Visual inspection system and method for assembly quality of bogie

Abstract

The invention relates to a visual inspection system for the assembly quality of a bogie. The visual inspection system comprises a detection platform, a portal frame and a lifting machine, wherein a first image acquisition box and a linear module for driving are arranged on the detection platform, and an image of the bottom of the bogie can be detected; the portal frame comprises a pair of longitudinal frames and a transverse frame arranged between the longitudinal frames in a sliding mode. A second image acquisition box is arranged on the transverse frame and can detect an image of the top of the bogie; a mechanical arm is slidably arranged on the transverse frame, and a probe is arranged at the tail end and can complementarily detect an image of the top of the bogie; the lifting machine comprises a lifting column and a first driving mechanism; a bogie is arranged at the top end of the lifting column, the lifting machine can lift the bogie to different heights, and images of different detection areas of the bogie are detected at all the heights respectively.

Description

Technical Field

[0001] The present application belongs to the technical field of rail vehicle bogie maintenance, and in particular relates to a bogie assembly quality visual inspection system and inspection method. Background Art

[0002] The bogie is an important part of the running gear of rail transit vehicles, and its assembly quality seriously affects the safe and reliable operation of rail transit vehicles. After the assembly of new bogies or bogies that have been in operation and have undergone advanced repairs and renovations, multiple tests need to be carried out on the bogies before they are installed on the whole vehicle. The last test is to check the assembly quality. The assembly quality inspection includes: whether fasteners such as bolts are installed upside down, whether they are tightened, whether parts such as anti-loosening wires are missing, whether anti-loosening marks are missing, etc.

[0003] At present, the quality inspection of bogie assembly adopts manual visual inspection and uses a handheld video flashlight for image recording. There are the following problems: (1) The inspection items are scattered and the coverage is wide. The inspection angle of the items is limited, and the height of the bogie needs to be adjusted frequently to achieve the coverage of the inspection area. Frequent work under the bogie by personnel poses a safety risk. (2) The inspection workload is large and the labor intensity is high. (3) The inspection efficiency is low, resulting in product accumulation at the workstation, delaying the flow of other workstations. (4) Manual inspection lacks information support, and various maintenance records cannot be stored in the computer and retrieved later, which is not conducive to quality traceability and full life cycle management. Summary of the invention

[0004] In view of some deficiencies existing in the related art, the present application provides a bogie assembly quality visual inspection system and inspection method, which can effectively perform quality inspection on the bogie.

[0005] The first aspect of the present application provides a bogie assembly quality visual inspection system, comprising: an inspection platform, a gantry located on the inspection platform, and a lift; wherein:

[0006] The detection platform is provided with a first image acquisition box and a linear module driving the first image acquisition box to move longitudinally, and is configured to detect an image of the bottom of the bogie;

[0007] The gantry frame includes a pair of longitudinal frames distributed in the longitudinal direction and a transverse frame slidably arranged between the pair of longitudinal frames in the transverse direction; the longitudinal frames are supported on the detection platform through columns, and the longitudinal frames, the transverse frames, the columns and the detection platform surround a detection space; the longitudinal direction is parallel to the length direction of the bogie, and the transverse direction is parallel to the width direction of the bogie;

[0008] A second image acquisition box is provided on the transverse frame and is configured to detect an image of the top of the bogie; a mechanical arm is slidably provided on the transverse frame and has a probe at the end thereof and is configured to supplement the detection of an image of the top of the bogie;

[0009] The lifting machine includes a lifting column and a first driving mechanism capable of driving the lifting column to rise and fall vertically; a bogie can be placed on the top of the lifting column, and the lifting machine is configured to lift the bogie to different heights through the lifting column, and detect images of different detection areas of the bogie at each height.

[0010] In one embodiment, both ends of the transverse frame close to the longitudinal frame are respectively provided with rotating arms that can follow the lateral movement, and a third image acquisition box and a fourth image acquisition box are respectively provided on the arms; wherein the third image acquisition box can be directed toward the side of the bogie to acquire images of the side of the bogie; and the fourth image acquisition box can be tilted toward the bottom and sides of the bogie to acquire images of the bottom and sides of the bogie.

[0011] In one embodiment, the rotating boom includes a connecting portion, a vertical rod and a horizontal rod; wherein the connecting portion is rotatably connected to the horizontal frame, the vertical rod is distributed in the vertical direction, and its opposite ends are respectively connected to the connecting portion and the horizontal rod; a third image acquisition box is installed on the vertical rod; the horizontal rod is substantially perpendicular to the vertical rod, and a fourth image acquisition box is installed on the horizontal rod. Through the rotation of the connecting portion, the third image acquisition box can be directed toward the side of the bogie, and the fourth image acquisition box can be directed toward the bottom and side of the bogie, so as to respectively acquire images.

[0012] In one embodiment, a pair of rails are provided in the longitudinal direction of the detection platform, which can cooperate with the wheelset of the bogie; a pair of first image acquisition boxes are arranged upward and located in the middle between the pair of rails. A rail section is provided at the top of the lifting column, which can overlap with the rails on the detection platform and can cooperate with the wheelset of the bogie to place the bogie. A plurality of second image acquisition boxes are fixedly provided on the transverse frame, arranged at intervals downward, and located directly above the lift.

[0013] In one embodiment, the first driving mechanism of the lifting machine is located below the detection platform, and can drive the lifting column to rise and fall between the upper and lower parts of the detection platform. The lifting machine is configured to: lift the lifting column to a first height H1, so that the first image acquisition box can collect images of the bottom of the bogie; lift the lifting column to a second height H2, so that the second image acquisition box can collect images of the top of the bogie, so that the third image acquisition box can collect images of the side of the bogie, and so that the fourth image acquisition box can collect images of the bottom and side of the bogie; lift the lifting column to a third height H3 between the first and second heights, so that the probe of the robot arm can supplement the collection of images of the top of the bogie.

[0014] In one embodiment, each longitudinal frame is provided with a first slideway in the longitudinal direction, and first sliders cooperating with the first slideway are provided at both ends of the transverse frame, so as to realize the sliding of the transverse frame on the longitudinal frame. A second slideway is provided in the transverse direction on the transverse frame, and a second slider cooperating with the second slideway is provided on the mechanical arm, so as to realize the sliding of the mechanical arm on the transverse frame without interfering with the second image acquisition box.

[0015] In one embodiment, each image acquisition box includes an active light source, a camera, an edge computing front-end controller and a box body, and the active light source, camera and controller are all installed in the box body; wherein the camera is exposed from the box body and faces the bogie; the controller is configured to: be able to control the active light source to provide lighting for the camera to illuminate the detection area on the bogie; be able to control the camera to capture images and perform preliminary processing on the images; and be able to control the transmission of image data.

[0016] In one embodiment, the robotic arm is a multi-joint serial robotic arm. The probe includes an integrated active light source, a camera, an edge computing front-end controller and a housing, wherein the active light source, the camera and the controller are all installed in the housing; wherein the camera is exposed from the housing; and the controller is configured to: control the active light source to provide lighting for the camera to illuminate the detection area on the bogie; control the camera to collect images and perform preliminary processing on the images; and control the transmission of image data.

[0017] In one embodiment, the detection system further includes a shading system and a guardrail; wherein the shading system includes a shading cover and an electric roller blind located on the top of the gantry; the shading cover can block the light on the top of the gantry; the electric roller blind is configured to: move downward when working to block the light around the gantry; and be stored when idle. The guardrail can be installed around the detection space and is located on the detection platform.

[0018] A second aspect of the present application provides a bogie assembly quality visual inspection method, comprising the following steps:

[0019] Preparation: Push the bogie to be tested to the testing platform, place it in the testing space, and place it on the lifting column;

[0020] First height detection: the lifting machine lifts the bogie to a first height H1 through the lifting column, which is located above the detection platform; the first image acquisition box starts to work, collects the image of the bottom of the bogie, moves from the first end of the bogie in the longitudinal direction to the second end of the bogie in the longitudinal direction opposite to the first end, and then returns to the first end of the bogie;

[0021] Second height detection: the lifter lifts the bogie to the second height H2, which is below the transverse frame and higher than the first height; the second image acquisition box starts to work, collecting images of the top of the bogie, and the transverse frame moves from the first end of the bogie to the second end of the bogie, and then returns to the first end of the bogie;

[0022] Third height detection: The lifter lifts the bogie to the third height H3, which is between H1 and H2; the robot arm carries a probe to flexibly collect images of the areas on the top of the bogie that have not been collected as a supplement; after the image collection is completed, the robot arm returns to its initial position;

[0023] After the image acquisition at the three heights is completed, the lifting column falls back to the height of the detection platform.

[0024] In one embodiment, in the second height detection step, the lift lifts the bogie to a second height H2, which is below the transverse frame and higher than the first height H1; the rotating boom rotates until the cross bar is distributed laterally; the second image acquisition box, the third image acquisition box and the fourth image acquisition box all start working to respectively capture images of the top, side, bottom and side of the bogie, and the transverse frame moves from the first end of the bogie to the second end of the bogie, and then returns to the first end of the bogie.

[0025] In one embodiment, in the third height detection step, when the transverse frame moves back and forth between the first end and the second end of the bogie during the process of collecting images, the robotic arm can also move back and forth on the transverse frame, and the robotic arm can move freely to extend and retract, thereby collecting images in multiple directions and scales.

[0026] The detection system or detection method provided by at least one embodiment of the present application adopts advanced technologies such as robotics technology, machine vision technology, and informatization to automatically collect high-definition images of the bogie, replace manual on-site inspection work, automatically identify defects and make re-inspection requests, and assist quality inspectors in their inspection work, which can effectively reduce manual workload and improve the quality, efficiency and informatization level of bogie inspection.

[0027] At least one embodiment of the present application provides a detection system or detection method, in which mechanized maintenance replaces most of the manual workload, and solves the difficulties caused by factors such as a large number of maintenance points, a large span, and scattered locations for manual inspection. The system traverses each inspection area and collects images from multiple angles, solving the risk of omissions in manual inspection.

[0028] At least one embodiment of the present application provides a detection system or detection method, in which the system operates autonomously, greatly reducing the workload of personnel, reducing the labor intensity and staffing of personnel, and reducing personnel costs; autonomously identifying faults in the collected images based on advanced image processing algorithms, and making re-inspection requests, and advanced technical means greatly improve the inspection quality; improve inspection efficiency, solve the backlog problem of bogies to be inspected at the workstation; improve the overall information operation level of the workstation, eliminate the operations such as counting tools and cleaning the site caused by manual operations, and facilitate lean management;

[0029] At least one embodiment of the present application provides a detection system or detection method, in which mechanized maintenance replaces most of the manual workload, reducing the safety hazards of personnel working under the lift, and the system has a human-machine collaboration function, making the operation safer; the collected high-definition images are stored in real time during the inspection process, and the maintenance records and image data can be stored and retrieved, which is conducive to statistics and traceability, and is convenient for problem troubleshooting and supervision management, and can be used for full life cycle management; the automated detection and manual inspection are integrated into one workstation, which is fully functional and occupies a small area. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The exemplary implementation methods and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0031] Figure 1 is a schematic diagram of a detection system according to one embodiment of the present application;

[0032] Figure 2 It is a schematic diagram of the detection system without the guardrail and shading system;

[0033] Figure 3 is a schematic diagram of a detection platform according to an embodiment;

[0034] Figure 4 is a schematic diagram of a gantry according to one embodiment;

[0035] Figure 5 is a schematic diagram of an image acquisition box of one embodiment;

[0036] Figure 6 is a schematic diagram of a bogie located in a detection space according to an embodiment;

[0037] Figure 7 is a schematic diagram of the working of a shading system and a guardrail in one embodiment;

[0038] Figure 8 is a schematic diagram of detection at the first height;

[0039] Fig. 9is a schematic diagram of detection at the second height;

[0040] Fig.10 This is a schematic diagram of detection at the third height.

[0041] In the figure: 1 detection platform, 101 opening, 102 cover plate; 2 gantry, 201 longitudinal frame, 2011 first slide, 202 transverse frame, 2021 second slide, 203 column; 3 lift, 301 lifting column, 302 first drive mechanism, 303 track segment; 4 track; 51 first image acquisition box, 52 second image acquisition box, 53 third image acquisition box, 54 fourth image acquisition box, 501 active light source, 502 camera, 503 controller, 504 box; 6 linear module; 7 detection space; 8 robotic arm, 801 probe; 9 boom, 901 connecting part, 902 vertical rod, 903 horizontal rod; 10 shading system, 1001 shading hood, 1002 electric roller shutter; 11 guardrail. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] In the description of the present application, it should be understood that the terms "center", "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0044] The terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Thus, a feature defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features.

[0045] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0046] In a first aspect, the present application provides a bogie assembly quality visual inspection system (hereinafter referred to as the inspection system), such as Figure 1-10 As shown, it includes: a detection platform 1, which can be the ground; a gantry 2 located on the detection platform 1; and a lifting machine 3. Among them:

[0047] like Figure 3 As shown, the detection platform 1 is provided with a pair of rails 4 distributed in parallel along the longitudinal direction X. The extension direction (longitudinal direction X) of each rail 4 is consistent with the length direction of the bogie, and the wheelset of the bogie can cooperate with the rails 4 and slide thereon.

[0048] like Figure 2 and Figure 3 As shown, the detection platform 1 is also provided with a first image acquisition box 51 and a linear module 6. The first image acquisition box 51 is arranged upward, between the pair of rails 4, and can be located in the middle thereof. The linear module 6 is configured to be able to drive the first image acquisition box 51 to move along the longitudinal direction X to collect images of the bottom of the bogie. In one embodiment, the detection platform 1 has a pair of first image acquisition boxes 51 arranged along the transverse direction Y, which are driven by the same linear module 6 and move synchronously, so as to more comprehensively collect images of the bottom of the bogie; wherein the transverse direction Y is perpendicular to the longitudinal direction X. The linear module 6 can select mature products in the industry, which refers to products that can carry loads to achieve linear motion, and is not limited to the implementation form, such as a lead screw assembly, a belt drive structure, etc. At the initial position, the first image acquisition box 51 is located at the first end of the bogie to be detected along the longitudinal direction; when performing the acquisition work, the first image acquisition box 51 moves longitudinally from the first end of the bogie to the second end of the bogie (opposite to the first end); during the movement, images are collected in different areas relative to the bottom of the bogie; after the image acquisition work is completed, it returns to the first end of the bogie.

[0049] like Figure 2 and Figure 4As shown, the gantry 2 includes a pair of longitudinal frames 201 and at least one transverse frame 202; a detection space 7 is formed between the gantry 2 and the detection platform 1 to provide sufficient space for the bogie to pass and detect. The pair of longitudinal frames 201 are arranged in parallel along the longitudinal direction X and are symmetrically located on both sides of the track 4. Each longitudinal frame 201 is fixedly installed on the detection platform 1 using at least two columns 203. Each longitudinal frame 201 is provided with a first slideway 2011 along the longitudinal direction. The transverse frame 202 has a first slider that cooperates with the first slideway 2011 and is slidably arranged between the pair of longitudinal frames 201, so as to be distributed along the transverse direction Y. The gantry 2 is also provided with a second driving mechanism, which is configured to drive the transverse frame 202 to move between the longitudinal frames 201.

[0050] A plurality of second image acquisition boxes 52, such as two, three or four, are fixedly arranged on the transverse frame 202. Each second image acquisition box 52 is arranged in an interval downward and is located directly above the lift 3, so as to acquire images of the top of the bogie.

[0051] The robot arm 8 is slidably disposed on the transverse frame 202. In one embodiment, the transverse frame 202 is provided with a second slideway 2021 in the transverse direction, and the robot arm 8 is provided with a second slider that cooperates with the second slideway 2021, so that the robot arm 8 can slide in the transverse direction Y. The transverse frame 202 is also provided with a third driving mechanism, which is configured to drive the robot arm 8 to move along the transverse frame 202.

[0052] The second drive mechanism and the third drive mechanism are mature products in the industry, referring to products that can carry loads and achieve linear motion, and are not limited to the implementation form.

[0053] The robot arm 8 and the second image acquisition box 52 do not interfere with each other, and a probe 801 is arranged at the end thereof, which is configured to supplement the image acquisition of the top of the bogie. The robot arm 8 can adopt a multi-joint serial robot arm, preferably a serial robot arm with more than six degrees of freedom with higher flexibility, and preferably a robot arm with a smaller size has better application effect. For example, the seven-degree-of-freedom robot disclosed in CN108326839A can be selected; carrying the probe 801 can realize flexible and multi-angle inspection of the parts on the top of the bogie that are difficult to inspect. In the initial position, the robot arm 8 equipped with the probe 801 is in a retracted position; when performing the acquisition work, the robot arm 8 is extended to the predetermined position, and the probe 801 carries out the image acquisition work, such as Fig.10 As shown; after the collection work is completed, the robot arm 8 retracts back to the initial position.

[0054] The two ends of the transverse frame 202 close to the longitudinal frame 201 are respectively provided with a rotating arm 9, and the rotating arm 9 has a connecting portion 901, a vertical rod 902 and a horizontal rod 903.

[0055] The first end of the connecting portion 901 is rotatably connected to the transverse frame 202, and the second end of the connecting portion 902 is connected to the vertical rod 902. The vertical rod 902 is roughly distributed along the vertical direction Z, and is perpendicular to the longitudinal direction X and the transverse direction Y respectively. The lower part or the bottom of the vertical rod 902 is connected to the cross bar 903, and the cross bar 903 is roughly perpendicular to the vertical rod 902. The third image acquisition box 53 is installed on the vertical rod 902, facing the side of the bogie, and can collect images of the side of the bogie. The end of the cross bar 903 is provided with a fourth image acquisition box 54, which can be tilted toward the bottom and side of the bogie, and can collect images of the bottom and side of the bogie, as a supplement to the first image acquisition box 51 and the third image acquisition box 53. The rotating boom 9 is configured such that, when working, the connection part 901 rotates to the cross bar 903 to be distributed roughly along the horizontal direction Y, and can be tilted toward the bottom and side of the bogie; when idle, the connection part 901 rotates to the cross bar 903 to be distributed roughly along the longitudinal direction X, so as to prevent the cross bar 903 from extending into the middle working space and interfering with other work, such as when moving in or out of the bogie. In the initial position, the cross bar 903 of the rotating boom 9 is located in line with the length direction (longitudinal direction X) of the bogie, such as Figure 8 and Fig.10 When performing the collection work, the rotating boom 9 rotates 90°, and the crossbar 903 reaches the same horizontal direction Y, as shown in FIG. Fig. 9 As shown; according to the needs of image acquisition of different types of bogies, the rotating boom 9 can also be rotated to other angles. By rotating the boom, multi-angle image acquisition of the side and bottom of the bogie can be achieved; after this part of the acquisition work is completed, the rotating boom 9 rotates back to the initial position.

[0056] The structures of the first, second, third and fourth image acquisition boxes 5 are roughly the same. Figure 5 As shown, it mainly includes an active light source 501, a camera 502, an edge computing front-end controller 503, and a box 504. The active light source 501, the camera 502, and the controller 503 are all installed in the box 504; wherein the camera 502 is exposed from the box and faces the bogie. The controller 503 is configured to: be able to control the active light source 501 to provide lighting for the camera 502 to illuminate the detection area on the bogie; be able to control the camera 502 to collect images and perform preliminary processing on the images, including: image correction, compression, etc.; and be able to transmit image data to the image analysis module and the control module.

[0057] The structure of the probe 801 on the robotic arm 8 is similar to that of the image acquisition box, mainly including an integrated small active light source, a camera, a small edge computing front-end controller, and a shell. The working principle is basically the same as that of the image acquisition box.

[0058] The detection system further includes a shading system 10 and a guardrail 11. Wherein:

[0059] The shading system 10 includes a shading hood 1001 and an electric rolling curtain 1002 located on the top of the gantry 2. The shading hood 1001 can block the light on the top of the gantry 2 (the shading hood 1001 is hidden in the figure to show the internal structure). The electric rolling curtain 1002 is installed in the shading hood 1001 and is configured to: when working, move downward to block the light around the gantry 2, such as Figure 7 When not in use, it is stored in the shading cover 1001. The main function of the shading system 10 is to isolate the detection system from the surroundings to prevent ambient light from interfering with the collected image effect. The electric roller blind 1002 is a mature product in the industry, and the roller blind can be lowered and retracted through control.

[0060] The guardrail 11 is configured as follows: when in operation, it is installed around the space surrounded by the columns 203 (around the detection space) and is located on the detection platform 1 to prevent personnel or other equipment from accidentally entering the working area during operation; when idle, it is stored to increase the passable area.

[0061] like Figure 1 and Figure 8 As shown, the lifting machine 3 has a plurality of lifting columns 301 and a first driving mechanism 302 capable of driving the lifting columns 301 to rise and fall. The first driving mechanism 302 is located below the detection platform 1, and the detection platform 1 is provided with a plurality of openings a01 for the lifting columns 301 to rise and fall between the upper and lower parts of the detection platform; the first driving mechanism 302 is configured to be able to lift the lifting columns 301 to different heights to cooperate with different image acquisition boxes and probes to acquire images. Specifically, the first driving mechanism 302 is configured to lift the lifting column 301 to a first height H1 (approximately 0.3-05 meters directly above the first image acquisition box 51) so that the first image acquisition box 51 can capture an image of the bottom of the bogie; lift the lifting column 301 to a second height H2 (approximately 0.3-05 meters directly above the second image acquisition box 52) so that the second image acquisition box 52 can capture an image of the top of the bogie, the third image acquisition box 53 can capture an image of the side of the bogie, and the fourth image acquisition box 54 can capture images of the bottom and side of the bogie; lift the lifting column 301 to a third height H3 (located between the first and second heights) so that the probe 801 of the robotic arm can supplement the capture of an image of the top of the bogie.

[0062] Cover plates a02 may be provided around each opening a01 to prevent personnel from accidentally falling into the underground lifting space. The lift 3 may also be a lift in the prior art, mainly to achieve the functions in this application, and may be used in conjunction with traditional manual maintenance.

[0063] The top of each lifting column 301 is respectively provided with a track section 303, which can cooperate with the track 4 on the detection platform 1 and can accommodate the wheel set of the bogie.

[0064] The detection system also includes an image analysis module that can process and analyze images collected by the image acquisition box and the probe. The image analysis module is configured to automatically identify and mark faults reflected in the image, or extract information such as size and distance that need to be measured from the image and generate statistics.

[0065] The detection system also includes a control module, which is used to control the various components and units of the bogie assembly quality visual detection system to achieve overall functions according to set requirements. The control system realizes the automatic operation of the entire detection process.

[0066] The image analysis module and the control module can use software or hardware in the prior art that can realize related work, so this article does not elaborate on their specific structures.

[0067] A second aspect of the present application provides a bogie assembly quality visual inspection method, using the inspection system described in any of the above embodiments, the inspection method comprises the following steps:

[0068] Preparation: The track section 303 of the lifting column is overlapped with the track 4 of the testing platform, and the rotating boom 9 is rotated until the crossbar 903 is along the longitudinal direction X; the bogie to be tested is pushed onto the track 4, and the wheelset of the bogie is placed on the track section 303 on the lifting column; the guardrail 11 is enclosed, and the electric roller shutter 1002 is lowered to block the ambient light, such as Figure 7 shown.

[0069] First height detection (reference Figure 8 ): The lifting machine 3 lifts the bogie to a first height H1 through the lifting column 301, and is located above the detection platform 1; the first image acquisition box 51 starts to work, collects the image of the bottom of the bogie, moves from the first end (initial position) of the bogie along the longitudinal direction to the second end of the bogie along the longitudinal direction opposite to the first end, and then returns to its initial position.

[0070] Second height detection (reference Fig. 9 ): The lifting machine 3 lifts the bogie to a second height H2, which is below the transverse frame 202 and higher than the first height H1; the rotating boom 9 rotates until the crossbar 903 is distributed along the transverse direction Y; the second image acquisition box 52, the third image acquisition box 53 and the fourth image acquisition box 54 all start working, respectively collecting images of the top, side, bottom and side of the bogie, and the transverse frame 202 moves from the first end (initial position) of the bogie to the second end of the bogie, and then returns to its initial position.

[0071] The third height detection (reference Fig.10): The lifting machine 3 lifts the bogie to a third height H3, which is located between H1 and H2; the robot arm 8 carries the probe 801 to flexibly collect images of the area on the top of the bogie that has not been collected as a supplement; after collecting the images, the robot arm returns to the initial position. Specifically, during the process of collecting images by the robot arm 8, the transverse frame 202 can move back and forth between the first end and the second end of the bogie, the robot arm 8 can also move back and forth on the transverse frame 202, and the robot arm 8 can freely telescope, so as to collect images in multiple directions and at multiple scales.

[0072] After the three height image acquisitions are completed, the lifting column falls back to the height of the detection platform so that the track 4 and the track segment 303 overlap.

[0073] The image is transmitted to the image analysis module, which automatically identifies the fault and notifies the maintenance personnel to perform manual maintenance.

[0074] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other. The above description order is not necessarily the order of execution, and can be adjusted according to actual conditions.

[0075] The above implementation modes are only used to illustrate the technical solution of the present application rather than to limit it. Although the present application has been described in detail with reference to the preferred implementation modes, ordinary technicians in the relevant field should understand that the specific implementation modes of the present application can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present application, which should be included in the scope of the technical solution requested for protection in the present application.

Claims

1. A bogie assembly quality visual inspection system, characterized in that: include: A testing platform, a gantry located on the testing platform, and a lifting machine; wherein, The detection platform is provided with a first image acquisition box and a linear module driving the first image acquisition box to move longitudinally, and is configured to detect an image of the bottom of the bogie; The gantry frame includes a pair of longitudinal frames distributed in the longitudinal direction and a transverse frame slidably arranged between the pair of longitudinal frames in the transverse direction; the longitudinal frames are supported on the detection platform through columns, and the longitudinal frames, the transverse frames, the columns and the detection platform surround a detection space; the longitudinal direction is parallel to the length direction of the bogie, and the transverse direction is parallel to the width direction of the bogie; A second image acquisition box is provided on the transverse frame and is configured to detect an image of the top of the bogie; a mechanical arm is slidably provided on the transverse frame and has a probe at the end thereof and is configured to supplement the detection of an image of the top of the bogie; The lifting machine includes a lifting column and a first driving mechanism capable of driving the lifting column to rise and fall vertically; a bogie can be placed on the top of the lifting column, and the lifting machine is configured to lift the bogie to different heights through the lifting column, and detect images of different detection areas of the bogie at each height.

2. The detection system according to claim 1, characterized in that: The two ends of the transverse frame close to the longitudinal frame are respectively provided with rotating arms that can follow the lateral movement, and the third image acquisition box and the fourth image acquisition box are respectively provided thereon; wherein, the third image acquisition box can face the side of the bogie to acquire the image of the side of the bogie; the fourth image acquisition box can be tilted toward the bottom and side of the bogie to acquire the image of the bottom and side of the bogie; preferably, the rotating arm includes a connecting part, a vertical rod and a horizontal rod; wherein, the connecting part is rotatably connected to the transverse frame; the vertical rod is distributed along the vertical direction, and its opposite ends are respectively connected to the connecting part and the horizontal rod; the third image acquisition box is installed on the vertical rod; the horizontal rod is roughly perpendicular to the vertical rod, and the fourth image acquisition box is installed thereon; through the rotation of the connecting part, the third image acquisition box can face the side of the bogie, and the fourth image acquisition box can face the bottom and side of the bogie to respectively acquire images.

3. The detection system according to claim 1 or 2, characterized in that: A pair of tracks are provided longitudinally on the detection platform, which can cooperate with the wheelset of the bogie; a pair of first image acquisition boxes are arranged upward and located in the middle between the pair of tracks; a track section is provided on the top of the lifting column, which can overlap with the track on the detection platform and can cooperate with the wheelset of the bogie to place the bogie; a plurality of second image acquisition boxes are fixedly arranged on the transverse frame, arranged at intervals downward, and located directly above the lift.

4. The detection system according to claim 2, characterized in that: The first driving mechanism of the lifting machine is located below the detection platform, and can drive the lifting column to rise and fall between the top and bottom of the detection platform; the lifting machine is configured as follows: it can lift the lifting column to a first height H1, so that the first image acquisition box can capture the image of the bottom of the bogie; it can lift the lifting column to a second height H2, so that the second image acquisition box can capture the image of the top of the bogie, the third image acquisition box can capture the image of the side of the bogie, and the fourth image acquisition box can capture the image of the bottom and side of the bogie; it can lift the lifting column to a third height H3 between the first and second heights, so that the probe of the robotic arm can supplement the capture of the image of the top of the bogie.

5. The detection system according to claim 1, 2 or 4, characterized in that: Each longitudinal frame is respectively provided with a first slide along the longitudinal direction, and first sliders cooperating with the first slide are respectively provided at both ends of the transverse frame, so as to realize the sliding of the transverse frame on the longitudinal frame; a second slide is respectively provided along the transverse direction of the transverse frame, and a second slider cooperating with the second slide is provided on the robotic arm, so as to realize the sliding of the robotic arm on the transverse frame without interfering with the second image acquisition box; each image acquisition box includes an active light source, a camera, an edge computing front-end controller and a box body, and the active light source, the camera and the controller are all installed in the box body; wherein the camera is exposed from the box body and faces the bogie; the controller is configured to: be able to control the active light source to provide lighting for the camera and illuminate the detection area on the bogie; be able to control the camera to acquire images and perform preliminary processing on the images; and be able to control the transmission of image data.

6. The detection system according to claim 1, 2 or 4, characterized in that: The robotic arm is a multi-joint serial type robotic arm; the probe includes an integrated active light source, a camera, an edge computing front-end controller and a shell, and the active light source, the camera and the controller are all installed in the shell; wherein the camera is exposed from the shell; the controller is configured to: be able to control the active light source, provide lighting for the camera, and illuminate the detection area on the bogie; be able to control the camera to capture images and perform preliminary processing on the images; and be able to control the transmission of image data.

7. The detection system according to claim 1, 2 or 4, characterized in that: The detection system also includes a shading system and a guardrail; wherein the shading system includes a shading hood and an electric roller shutter located on the top of the gantry; the shading hood can block the light on the top of the gantry; the electric roller shutter is configured to: move downward when working to block the light around the gantry; and be stored when idle; the guardrail can be installed around the detection space and is located on the detection platform.

8. A method for visual inspection of bogie assembly quality, characterized in that: The following steps are involved: Preparation: Push the bogie to be tested to the testing platform, place it in the testing space, and place it on the lifting column; First height detection: the lifting machine lifts the bogie to a first height H1 through the lifting column, which is located above the detection platform; the first image acquisition box starts to work, collects the image of the bottom of the bogie, moves from the first end of the bogie in the longitudinal direction to the second end of the bogie in the longitudinal direction opposite to the first end, and then returns to the first end of the bogie; Second height detection: the lifter lifts the bogie to the second height H2, which is below the transverse frame and higher than the first height; the second image acquisition box starts to work, collecting images of the top of the bogie, and the transverse frame moves from the first end of the bogie to the second end of the bogie, and then returns to the first end of the bogie; Third height detection: The lifter lifts the bogie to the third height H3, which is between H1 and H2; the robot arm carries a probe to flexibly collect images of the areas on the top of the bogie that have not been collected as a supplement; after the image collection is completed, the robot arm returns to its initial position; After the image acquisition at the three heights is completed, the lifting column falls back to the height of the detection platform.

9. The detection method according to claim 8, characterized in that: When the detection system has a rotating boom, in the second height detection step, the lift lifts the bogie to the second height H2, which is below the transverse frame and higher than the first height H1; the rotating boom rotates until the cross bar is distributed laterally; the second image acquisition box, the third image acquisition box and the fourth image acquisition box all start working, respectively collecting images of the top, side, bottom and side of the bogie, and the transverse frame moves from the first end of the bogie to the second end of the bogie, and then returns to the first end of the bogie.

10. The detection method according to claim 8 or 9, characterized in that: In the third height detection step, when the robotic arm is collecting images, when the transverse frame moves back and forth between the first end and the second end of the bogie, the robotic arm can also move back and forth on the transverse frame, and the robotic arm can move freely to extend and retract, thereby collecting images in multiple directions and scales.

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