CN218782005U - All-round inspection robot is repaiied to EMUs one-level - Google Patents
All-round inspection robot is repaiied to EMUs one-level Download PDFInfo
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- CN218782005U CN218782005U CN202222974835.XU CN202222974835U CN218782005U CN 218782005 U CN218782005 U CN 218782005U CN 202222974835 U CN202222974835 U CN 202222974835U CN 218782005 U CN218782005 U CN 218782005U
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Abstract
The utility model relates to an all-round inspection robot is repaiied to EMUs one-level, include: wheel detecting system, image acquisition system, image processing system, control system and communication system of mutual electric connection, image acquisition system includes: the first camera module assembly is fixedly arranged on an external frame assembly of the train, the first camera module assembly comprises a plurality of side camera modules, the side camera modules are correspondingly arranged at detection positions on two sides of a train body apron board, a train body window and a bogie outside a train body track of the train, and shooting angles of the side camera modules are connected or overlapped with each other; the second camera module assembly is fixedly arranged on the external frame assembly and comprises a plurality of top camera modules, the top camera modules are correspondingly arranged at two side detection positions of a pantograph at the top of the train, and shooting angles of the top camera modules are connected or overlapped with each other.
Description
Technical Field
The utility model relates to a EMUs vehicle detection technical field, concretely relates to all-round inspection robot is repaiied to EMUs one-level.
Background
At present, when a motor train unit runs to a specified mileage (kilometers) or runs to a rated time value (hours) in an accumulated mode, a maintenance mechanic can perform comprehensive physical examination one by one at a motor train place or a motor train section, and the physical examination is divided into static examination and dynamic test. The static inspection respectively carries out comprehensive detection, maintenance and operation data downloading on an under-train running part, skirt boards on two sides of a train body, a roof pantograph, in-train passenger service facilities, a cab train control device, a roof high-voltage power receiving device and the like of the motor train unit, so that the train can recover a good operation state. The dynamic inspection is mainly used for inspecting the running state of each equipment facility of the motor train unit after power supply, and comprises a train control system, a vehicle door switch, a train brake test and air conditioning equipment, broadcasting equipment, a water boiler, a toilet and other equipment facilities, so that the running state is ensured to be normal. The maintenance is generally called as 'first-level maintenance', each team is divided into a plurality of operation groups for static maintenance, the work labor intensity is high, the time is tight, and particularly, the number of operation vehicles at night is large, and the visual field is limited.
Therefore, in order to solve the above drawbacks, it is necessary to provide an efficient omnidirectional inspection robot system that can replace the manual work.
SUMMERY OF THE UTILITY MODEL
The utility model aims at the above-mentioned technical problem, a EMUs one-level is repaiied all-round inspection robot is proposed, the utility model aims at solving one kind and can replace artifical and all-round inspection robot system's of efficient problem.
In order to achieve the above object, the utility model discloses a technical scheme be:
the embodiment of the utility model provides an all-round inspection robot is repaiied to EMUs one-level, include: wheel detecting system, image acquisition system, image processing system, control system and communication system of mutual electric connection, image acquisition system includes:
the first camera module assembly is fixedly arranged on an external frame assembly of the train and comprises a plurality of side camera modules, the side camera modules are correspondingly arranged at detection positions on two sides of a train body apron board, a train body window and a train body track outside bogie of the train, and shooting angles of the side camera modules are connected or overlapped with each other;
the second camera module assembly is fixedly arranged on the external frame assembly and comprises a plurality of top camera modules, the top camera modules are correspondingly arranged at the detection positions of two sides of a pantograph at the top of the train, and the shooting angles of the top camera modules are connected or overlapped with each other.
Preferably, the wheel detecting system includes: and the anti-interference passive wheel sensor is fixedly arranged at the position of the warehouse inlet of the overhaul warehouse.
Preferably, the first camera module assembly further includes a lateral Z-shaped bracket, the top of the lateral Z-shaped bracket is fixedly provided with the lateral camera module, and the bottom of the lateral Z-shaped bracket is fixedly connected to the external frame assembly.
Preferably, the second camera module assembly further includes a top Z-shaped bracket, the top of the top Z-shaped bracket is fixedly provided with the top camera module, and the bottom of the top Z-shaped bracket is fixedly connected to the external frame assembly.
Preferably, the side camera module is disposed parallel to an edge of a top of the side zigzag frame.
Preferably, the top camera module and the edge of the top Z-shaped bracket form an included angle.
Preferably, the side camera module and the top camera module each include: the module casing, the camera unable adjustment base who sets up in module casing inside fixedly and the all-round camera of fixed setting on camera unable adjustment base.
Preferably, the angle of the omnidirectional camera of the side camera module is 45 degrees or more and 90 degrees or less.
Preferably, the shooting angle of the omnidirectional camera of the top camera module is 45 degrees or more and 90 degrees or less.
Preferably, the module case includes: the module comprises a module shell top cover, a module shell base and a plurality of rectangular strip-shaped heat dissipation holes arranged on the side portion of the module shell.
Compared with the prior art, the utility model discloses an advantage lies in with positive effect:
1) The method comprises the steps that when the motor train unit enters an overhaul warehouse, image data and pantograph state data of the motor train unit apron board position can be collected, after the motor train unit is completely warehoused, relevant data are collected and uploaded to a server in real time through a communication device, when parking is completed, data collection analysis is completed, and a fault area is displayed at the front end.
2) After the motor train unit is stopped and powered off, the motor train unit bottom fault detection robot can be started to operate. And (3) making and executing a work plan: rough scanning and fine scanning, transmitting the collected data to a background server at any time, working through an image processing system, feeding processing information back to a front end and a handheld terminal interface, and classifying and processing by operators according to fault types.
3) Greatly shortens the maintenance time, reduces the labor intensity of workers and improves the fault identification accuracy.
Drawings
Fig. 1 is a schematic view of the general structure of a fault detection robot according to an embodiment of the present invention;
fig. 2 is a front view of a side camera module according to an embodiment of the present invention;
fig. 3 is a top view of a top camera module according to an embodiment of the present invention;
fig. 4 is a structural diagram of a camera module according to an embodiment of the present invention;
fig. 5 is a vertical sectional view of a camera module according to an embodiment of the present invention;
fig. 6 is a flowchart of a fault detection method according to an embodiment of the present invention.
In the above figures:
a side camera module 1; a side camera module 2;
a top camera module 3; a top camera module 4;
a motor train unit bottom base 5; an outer frame assembly 10;
a lateral Z-shaped bracket 20; a top zigzag bracket 30;
a module housing 40.
Detailed Description
The technical solution in the embodiments of the present invention will be described in detail and completely with reference to the accompanying drawings. It is obvious that the described embodiments are only some embodiments, not all embodiments, of the general solution of the present invention. All other embodiments, which can be derived by a person skilled in the art based on the general idea of the invention, fall within the scope of protection of the invention.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the present invention.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally 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 in specific cases to those skilled in the art.
The utility model aims at providing an all-round detecting system of EMUs outward appearance, to the artifical important safety maintenance item of examining daily of train, adopt multidimensional vision collection scheme to the key part and the system through the detection area train, carry out real-time high definition formation of image including walking line portion, skirtboard, pantograph etc. through computer vision, degree of depth study and realize train key part abnormal conditions automatic identification warning based on artificial intelligence techniques such as data drive's hierarchical early warning, then maintain the trouble. The purposes of optimizing daily inspection operation flow, improving maintenance efficiency, reducing operation and maintenance cost and guaranteeing safe running of the train are achieved.
Fig. 1 is the utility model discloses the overall structure schematic diagram of fault detection robot, fig. 2 are the utility model discloses a lateral part camera module main view, fig. 3 are the utility model discloses a top camera module top view, as shown in fig. 1-3, the embodiment of the utility model provides an all-round detection robot is repaiied to EMUs one-level, include: the system comprises a wheel detection system, an image acquisition system, an image processing system, a control system and a communication system which are electrically connected with each other;
wherein, the image acquisition system includes: a first camera module assembly and a second camera module assembly;
the first camera module assembly is fixedly arranged on an outer frame assembly 10 of the train 100, the outer frame assembly 10 is arranged on a base 5 at the bottom of the motor train unit and is fixedly arranged at the position of a warehouse entry of an overhaul warehouse, the first camera module assembly comprises a plurality of side camera modules 1 and 2 and side Z-shaped supports 20, the side camera modules 1 and 2 are respectively and correspondingly arranged at detection positions at two sides of a train body skirt board, a train body window and a bogie at the outer side of a train body track of the train, and shooting angles of the side camera modules 1 and 2 are connected or mutually overlapped; the top of the side Z-shaped bracket 20 is fixedly provided with the side camera modules 1 and 2, and the bottom of the side Z-shaped bracket 20 is fixedly connected with the outer frame assembly 10. The side camera modules 1 and 2 are disposed parallel to the edge of the top of the side zigzag bracket 20.
The second camera module assembly is fixedly arranged on the outer frame assembly 10, the second camera module assembly comprises a plurality of top camera modules 3 and 4 and a top Z-shaped bracket 30, the top camera modules 3 and 4 are correspondingly arranged at the detection positions on two sides of a pantograph at the top of the train 100 in a distributed manner, and the shooting angles of the top camera modules 3 and 4 are connected or overlapped with each other. Top camera modules 3 and 4 are fixedly mounted on the top of top Z-shaped bracket 30, and the bottom of top Z-shaped bracket 30 is fixedly attached to outer frame assembly 10. The top camera modules 3 and 4 are arranged at an angle to the edge of the top zigzag bracket 30.
Fig. 4 is the utility model discloses embodiment camera module structure chart, fig. 5 is the utility model discloses embodiment camera module vertical section cross-section sectional view, as shown in fig. 4 and fig. 5, lateral part camera module 1 and 2 and top camera module 3 and 4 all include: a module housing 40, a camera fixing base 41 fixedly installed inside the module housing 40, and an omnidirectional camera 42 fixedly installed on the camera fixing base.
The module case 40 includes: a module housing top cover 50, a module housing base 51 and a plurality of rectangular heat dissipation holes 52 disposed at the side of the module housing.
The shooting angle of the omnidirectional camera 42 of the side camera modules 1 and 2 is 45 degrees or more and 90 degrees or less. The shooting angle of the omnidirectional camera 42 of the top camera modules 3 and 4 is 45 degrees or more and 90 degrees or less.
The wheel detecting system includes: and the anti-interference passive wheel sensor is fixedly arranged at the position of the warehouse inlet of the overhaul warehouse.
1) The wheel detection system comprises: the method mainly comprises the steps of acquiring and calculating a trigger signal when the motor train unit enters an overhaul warehouse and the current speed of the motor train unit, wherein an anti-interference passive wheel sensor is used as a wheel detection device, the anti-interference passive wheel sensor arranged at a relatively fixed position is used for calculating the passing time of the same wheel, and the current warehouse-entering speed of the motor train unit is calculated through a formula s = vt;
2) An image acquisition system: images of the vehicle body skirt, vehicle body windows, vehicle body track outside bogie, roof pantograph are collected. The image acquisition 2D/3D camera is arranged at the position of the garage entrance of the overhaul garage, and acquires images in real time when the motor train unit enters the garage. The 2D camera adopts a 4K camera with high precision, the size of the view field is selected according to the shot position, and the shooting definition is guaranteed. The 3D camera adopts a dynamic 3D camera with extremely high resolution and extremely high precision, and the image acquisition quality is ensured.
3) An image processing system: the independently developed system is connected with the vehicle roof and the fault detection equipment on the two sides of the vehicle body through the communication system, picture data are collected from time to time and uploaded to the background server to inform the image processing system to work, detection is carried out according to detection items in the actual detection operation process, and the identified fault information is displayed at the front end.
4) The control system comprises: according to the core control unit, all cameras are in a closed state before a motor train unit signal is detected, currently detected time information is recorded after the motor train unit signal is detected, all 2D/3D cameras are started, the same wheel records the detected time after the signal is detected again, then the entering speed of the motor train unit is calculated, internal parameters of the detection cameras are set according to the calculated speed value, image acquisition is started after the setting of the parameters of the cameras is finished, and the cameras are closed after the passing of all trains is detected to wait for the entering of the next train;
5) A communication system: the invention relates to a bridge for information transmission between a fault detection module and a server. And uploading information and feeding back identification information to the front-end display equipment in time, and classifying and processing the faults by an operator according to a final identification result.
As shown in fig. 6, the fault detection process of the present application:
1. waiting for the motor train unit to enter a garage, and detecting wheel warehousing signals;
2. recording the trigger time of the current signal, and simultaneously starting all detection cameras;
3. the passing time of the same wheel is calculated through an anti-interference passive wheel sensor arranged at a relatively fixed position, and the current garage entering speed of the motor train unit is calculated through a formula s = vt;
4. the method comprises the following steps that a 2D/3D camera collects images of a vehicle body skirt board, a vehicle body window, a vehicle body track outer side bogie and a vehicle roof pantograph;
5. and starting image acquisition after the camera parameter setting is finished, closing the camera after the train is detected to completely pass, and waiting for the next train to enter the warehouse.
In addition, this application still including being located the EMUs vehicle bottom fault detection robot that detects independent operation in the stock way trench. The motor train unit vehicle bottom detection robot system is composed of three modules, namely a vision robot, a center server and a handheld mobile terminal, and can be used for fully automatically detecting visible components of the bottom of a motor train unit and a bogie, so that the motor train unit related faults can be identified and alarmed. The system adopts the technologies of robot, machine vision, image recognition and the like to automatically detect the train bottom of the motor train unit, the detection data is transmitted to the central server for analysis and diagnosis by adopting a wireless transmission technology, fault issuing, confirmation and processing result returning are realized through the handheld terminal, operation can be realized in a single or man-machine combined mode, and the system has good expansibility and interactivity.
1) A visual robot: the device comprises a fixed charging device, a detection rail car and running rail device, a wireless transmission device, a vehicle-mounted power supply and battery pack device, a high-precision positioning device, a quick scanning detection device and a fine scanning detection device.
2) The central server: the core unit of the invention is connected with the visual robot through the communication system, picture data are collected from time to time and uploaded to the central server for image processing, detection is carried out according to detection items in the actual detection operation process, identified fault information is displayed at the front end and is also fed back to the handheld terminal, and operators classify and process faults.
3) The handheld terminal: the invention develops an application system to realize the formulation and execution of an operation plan; controlling the motion state of the vision robot; and receiving and displaying the fault processing information of the central server.
Compared with the prior art, the utility model discloses image data, the pantograph state data of EMUs skirtboard position can be gathered when EMUs get into the maintenance storehouse, and relevant data have been gathered and have been accomplished and pass to the server in real time through communication device after EMUs put in storage completely, and data analysis is accomplished and is shown trouble area at the front end when the parking is accomplished. After the motor train unit is stopped and powered off, the motor train unit vehicle bottom fault detection robot can be started to operate. And (3) making and executing a work plan: rough scanning and fine scanning, transmitting the acquired data to a background server all the time, working through an image processing system, feeding back the processing information to a front end and a handheld terminal interface, and classifying and processing according to the fault type by an operator. Greatly shortens the maintenance time, reduces the labor intensity of workers and improves the fault identification accuracy.
The utility model discloses an above do, its aim at lets the technical staff know the utility model discloses a content and implement, can not restrict with this the utility model discloses a protection scope, any basis the utility model discloses a technical scheme and utility model design in addition equal replacement or change, all should be covered the utility model discloses an in the protection scope. It should be noted that the implementations not shown or described in the drawings or in the specification are all in the forms known to those skilled in the art and are not described in detail. Furthermore, the above definitions of the various components and processes are not intended to be limited to the specific structures, shapes, or configurations shown in the examples.
Claims (10)
1. EMUs one-level is repaiied all-round inspection robot, its characterized in that includes: wheel detecting system, image acquisition system, image processing system, control system and communication system of mutual electric connection, image acquisition system includes:
the first camera module assembly is fixedly arranged on an external frame assembly of the train and comprises a plurality of side camera modules which are correspondingly arranged at detection positions on two sides of a train body apron board, a train body window and a train body track outside bogie of the train, and shooting angles of the side camera modules are connected or overlapped;
the second camera module assembly is fixedly arranged on the external frame assembly and comprises a plurality of top camera modules, the top camera modules are correspondingly arranged at detection positions on two sides of a pantograph at the top of the train, and shooting angles of the top camera modules are connected or overlapped with each other.
2. The all-round inspection robot of first grade repair of EMUs according to claim 1, characterized in that, wheel detecting system includes: and the anti-interference passive wheel sensor is fixedly arranged at the position of the warehouse inlet of the overhaul warehouse.
3. The all-dimensional motor train unit first-level repair detection robot as claimed in claim 1, wherein the first camera module assembly further comprises a lateral Z-shaped bracket, the lateral camera module is fixedly arranged at the top of the lateral Z-shaped bracket, and the bottom of the lateral Z-shaped bracket is fixedly connected to the outer frame assembly.
4. The all-round inspection robot is repaiied to EMUs one level of claim 1, characterized in that, the second camera module subassembly still includes top zigzag support, the top of top zigzag support is fixed to be set up the top camera module, the bottom of top zigzag support fixed connection in the outer frame subassembly.
5. The all-round inspection robot of first-class trimming of motor train unit according to claim 3, wherein the side camera module is arranged in parallel with the edge of the top of the side Z-shaped bracket.
6. The all-round inspection robot is repaiied to EMUs one level of claim 4, characterized in that, top camera module and the edge at the top of top zigzag support set up at an included angle.
7. The all-round inspection robot is repaiied to EMUs one level according to claim 5, characterized in that, side camera module and top camera module all include: the module casing, fixed set up in the inside camera unable adjustment base of module casing, and fixed set up in all-round camera on the camera unable adjustment base.
8. The all-dimensional detection robot for first-class overhaul of motor train unit according to claim 7, wherein the all-dimensional camera of the side camera module has a shooting angle of 45 degrees or more and 90 degrees or less.
9. The all-round inspection robot of first-class trimming of motor train unit according to claim 7, wherein the shooting angle of the all-round camera of the top camera module is greater than or equal to 45 degrees and less than or equal to 90 degrees.
10. The all-round inspection robot is repaiied to EMUs level one of claim 7, characterized in that, the module casing includes: the module comprises a module shell top cover, a module shell base and a plurality of rectangular strip-shaped heat dissipation holes formed in the side portion of the module shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222974835.XU CN218782005U (en) | 2022-11-08 | 2022-11-08 | All-round inspection robot is repaiied to EMUs one-level |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222974835.XU CN218782005U (en) | 2022-11-08 | 2022-11-08 | All-round inspection robot is repaiied to EMUs one-level |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218782005U true CN218782005U (en) | 2023-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222974835.XU Active CN218782005U (en) | 2022-11-08 | 2022-11-08 | All-round inspection robot is repaiied to EMUs one-level |
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| Country | Link |
|---|---|
| CN (1) | CN218782005U (en) |
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2022
- 2022-11-08 CN CN202222974835.XU patent/CN218782005U/en active Active
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