquire images and acoustic information of the motor train unit from multiple angles, the image and acoustic acquisition module 8 sends the images and acoustic information of the motor train unit to the robot controller 6, and the robot controller 6 sends the images and acoustic information of the motor train unit to the network transmission equipment 2 and transmits the images and acoustic information of the motor train unit to the identification server 3 through the network transmission equipment 2; the recognition server 3 carries out fault recognition, judges whether each key part at the bottom of the motor train unit has faults or not, and feeds the faults back to the background monitoring equipment 4; the background monitoring equipment 4 is used for checking a fault maintenance result and sending fault information to maintenance personnel carrying the handheld equipment on site.

The multi-axis mechanical arm 7 can be used as an arm of the terminal area array camera by using a Sendai six-axis mechanical arm, and important parameters of the Sendai six-axis mechanical arm comprise: the self weight of the mechanical arm is 27 KG; a payload of 7 KG; the working range is 911 mm; the repeated positioning precision is +/-0.01 mm. The sensor cable, the additional shaft cable, the electromagnetic valve, the air conduit and the I/O cable for controlling the equipment are all arranged in the arm, so that the conduit and the cable cannot be wound on the arm, and the use is very convenient.

The robot chassis 5 comprises a base, a driving wheel arranged below the base, a servo motor driving the driving wheel to move and a mobile positioning module, wherein the mobile positioning module comprises a laser ranging sensor, a high-precision encoder and a position calibration device. The robot chassis 5 is composed of two driving wheels and two driven wheels, the driving wheels adopt wheel pairs similar to trains to run on the track, the highest straight-going speed is 1.5m/s, the servo motor driving module has the functions of self high voltage, low voltage, overcurrent, short circuit, circuit breaking, communication real-time monitoring and the like, and the robot can automatically stop and report error states when abnormality occurs.

The laser ranging sensor is high in precision and stable, but the possibility that data cannot be acquired due to shielding exists in the using process. The laser distance measuring sensor is a long-distance measuring sensor with the distance measuring range of 500 meters, the frequency of more than or equal to 20HZ and the precision of +/-1 mm. The high-precision encoder measures mileage, the short-time precision can reach 0.01mm, but the error accumulation problem exists along with the increase of time. A high precision encoder is mounted on the RGV. The position calibration device adopts a magnetic ruler type calibration device, and the detection precision is superior to 1 mm.

In order to solve the problem that two 8-group motor trains stop simultaneously and the robot and operators work in parallel, laser ranging sensors are respectively installed on two sides of a trench, diamond reflecting plates are pasted on the surfaces of the front and the rear of the robot, laser emitted by the laser sensors on the end sides is reflected by a vehicle body surface reflecting plate and then returns to a laser receiver through an original path to be received, the process follows the regression reflection principle, the influence caused by unsmooth track laying can be eliminated, and the long-distance laser ranging sensors are communicated with a detection robot body through a data transmission module. Two groups of laser ranging sensors are adopted to simultaneously support a double-machine operation mode.

The robot controller 6 also judges whether the motor train unit reaches the region to be detected and the position of the key part of the motor train unit according to the mobile positioning module; identifying the front end position of the motor train unit through an upward-irradiating laser ranging sensor arranged at the top of the stand; after the motor train unit stops, the servo motor drives the driving wheel to drive the motor train unit at a low speed, when the distance value collected by the laser ranging sensor is suddenly reduced, the motor train unit stops moving, the position is recorded as the front position of the motor train unit, and the position information of the key part is obtained through position conversion.

The operation flow is as follows: the motor train unit enters a garage inspection trench → the laser distance measuring sensor detects that the motor train unit enters the garage inspection trench → waits for the motor train unit to stop stably → the inspection robot 1 travels at a low speed, the laser distance measuring sensor works and identifies the front end position of the motor train head → data calculation → the inspection robot 1 carries the multi-shaft mechanical arm 7 and the image and acoustic acquisition module 8 to work.

The utility model discloses still include local supervisory equipment, patrol and examine 1 multiple detection sensor that carries on of robot, will detect data real-time transmission to local supervisory equipment, accomplish analytic processing, early warning, the warning of data.

Image and acoustics collection module 8 includes 3 groups of linear array camera module (camera + light source), 3D structure light camera 3 groups (camera + light source), a set of (camera + light source controller) of area array camera, 3D size measuring unit is a set of, a set of (collection module + industrial computer) of acoustic equipment, 3 groups of camera industrial computer, the linear array camera module, 3D structure light camera and acoustic equipment install on robot chassis 5, the area array camera, 3D size measuring unit installs at 7 terminal ends of multiaxis arm, the camera industrial computer is connected with linear array camera module and 3D structure light camera respectively. Moving for the first time, scanning and photographing the vehicle bottom by the linear array camera module and the 3D size measuring unit, and establishing a vehicle bottom 3D model; and moving for the second time, and finishing fixed-point photographing of the key position by the 3D structure light camera and the area array camera.

The safety obstacle avoidance module 9 is composed of a mechanical obstacle avoidance module and a radar obstacle avoidance module.

The network transmission equipment 2 provides a broadband wireless communication means between the inspection robot 1 and the monitoring background, the inspection robot 1 and the local monitoring station carry out bidirectional information interaction, and the information interaction content comprises detection and robot state data. The upper computer (PC) is connected to the base station through a network cable, a switch and an optical fiber, and the base station is wirelessly connected with the front end of the inspection robot 1 to form a communication network; the wireless communication adopts point-to-point single base station scheme, and the PLC on the robot 1 that patrols and examines connects 24V giga direct current components of a whole that can function independently POE switch of net twine formula carries out data transmission through 5.8GHz 867M backbone level antenna integration wireless network bridge again, and trench one end is located with the host computer to the basic station. The upper computer sends control instructions such as starting and stopping to the inspection robot 1 through the network, and the inspection robot 1 uploads state information, detection information and the like to the upper computer through the network.

The SF-5800AC backbone MIMO outdoor wireless network bridge supports an 802.11a/b/g/n/AC protocol based on the latest generation wireless transmission technology, and the air speed theory can reach 867M when the wireless network bridge works under the 802.11AC protocol. The actually measured bandwidth peak value can reach 580 Mbps. The method is suitable for the wireless network connection service in the severe outdoor environment, provides the high-bandwidth network connection for deploying enterprises and industrial users and the transmission requirement of multimedia IP data, and is suitable for the network transmission and the requirement of large-scale IP monitoring. When the point-to-point transmission distance is 3km, the actually measured transmission bandwidth can reach 420 Mbps. The equipment works in a 5G frequency band, has rich channel resources, excellent spectrum efficiency and strong anti-interference capability, has advanced priority control, and perfectly supports the transmission of audio and video and network data. The equipment supports Chinese and English interfaces, is simple to operate, removes a complicated operation mode, enables debugging to be more rapid and convenient, is favorable for rapid deployment, and is very suitable for rapid operation of engineering technicians. The power supply adopts a DC24V wide voltage input design, the actual power consumption of the equipment is less than 10W, and the equipment can be flexibly matched with a plurality of power supply modes such as a storage battery, solar energy, wind energy and the like to work under the condition of no commercial power in the field, thereby being very suitable for remote high-bandwidth wireless monitoring.

The beneficial effects of the utility model reside in that: the intelligent inspection robot 1 has the function of automatically walking and stopping according to a preset route, can detect image and acoustic faults of all key parts of the train bottom of the motor train unit which is overhauled when entering a station, can measure the sizes of parts such as a brake, a wheel pair, a barrier remover and a brake disc, simultaneously transmits the collected image and acoustic data to the identification server 3 cabinet and the acoustic module respectively in real time, finds out faults of equipment at the train bottom of the motor train unit through an image fault detection algorithm and an acoustic fault detection algorithm, effectively eliminates potential safety hazards of the train running of the motor train unit through automatic fault detection and manual maintenance, and ensures good states of the key parts at the train bottom of the motor train unit and running safety.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. The utility model provides a magnetic wave location vehicle bottom intellectual detection system which characterized in that: including patrolling and examining the track, patrolling and examining robot, network transmission equipment, recognition server and backstage supervisory equipment, it is equipped with the recess that is used for the fixed mounting magnetic scale to patrol and examine the track, patrol and examine and install the magnetic head on the robot patrol and examine operation on the track, magnetic head and magnetic scale constitute and patrol and examine the magnetic grid measurement system of location, it connects gradually to patrol and examine robot, network transmission equipment, recognition server and backstage supervisory equipment.

2. The intelligent detection system for the positioning vehicle bottom of the magnetic wave vehicle as claimed in claim 1, characterized in that: the magnetic scale and the magnetic reading head are both provided with protective covers used for shielding magnetic field interference, the magnetic reading head is provided with an independent battery, and the periphery of the magnetic scale is also provided with an anti-collision baffle.

3. The intelligent detection system for the positioning vehicle bottom of the magnetic wave vehicle as claimed in claim 1, characterized in that: the inspection robot comprises a robot chassis for driving operation, a robot controller fixed in the robot chassis, a multi-axis mechanical arm fixed on the robot chassis, an image and acoustic acquisition module and a safety obstacle avoidance module fixed on the robot chassis, wherein the robot controller is respectively connected with the multi-axis mechanical arm, the image and acoustic acquisition module and the safety obstacle avoidance module, the safety obstacle avoidance module acquires obstacle information in an operation environment and sends the obstacle information to the robot controller, and the robot controller adjusts the operation start and stop, speed and direction of the robot chassis according to the obstacle information; the multi-axis mechanical arm drives the image and acoustic acquisition module to acquire images and acoustic information of the motor train unit from multiple angles, the image and acoustic acquisition module sends the images and acoustic information of the motor train unit to the robot controller, and the robot controller sends the images and acoustic information of the motor train unit to the network transmission equipment and transmits the images and acoustic information to the identification server through the network transmission equipment; the identification server carries out fault identification, judges whether each key part at the bottom of the motor train unit has a fault or not and feeds the fault back to the background monitoring equipment; and the background monitoring equipment is used for checking a fault maintenance result and sending fault information to maintenance personnel carrying the handheld equipment on site.

4. The intelligent detection system for the positioning vehicle bottom of the magnetic wave vehicle as claimed in claim 3, characterized in that: the robot chassis comprises a base, a driving wheel arranged below the base, a servo motor for driving the driving wheel to move and a mobile positioning module, wherein the mobile positioning module comprises a laser ranging sensor, a high-precision encoder and a position calibration device.

5. The intelligent detection system for the positioning vehicle bottom of the magnetic wave vehicle as claimed in claim 3, characterized in that: still include local supervisory equipment, the robot that patrols and examines carries on a plurality of detection sensors, with the real-time transmission of detected data extremely local supervisory equipment.

6. The intelligent detection system for the positioning vehicle bottom of the magnetic wave vehicle as claimed in claim 3, characterized in that: the image and acoustic acquisition module comprises a linear array camera module, a 3D structured light camera, an area array camera, a 3D size measurement unit, acoustic equipment and a camera industrial personal computer, wherein the linear array camera module, the 3D structured light camera and the acoustic equipment are installed on the robot chassis, the area array camera and the 3D size measurement unit are installed at the tail end of the multi-shaft mechanical arm, and the camera industrial personal computer is respectively connected with the linear array camera module and the 3D structured light camera.

7. The intelligent detection system for the positioning vehicle bottom of the magnetic wave vehicle as claimed in claim 3, characterized in that: the safe obstacle avoidance module is composed of a mechanical obstacle avoidance module and a radar obstacle avoidance module.

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