Bogie detection system and control method thereof

Abstract

The invention discloses a bogie detection system and a control method thereof, and the system comprises a guide rail which is provided with a detection station; the height detection device is arranged above the detection station, and the height detection device is used for detecting the height of the bogie; the first image detection device is arranged below the detection station, and the first image detection device is used for carrying out image detection on the bottom of the bogie while carrying out height detection; and the second image detection device is arranged on the side surface of the detection station and is used for carrying out image detection on the side surface of the bogie while carrying out height detection. Bogie height parameter and multi-view image acquisition and multi-modal data fusion analysis are synchronously completed at a single station, the defect recognition accuracy is improved, the labor intensity of detection personnel is remarkably reduced, the repeated configuration of equipment is reduced through station integrated design, the detection period is effectively shortened, and the workshop space is saved. And an efficient intelligent detection solution is provided for manufacturing of rail transit equipment.

Description

Technical Field

[0001] This application belongs to the technical field of bogie detection, and particularly relates to a bogie detection system and a control method thereof. Background Art

[0002] As a core component of rail transit vehicles, the geometric parameters and appearance status detection of bogies are key links to ensure the safe operation of trains. In related technologies, a step-by-step detection scheme is usually adopted: first, the height parameter detection is completed by a contact or non-contact measurement device, and then the appearance defect identification is carried out by manual visual inspection or single-view image acquisition equipment. The cumbersome detection process leads to an extended production beat. The multi-parameter detection requires independent workstations to complete, resulting in waste of equipment and space resources, and the manual participation link is prone to introducing subjective errors. Summary of the Invention

[0003] This application aims to solve at least one of the technical problems existing in the prior art. For this purpose, this application proposes a bogie detection system and a control method thereof, which significantly reduce the labor intensity of detection personnel, improve the accuracy of defect identification, effectively shorten the detection cycle and save workshop space.

[0004] In a first aspect, this application provides a bogie detection system, including:

[0005] A guide rail with a detection station provided thereon;

[0006] A height detection device provided above the detection station, and the height detection device is used to perform height detection on the bogie;

[0007] A first image detection device provided below the detection station, and the first image detection device is used to perform image detection on the bottom of the bogie while performing height detection;

[0008] A second image detection device provided on the side of the detection station, and the second image detection device is used to perform image detection on the side of the bogie while performing height detection.

[0009] According to the bogie detection system of this application, by setting a height detection device, a first image detection device and a second image detection device to synchronously detect the bogie, the height parameters of the bogie and multi-view image acquisition are synchronously completed at a single station. The multi-modal data fusion analysis improves the accuracy of defect identification, significantly reduces the labor intensity of detection personnel, and the integrated design of the station reduces the repeated configuration of equipment, effectively shortens the detection cycle and saves workshop space, providing an efficient and intelligent detection solution for rail transit equipment manufacturing.

[0010] According to an embodiment of this application, the bogie detection system further includes:

[0011] The protection device is arranged on the lower side of the detection station. When the detection station is idle, the protection device covers the top of the first image detection device.

[0012] According to an embodiment of the present application, a receiving groove with an upper opening is arranged below the detection station, and the first image detection device is installed in the receiving groove. The protection device includes:

[0013] A cover plate, which is movably installed at the opening of the receiving groove;

[0014] A driving motor is installed on one side of the receiving groove. The driving motor is power-coupled to the cover plate through a transmission assembly. When the bogie reaches the detection station, the driving motor is used to drive the cover plate to move according to the instruction signal to open the opening of the receiving groove, and close the opening of the receiving groove after the detection is completed.

[0015] According to an embodiment of the present application, the protection device further includes a slide rail, which extends along the extension direction of the guide rail, and the cover plate is slidably installed on the slide rail.

[0016] According to an embodiment of the present application, the bogie detection system further includes:

[0017] A positioning device is arranged at the detection station and is used to fix the bogie when the bogie is located at the detection station.

[0018] According to an embodiment of the present application, the first image detection device includes:

[0019] A robotic arm is installed below the guide rail, and the free end of the robotic arm is movably arranged along the length and width directions of the guide rail;

[0020] A first industrial camera is installed at the free end of the robotic arm and can adjust the shooting angle and position along with the robotic arm.

[0021] According to an embodiment of the present application, the height detection device includes:

[0022] A mounting frame is installed at the detection station. The mounting frame includes a cross beam spanning above the guide rail;

[0023] A hydraulic cylinder is installed on the cross beam, and the movable end of the hydraulic cylinder is movably arranged on the lower side of the cross beam along the height direction;

[0024] A pressure sensor is installed at the movable end of the hydraulic cylinder. The pressure sensor is used to detect the pressure when the movable end of the hydraulic cylinder contacts the bogie;

[0025] A grating ruler is installed at the movable end of the hydraulic cylinder. The grating ruler is used to detect the displacement of the movable end of the hydraulic cylinder in real time.

[0026] According to an embodiment of the present application, the height detection device further includes:

[0027] Multiple laser rangefinders are installed on the periphery of the inspection station. The angles and positions of the multiple laser rangefinders are different, and the laser rangefinders are used to detect the free height of the bogie.

[0028] In a second aspect, the present application provides a control method for a bogie detection system according to any one of the first aspects. The control method includes:

[0029] Obtain a signal indicating that the bogie to be measured has reached the inspection station;

[0030] When the signal indicating arrival is received, control the height detection device to perform height detection on the bogie, and at the same time control the first image detection device to perform image detection on the bottom of the bogie, and control the second image detection device to perform image detection on the side of the bogie.

[0031] According to the control method of the bogie detection system of the present application, by setting the height detection device, the first image detection device and the second image detection device to perform synchronous detection on the bogie, the height parameters of the bogie and multi-view image acquisition are synchronously completed at a single station. Multi-modal data fusion analysis improves the accuracy of defect identification, significantly reduces the labor intensity of inspectors, the integrated design of the station reduces the repeated configuration of equipment, effectively shortens the detection cycle and saves workshop space, providing an efficient and intelligent detection solution for rail transit equipment manufacturing.

[0032] According to an embodiment of the present application, controlling the first image detection device to perform image detection on the bottom of the bogie includes:

[0033] Obtain the mass point information of the bogie to be measured;

[0034] Plan the movement path of the robotic arm according to the mass point information, and obtain a photographing strategy corresponding to the mass point information;

[0035] Control the robotic arm to drive the first industrial camera to move according to the movement path, and control the first industrial camera to obtain image information according to the photographing strategy;

[0036] Process the image information based on the trained image detection model to determine whether the mass points of the bogie to be measured meet the preset conditions.

[0037] The additional aspects and advantages of the present application will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present application. Description of the Drawings

[0038] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

[0039] Figure 1It is a schematic structural diagram of the bogie detection system provided by an embodiment of the present application;

[0040] Figure 2 It is a schematic partial structural diagram of the bogie detection system provided by an embodiment of the present application;

[0041] Figure 3 It is a schematic partial sectional structural diagram of the bogie detection system provided by an embodiment of the present application;

[0042] Figure 4 It is a schematic partial structural diagram of the protection device provided by an embodiment of the present application;

[0043] Figure 5 It is another schematic partial structural diagram of the bogie detection system provided by an embodiment of the present application;

[0044] Figure 6 It is a schematic structural diagram of the height detection device and the second image detection device provided by an embodiment of the present application;

[0045] Figure 7 It is a schematic flowchart of the control method of the bogie detection system provided by an embodiment of the present application;

[0046] Figure 8 It is a schematic diagram of the quality characteristics of the rivet pin collar;

[0047] Figure 9 It is a schematic diagram of the quality characteristics of the split pin;

[0048] Figure 10 It is a schematic diagram of the quality characteristics of the brake shoe pin ring.

[0049] Reference numerals:

[0050] 100, bogie detection system; 110, guide rail; 120, height detection device; 121, mounting frame; 122, hydraulic cylinder; 130, first image detection device; 131, robotic arm; 132, first industrial camera; 140, second image detection device; 141, second industrial camera; 150, protection device; 151, cover plate; 152, drive motor; 153, gear; 154, rack; 155, slide rail; 156, protective cover; 160, receiving groove; 170, shallow groove; 180, bogie. Detailed Description of the Embodiment

[0051] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present application and should not be construed as a limitation of the present application.

[0052] Refer to the following Figures 1 - 6 to describe the bogie detection system according to the embodiments of the present application.

[0053] Please refer to Figure 1 , the bogie 180 detection system includes a guide rail 110, a height detection device 120, a first image detection device 130, and a second image detection device 140.

[0054] A detection station is provided on the guide rail 110; the height detection device 120 is arranged above the detection station, and the height detection device 120 is used to perform height detection on the bogie 180; the first image detection device 130 is arranged below the detection station, and the first image detection device 130 is used to perform image detection on the bottom of the bogie 180 while performing height detection; the second image detection device 140 is arranged on the side of the detection station, and the second image detection device 140 is used to perform image detection on the side of the bogie 180 while performing height detection.

[0055] The guide rail 110 is arranged in the workshop, and its length direction is consistent with the moving path of the bogie 180. Among them, the guide rail 110 can be arranged in a straight line. The guide rail 110 adopts high-strength and high-precision steel rails, which are fixedly installed on the workshop floor and tightly connected to the ground through anchor bolts to ensure the stability and straightness of the guide rail 110. The detection station can be set at the middle position of the guide rail 110 to facilitate the parking detection and transfer of bogies 180 with different sizes.

[0056] Above the detection station, the height detection device 120 is fixed through a mounting bracket. The mounting bracket is made of steel structure, has sufficient strength and rigidity, can bear the weight of the height detection device 120 and ensure that it will not shake during the working process. The detection method of the height detection device 120 is not specifically limited. Exemplarily, the height detection device 120 can adopt laser ranging method, ultrasonic ranging method, grating scale measurement method, etc.

[0057] The first image detection device 130 is arranged below the detection station, that is, below the guide rail 110. The first image detection device 130 can perform image detection on the bottom structure of the bogie 180, and use the image detection method to judge whether the bottom structure of the bogie 180 and each detection item point are qualified, such as detection item points such as the riveting quality of the bottom rivet sleeve ring of the bogie 180, whether the brake shoe pin ring is deformed, and whether the split pin is split.

[0058] The second detection device is arranged on the side of the detection station, that is, on the side of the bogie 180. The second image detection device 140 can perform image detection on the side structure of the bogie 180, and use the image detection method to judge whether the side structure of the bogie 180 and the detection item points are qualified.

[0059] Among them, since the height detection device 120, the first image detection device 130, and the second image detection device 140 are respectively arranged in different orientations and there is no interference between them, when the height detection device 120 performs height detection on the bogie 180, the first image detection device 130 can be synchronously controlled to perform image detection on the bottom of the bogie 180, and the second image detection device 140 can be synchronously controlled to perform image detection on the side of the bogie 180.

[0060] In actual implementation, the entire bogie 180 detection system can be uniformly managed and coordinated by an advanced automated control system. The control system can be centered around an industrial computer and precisely control the guide rail 110 transportation equipment, the height detection device 120, the first image detection device 130, and the second image detection device 140 through a programmable logic controller (PLC).

[0061] After the bogie 180 is transported to the detection station through the guide rail 110 and stops, the control system first automatically adjusts the positions and working states of the height detection device 120, the first image detection device 130, and the second image detection device 140 according to the model and preset parameters of the bogie 180. Then, the height detection and image detection programs are simultaneously started, and each detection device starts to work synchronously.

[0062] During the detection process, the height detection device 120 real-time collects the height data of the bogie 180, and the image detection device captures the image data of the bottom and side of the bogie 180. These data are real-time transmitted to the industrial computer through the data transmission interface. The detection software running on the industrial computer processes and analyzes the collected data. For the height data, the software compares it with the pre-set standard height range to determine whether the height of the bogie 180 meets the requirements. For the image data, the software uses advanced image recognition algorithms to identify and classify defects such as cracks, wear, and deformation on the surface of the bogie 180, and marks the position and size of the defects.

[0063] Finally, the detection software can generate a detailed detection report based on the analysis results. The report content includes the basic information of the bogie 180, the detection results (whether the height is qualified, whether there are defects and the defect situation), detection data charts, etc. The detection report can be printed out by a printer or stored in a database for convenient subsequent query and traceability. At the same time, the system can also have an alarm function. If the detection results do not meet the standards, the system will automatically send out an audible and visual alarm signal to remind the operator to conduct further inspections and processing.

[0064] According to the bogie 180 detection system provided by the embodiments of the present application, by setting the height detection device 120, the first image detection device 130, and the second image detection device 140 to synchronously detect the bogie 180, the height parameters of the bogie 180 and multi-view image acquisition are synchronously completed at a single station. The multi-modal data fusion analysis improves the accuracy of defect recognition, significantly reduces the labor intensity of the detection personnel, the station integrated design reduces the repeated configuration of equipment, effectively shortens the detection cycle and saves the workshop space, providing an efficient and intelligent detection solution for rail transit equipment manufacturing.

[0065] Please refer to Figure 1 and Figure 2 , according to some embodiments of the present application, the bogie 180 detection system may further include a protection device 150. The protection device 150 may be disposed on the lower side of the detection station. When the detection station is idle, the protection device 150 may cover the top of the first image detection device 130.

[0066] The protection device 150 is disposed on the lower side of the detection station and does not affect the normal movement of the bogie 180 on the guide rail 110. When the detection station is idle, that is, when there is no bogie 180 to be detected at the detection station, the protection device 150 covers the top of the first image detection device 130, which can play a certain protective role for both the first image detection device 130 and the operator, improving the safety of the operation and the use stability of the device. In this state, the protection device 150 is spaced apart from the first image detection device 130 by a certain distance to avoid scratching the first image detection device 130.

[0067] In some embodiments, an interlock control logic may be provided between the protection device 150 and the first image detection device 130. The protection device 150 is configured to be in a fully open state when the first image detection device 130 is in a working state; the first image detection device 130 is configured to remain in a sleep state when the protection device 150 is not fully open. Thereby reducing the probability of damage to the device caused by movement interference between the first image detection device 130 and the protection device 150.

[0068] Please refer to Figures 1 - 5, according to some embodiments of the present application, a receiving groove 160 with an upper opening may be provided below the inspection station. The first image inspection device 130 may be installed in the receiving groove 160. The protection device 150 may include a cover plate 151 and a driving motor 152. The cover plate 151 may be movably installed at the opening of the receiving groove 160. The driving motor 152 is installed on one side of the receiving groove 160. The driving motor 152 is power-coupled to the cover plate 151 through a transmission assembly. When the bogie 180 reaches the inspection station, the driving motor 152 is used to drive the cover plate 151 to move to open the opening of the receiving groove 160 according to the instruction signal, and close the opening of the receiving groove 160 after the inspection is completed.

[0069] The receiving groove 160 may be a sunken receiving groove 160 dug out on the workshop floor by an excavation device. The guide rails 110 pass by the receiving groove 160 on both sides of the receiving groove 160, so as to ensure the stable installation of the guide rails 110 on the workshop floor and improve the stability of the overall structure. The size of the receiving groove 160 may be designed according to the specifications, activity range of the first image inspection device 130 and the subsequent maintenance operation space.

[0070] The first image inspection device 130 is installed inside the receiving groove 160. Installation brackets are pre-set at the bottom of the receiving groove 160. The installation brackets are welded by channel steel and have sufficient strength and stability. The first image inspection device 130 is firmly connected to the installation brackets by bolts. During installation, its position and angle are carefully adjusted to ensure that it can accurately perform image inspection on the bottom of the bogie 180 passing through the inspection station. In order to reduce the influence of ground vibration on the inspection device, rubber shock pads may be provided between the installation brackets and the bottom of the receiving groove 160.

[0071] The material of the cover plate 151 is not limited. It can be made of high-strength stainless steel plates, and the surface is polished, which is not only beautiful but also has good corrosion resistance. It can also be made of transparent high-strength acrylic plates, which can ensure the structural strength and facilitate observing the situation inside the receiving groove 160. The size of the cover plate 151 is precisely matched with the opening size of the receiving groove 160 and can completely cover the opening.

[0072] The driving motor 152 is installed on one side of the receiving groove 160. Exemplarily, a shallow groove 170 may be provided on one side of the receiving groove 160. The driving motor 152 and the transmission assembly are installed in the shallow groove 170. A protective cover 156 is fixedly installed on the top of the shallow groove 170. The protective cover 156 can completely isolate the moving parts from the operators. When the cover plate 151 is opened, it can slide to the shallow groove 170 on one side of the receiving groove 160 and be hidden under the protective cover 156. When closing the receiving groove 160, the cover plate 151 extends out of the shallow groove 170 and moves above the receiving groove 160.

[0073] The drive motor 152 can be a servo motor, which has high-precision control performance and fast response speed. The drive motor 152 is installed on the motor mounting base within the shallow groove 170, and the motor mounting base is fixedly connected to the inner wall of the shallow groove 170 by bolts.

[0074] The transmission component can adopt transmission methods such as synchronous belts, sprockets, or gear 153 and rack 154, etc., without specific limitations. In one example, the transmission component can be a gear 153 and rack 154 transmission method, which consists of a gear 153 and a rack 154. The gear 153 is installed on the output shaft of the drive motor 152, and the rack 154 is installed at the bottom of the cover plate 151. The gear 153 meshes with the rack 154 to achieve the power coupling connection between the drive motor 152 and the cover plate 151.

[0075] During actual execution, when the bogie 180 is gradually approaching the detection station through the guide rail 110, a proximity sensor (such as an inductive proximity sensor) installed on one side of the guide rail 110 detects the arrival of the bogie 180 and sends a signal to the control system. After receiving the signal, the control system quickly analyzes and processes the signal, and then sends a start command to the drive motor 152. After receiving the command, the drive motor 152 starts immediately, drives the cover plate 151 to slide along the sliding track to one side through the transmission component, and gradually opens the opening of the receiving groove 160. During the opening process of the cover plate 151, the control system monitors the operating parameters of the drive motor 152 in real time, such as current, rotational speed, etc., to ensure that the cover plate 151 can be opened smoothly and accurately to the specified position.

[0076] After all the detection work is completed, the bogie 180 continues to leave the detection station along the guide rail 110. A proximity sensor installed on the other side of the guide rail 110 detects the signal of the bogie 180 leaving and sends it to the control system. After receiving the signal, the control system sends a command for the drive motor 152 to rotate in the reverse direction. The drive motor 152 starts in the reverse direction, drives the cover plate 151 to slide in the reverse direction along the sliding track through the transmission component, and gradually closes the opening of the receiving groove 160. When the cover plate 151 is closed in place, the control system stops the operation of the drive motor 152 and precisely locks the position of the cover plate 151 through a limit switch to ensure that the cover plate 151 is completely closed to prevent dust, debris, etc. from entering the interior of the receiving groove 160.

[0077] In some embodiments, the control of the entire protection device 150 is implemented by a programmable logic controller (PLC). The PLC realizes real-time acquisition, analysis, and processing of the proximity sensor signals through programming, and accurately controls the start, stop, forward and reverse rotation of the drive motor 152 according to the position information of the bogie 180. At the same time, the PLC also sets a series of logical judgment and protection mechanisms. For example, when the proximity sensor fails to detect the bogie 180 normally, the PLC will send an alarm signal and prohibit the protection device 150 from performing abnormal actions; when abnormal conditions such as overload and overheating occur during the operation of the drive motor 152, the PLC will immediately stop the motor operation to protect the safety of the equipment.

[0078] To ensure the safety of the operators, a safety fence can be set around the opening of the receiving groove 160 to prevent people from accidentally falling into the receiving groove 160. At the same time, a safety light curtain is set in the sliding area of the cover plate 151. When a person or an object enters the detection area of the safety light curtain, the safety light curtain will immediately detect it and send a signal to the PLC. The PLC will quickly stop the operation of the drive motor 152 to prevent the cover plate 151 from continuing to slide and avoid safety accidents. In addition, protective casings are set on parts such as the drive motor 152 and the transmission components to prevent the operators from accidentally contacting the moving parts and causing injuries.

[0079] Please refer to Figures 1 - 5 , especially Figure 4 and Figure 5 , according to some embodiments of the present application, the protection device 150 may further include a slide rail 155. The slide rail 155 may extend along the extension direction of the guide rail 110, and the cover plate 151 is slidably mounted on the slide rail 155.

[0080] The slide rail 155 is arranged along the extension direction of the guide rail 110 so that the cover plate 151 moves along the extension direction of the guide rail 110, reducing the floor area of the entire device; proximity switches may be provided at the ends of the slide rail 155, and when the cover plate 151 moves to the ends of the slide rail 155, the proximity switches are triggered to stop the movement, thereby defining the moving distance of the cover plate 151. The material and specific structure of the slide rail 155 are not limited.

[0081] In one example, the track body is made of high-strength aluminum alloy material. Aluminum alloy has the characteristics of light weight and corrosion resistance, which can ensure that it is not easy to rust and damage during long-term use. The cross-section of the track body is in a trapezoidal structure, narrow at the top and wide at the bottom. This structural design increases the stability and load-bearing capacity of the track. Two parallel grooves are provided inside the track body, and the depth and width of the grooves are accurately designed according to the size of the slider at the bottom of the cover plate 151. The inner walls of the grooves are processed by precision grinding, and the surface roughness is extremely low to reduce the friction force during the sliding process of the slider.

[0082] A slider adapted to the slide rail 155 is installed at the bottom of the cover plate 151. The slider is made of polytetrafluoroethylene (PTFE), which has an extremely low coefficient of friction, enabling the cover plate 151 to slide smoothly on the slide rail 155. The outer shape of the slider matches the groove of the rail body and is in the shape of a boss, which can be tightly embedded in the groove to ensure that the cover plate 151 does not shift or shake during the sliding process. Ball bearings can be embedded inside the slider, and the ball bearings are evenly distributed on the contact surface between the slider and the groove. When the cover plate 151 slides, the ball bearings roll in the groove, further reducing the frictional force and improving the smoothness and flexibility of the sliding. At the same time, the ball bearings can also bear a certain pressure, enhancing the load-bearing capacity of the slider.

[0083] The slide rail 155 provides precise guidance for the sliding of the cover plate 151. Since the slide rail 155 extends along the extension direction of the guide rail 110, the cover plate 151 can only slide along the direction of the slide rail 155, ensuring that when the cover plate 151 opens and closes the opening of the receiving groove 160, it can accurately move along the predetermined trajectory, guaranteeing the accuracy and stability of the operation of the protection device 150.

[0084] The slide rail 155 plays a supporting role for the cover plate 151. The cover plate 151 is installed on the slide rail 155 through the slider at the bottom. The slide rail 155 can bear the weight of the cover plate 151 and evenly distribute it to the ground. Even if the cover plate 151 is subjected to a certain external force during the opening or closing process, the slide rail 155 can ensure the stability of the cover plate 151 and prevent it from tilting or falling.

[0085] Please refer to Figures 3 - 5 , in some embodiments, the protection device 150 may include two sets of cover plates 151 and drive motors 152 arranged oppositely. The two sets of cover plates 151 and drive motors 152 are respectively arranged at both ends of the receiving groove 160, and the two cover plates 151 can move relative to each other to open or close the receiving groove 160, so as to provide a stable closing and supporting effect even when the size of the receiving groove 160 is relatively large, improving the stability of the device operation.

[0086] According to some embodiments of the present application, the bogie 180 detection system may further include a positioning device, and the positioning device may be arranged at the detection station for fixing the bogie 180 when the bogie 180 is located at the detection station.

[0087] The positioning device can accurately fix the bogie 180 at the detection station to ensure the detection accuracy of the image detection device and the height detection device 120.

[0088] Exemplarily, the positioning device may include at least one of a wheel set positioning component, a car body positioning component, and a horizontal positioning component.

[0089] The axle - wheel pair positioning assembly can be composed of two sets of adjustable positioning calipers and corresponding driving mechanisms. The positioning calipers are made of high - strength alloy steel, and an arc - shaped clamping groove matching the contour of the bogie 180 axle - wheel pair is designed on the inner side. The surface of the clamping groove has undergone special anti - slip treatment, such as spraying an anti - slip coating or machining tiny raised patterns, to increase the friction with the axle - wheel pair. The driving mechanism uses an electric push rod. One end of the electric push rod is connected to the positioning caliper, and the other end is fixed on the base of the inspection station.

[0090] After the bogie 180 enters the inspection station, the control system issues an instruction, and the electric push rod starts to act, pushing the positioning caliper towards the axle - wheel pair until the arc - shaped clamping groove fits tightly with the axle - wheel pair. During the fitting process, the pressure sensor built in the electric push rod monitors the pressure applied to the axle - wheel pair in real time. When the pressure reaches the preset value (for example, 5 kN), the electric push rod stops acting, completing the positioning of the axle - wheel pair. This method of controlling by pressure can ensure the reliability of positioning, avoiding damage to the axle - wheel pair due to excessive pressure or loose positioning due to insufficient pressure.

[0091] The car - body positioning assembly can include positioning pins installed on both sides of the inspection station and positioning holes installed at corresponding positions on the bottom of the car - body of the bogie 180. The positioning pins adopt a cylindrical structure, and the head is chamfered for easy insertion into the positioning holes. The positioning pins are driven by hydraulic cylinders. The hydraulic cylinders are connected to the hydraulic pump station through oil pipes, and the hydraulic pump station is controlled by the control system.

[0092] After the positioning of the axle - wheel pair is completed, the control system starts the hydraulic pump station, supplies oil to the hydraulic cylinders, and makes the positioning pins extend upward. At the same time, the position sensors on the inspection station monitor the position of the car - body of the bogie 180 in real time to ensure that the positioning pins are accurately aligned with the positioning holes. After the positioning pins are inserted into the positioning holes, the hydraulic system maintains a certain pressure to firmly fix the positioning pins in the positioning holes, thus realizing the positioning of the car - body. After the positioning is completed, the position sensors will feedback signals to the control system to confirm the successful positioning of the car - body.

[0093] The horizontal positioning assembly can be composed of horizontal positioning plates installed at the front and rear ends of the inspection station and cylinders for driving the movement of the horizontal positioning plates. The horizontal positioning plates are made of high - strength steel plates, and the surfaces are flat and smooth. The cylinders are installed on the fixed brackets of the inspection station and are connected to the air source through air pipes, and the air source is controlled by solenoid valves.

[0094] After the positioning of the axle - wheel pair and the car - body is completed, the control system opens the solenoid valve, supplies air to the cylinders, and makes the horizontal positioning plates move towards the bogie 180 until the horizontal positioning plates are in close contact with the front and rear end faces of the bogie 180. The function of the horizontal positioning plates is to limit the movement of the bogie 180 in the horizontal direction and ensure that the bogie 180 maintains a stable horizontal position during the inspection process. After the inspection is completed, the control system closes the solenoid valve, and the cylinders drive the horizontal positioning plates to return to the initial position.

[0095] Through the coordinated action of the axle box positioning assembly, the carbody positioning assembly, and the horizontal positioning assembly, high-precision positioning of the bogie 180 in three-dimensional space can be achieved. The positioning accuracy can be controlled at the millimeter level, providing a stable and reliable basis for subsequent height detection and image detection. Moreover, each component of the positioning device has a certain degree of adjustability, capable of adapting to the positioning requirements of bogies 180 of different models and sizes. For example, the electric push rod of the axle box positioning assembly can be telescopically adjusted according to the distance between the axle boxes, and the design of the positioning pins and positioning holes of the carbody positioning assembly also takes into account the structural characteristics of different carbodies.

[0096] Please refer to Figure 1 and Figure 5 According to some embodiments of the present application, the first image detection device 130 may include a robotic arm 131 and a first industrial camera 132. The robotic arm 131 is installed below the guide rail 110, and the free end of the robotic arm 131 is movably arranged along the length and width directions of the guide rail 110; the first industrial camera 132 is installed at the free end of the robotic arm 131 and can adjust the shooting angle and position along with the robotic arm 131.

[0097] The robotic arm 131 can be a multi-axis robotic arm 131, and the free end of the robotic arm 131 can move and rotate freely to drive the first industrial camera 132 to take pictures at different positions and angles. To enable the robotic arm 131 to flexibly perform a full-range inspection of the bottom of the bogie 180, its installation position is carefully planned. The robotic arm 131 is located near the central position below the guide rail 110, and its movement range can cover all inspection areas at the bottom of the bogie 180 in the length and width directions of the guide rail 110.

[0098] In one example, the robotic arm 131 can be a four-axis robotic arm 131, and the movement of the robotic arm 131 is precisely controlled by a control system. The control system sends control signals to the servo motors of each joint according to the preset program and the information fed back by the sensors, driving the motor 152 to rotate. The high-speed rotation of the motor is converted into the low-speed and high-torque movement of the joint through a speed reducer, thereby realizing the flexible movement of the robotic arm 131 in three-dimensional space. For example, by controlling the rotation angles and speeds of different joints, the free end of the robotic arm 131 can move along a complex trajectory to reach any inspection position at the bottom of the bogie 180.

[0099] In actual execution, when the bogie 180 enters the detection station and is fixed by the positioning device, the control system automatically generates the motion trajectory of the robotic arm 131 and the shooting plan of the first industrial camera 132 according to the model, size, and detection requirements of the bogie 180. The motion trajectory planning takes into account the structural characteristics of the bottom of the bogie 180 and the distribution of the detection areas, ensuring that the robotic arm 131 can efficiently and comprehensively detect the bottom of the bogie 180. The shooting plan includes parameters such as shooting positions, shooting angles, and shooting sequences to ensure that the collected images can meet the requirements of subsequent image analysis. The robotic arm 131 starts to move according to the planned motion trajectory, and the first industrial camera 132 synchronously performs image acquisition. During the movement, the joints of the robotic arm 131 work together to accurately move the first industrial camera 132 to the predetermined shooting position and adjust the shooting angle. The first industrial camera 132 shoots images of the bottom of the bogie 180 at the set frame rate and resolution, and transmits the image data to the computer for processing in real time.

[0100] According to some embodiments of the present application, the height detection device 120 may include a mounting frame 121, a hydraulic cylinder 122, a pressure sensor, and a grating scale. The mounting frame 121 is installed at the detection station. The mounting frame 121 includes a cross beam spanning above the guide rail 110. The hydraulic cylinder 122 is installed on the cross beam, and the movable end of the hydraulic cylinder 122 is movably arranged on the lower side of the cross beam in the height direction. The pressure sensor is installed at the movable end of the hydraulic cylinder 122, and the pressure sensor is used to detect the pressure when the movable end of the hydraulic cylinder 122 contacts the bogie 180. The grating scale is installed at the movable end of the hydraulic cylinder 122, and the grating scale is used to detect the displacement of the movable end of the hydraulic cylinder 122 in real time.

[0101] The mounting frame 121 is the basic structure of the height detection device 120 and is made of high-strength alloy steel material to ensure sufficient stability and rigidity during the detection process. The mounting frame 121 can be in the form of a gantry. The two columns of the gantry are firmly fixed to the ground by anchor bolts. The cross beam spans above the guide rail 110 and is fixedly connected to the columns. When installing the cross beam, a high-precision level and theodolite are used for calibration to ensure that the cross beam is in a horizontal state and perpendicular to the guide rail 110 to ensure the accuracy of subsequent detections. The length of the cross beam is reasonably designed according to the width of the guide rail 110 and the size of the bogie 180, and can cover the position range of the bogie 180 on the guide rail 110.

[0102] The hydraulic cylinder 122 is installed on the lower side of the crossbeam and connected to the crossbeam through a customized mounting bracket. The mounting bracket is fixed on the crossbeam by welding or bolt connection to ensure that the hydraulic cylinder 122 can be stably installed. The movable end of the hydraulic cylinder 122 is movably arranged in the height direction, and its installation position is accurately calculated and adjusted so that the movable end can accurately contact the bearing part of the bogie 180 when descending. The pressure sensor is installed at the movable end of the hydraulic cylinder 122. A high-precision strain type pressure sensor is used, which can accurately detect the pressure when the movable end of the hydraulic cylinder 122 contacts the bogie 180. The grating ruler is installed at the movable end of the hydraulic cylinder 122 and is parallel to the movement direction of the movable end. The grating ruler is fixed on the side of the movable end through a mounting bracket, and its reading head maintains a proper distance from the scale line of the grating ruler to ensure that the displacement data can be accurately read.

[0103] During the actual execution, when the bogie 180 has not entered the detection station, the movable end of the hydraulic cylinder 122 is in the retracted state, the pressure sensor is not under pressure, and the grating ruler records the initial position of the current movable end. At this time, the entire height detection device 120 is in the standby state, waiting for the arrival of the bogie 180. When the bogie 180 is transported to the detection station through the guide rail 110 and accurately fixed by the positioning device, the control system starts the height detection program. The movable end of the hydraulic cylinder 122 starts to slowly descend, and its movable end gradually approaches the bearing part of the bogie 180. During the descent, the grating ruler real-time monitors the displacement of the movable end of the hydraulic cylinder 122 and transmits the displacement data to the control system. After the movable end of the hydraulic cylinder 122 contacts the bogie 180, the hydraulic cylinder 122 continues to apply hydraulic pressure to simulate the load on the bogie 180. As the hydraulic pressure increases, the pressure detected by the pressure sensor gradually increases. The control system controls the magnitude of the hydraulic pressure applied by the hydraulic cylinder 122 according to the preset load standard. When the pressure detected by the pressure sensor reaches the preset load pressure value, the hydraulic cylinder 122 stops applying pressure. At this time, the grating ruler records the current position of the movable end of the hydraulic cylinder 122. By calculating the difference between the current position and the initial position, the descent height of the bogie 180 under the action of the simulated load, that is, the load height, is obtained. After completing the load height detection, the movable end of the hydraulic cylinder 122 starts to retract, and the pressure detected by the pressure sensor gradually decreases. When the movable end of the hydraulic cylinder 122 is completely retracted to the initial position, the pressure reading of the pressure sensor returns to zero, and the grating ruler records the final position of the movable end. The control system stores and processes the detected load height data and prepares for the next detection at the same time.

[0104] Please refer to Figure 1 and Figure 6, in some embodiments, the second image detection device 140 may include a plurality of second industrial cameras 141, which are distributed on both sides of the guide rail 110 to facilitate obtaining the image information of two sides of the bogie 180 and performing detection. Specifically, the plurality of second industrial cameras 141 may be installed on the columns on both sides of the gantry.

[0105] In one example, the second industrial camera 141 may be a line array camera, equipped with a long focal length lens, which can clearly capture the detailed information on the side of the bogie 180. The line array camera is installed at the end of a telescopic cantilever. By adjusting the telescopic length of the cantilever and the angle of the camera, different parts on the side of the bogie 180 can be comprehensively detected. A bar-shaped laser light source is installed on one side of the camera. The light emitted by the laser light source forms a certain angle with the shooting direction of the camera. Through the principle of laser triangulation, the three-dimensional contour information of the side of the bogie 180 can be obtained. During the detection process, the line array camera takes images of the side of the bogie 180 in a high-speed scanning manner, while the laser light source provides auxiliary illumination to improve the contrast and clarity of the images. The image data is collected, processed, and then transmitted to a computer for analysis and judgment.

[0106] According to some embodiments of the present application, the height detection device 120 may further include a plurality of laser rangefinders, which are installed on the periphery of the detection station. The angles and positions of the plurality of laser rangefinders are different, and the laser rangefinders are used to detect the free height of the bogie 180.

[0107] On the periphery of the detection station, the installation positions of the plurality of laser rangefinders are determined according to the structural characteristics and detection requirements of the bogie 180, and the number of laser rangefinders is not limited.

[0108] Generally, laser rangefinders are reasonably arranged around and above the detection station. For example, a certain number of laser rangefinders are installed on both sides of the guide rail 110, which can measure the height of different parts of the bogie 180 from the side; some laser rangefinders are also installed on the cross beam spanning the guide rail 110 to detect the height of the top of the bogie 180 from above. The angle of each laser rangefinder needs to be carefully adjusted to ensure that the key detection parts of the bogie 180 can be covered. For the laser rangefinders installed from the side, the laser beam emitted needs to form a suitable angle with the side of the bogie 180 to accurately measure the height at different positions on the side; for the laser rangefinders installed from above, the laser beam should be perpendicular or nearly perpendicular to the top of the bogie 180 to improve the measurement accuracy.

[0109] The laser rangefinder can quickly measure the free height of the bogie 180 in a short time, greatly improving the detection efficiency. Compared with the traditional measurement method, the laser rangefinder does not require manual and cumbersome measurement operations and can quickly complete the measurement after the bogie 180 enters the detection station, meeting the production requirements for large-scale detection of the bogie 180.

[0110] Please refer to Figure 7 , and the embodiment of the present application also provides a control method for a bogie 180 detection system according to any one of the above technical solutions.

[0111] It should be noted that since the control method of the embodiment of the present application is applied to the bogie 180 detection system according to any one of the above technical solutions, it has the technical features and beneficial effects of the bogie 180 detection system according to any one of the above technical solutions, which will not be elaborated here.

[0112] The control method includes: step 210 and step 220.

[0113] Step 210: Obtain the in-place signal that the bogie 180 to be measured moves to the detection station.

[0114] Step 220: When receiving the in-place signal, control the height detection device 120 to perform height detection on the bogie 180, and at the same time control the first image detection device 130 to perform image detection on the bottom of the bogie 180, and control the second image detection device 140 to perform image detection on the side of the bogie 180.

[0115] In step 210, in order to obtain the in-place signal that the bogie 180 to be measured moves to the detection station, induction devices such as high-precision photoelectric sensors can be installed at the detection station. Exemplarily, the photoelectric sensor adopts the opposed mode principle and consists of a transmitter and a receiver. The transmitter emits invisible infrared light, and the receiver receives the light. When the bogie 180 enters the detection station and blocks the light between the transmitter and the receiver, the photoelectric sensor will generate an electrical signal, and this signal is the in-place signal.

[0116] In step 220, after the control center confirms the receipt of the in-place signal, it immediately sends a start instruction to the height detection device 120. For the height detection device 120 that includes the hydraulic cylinder 122, the pressure sensor, the grating scale, and the laser rangefinder, the control process is as follows: First, the control center quickly starts the laser rangefinder, and measures the free height of the bogie 180 according to the preset program and parameters. The laser rangefinder emits a laser beam, receives the reflected light, calculates the distance data, and transmits these data back to the control center in real time. Next, the hydraulic system of the hydraulic cylinder 122 is started, so that the movable end of the hydraulic cylinder 122 slowly descends and contacts the surface of the bogie 180. During the descent, the grating scale monitors the displacement of the movable end in real time and transmits the displacement data to the control center. After the movable end of the hydraulic cylinder 122 contacts the bogie 180, the pressure sensor starts to detect the pressure. The control center controls the hydraulic cylinder 122 to continue to apply hydraulic pressure according to the pressure data transmitted by the pressure sensor until the preset load pressure value is reached. At this time, the grating scale records the final displacement of the movable end, and the control center calculates the load height of the bogie 180 based on the initial position and the final displacement. Finally, the control center comprehensively processes and analyzes the free height data measured by the laser rangefinder and the load height data calculated according to the grating scale to obtain the height detection result of the bogie 180.

[0117] While the control center sends a start instruction to the height detection device 120, it can simultaneously send start instructions to the first image detection device 130 and the second image detection device 140. Or, after the movable end of the hydraulic cylinder 122 contacts the top surface of the bogie 180, that is, while the output signal of the pressure sensor is not zero, start instructions can be simultaneously sent to the first image detection device 130 and the second image detection device 140 to ensure the synchronous operation of the height detection device 120 and the first and second image detection devices 140. After the first industrial camera 132 of the first and second image detection devices 140 reaches the predetermined position and adjusts the angle, the control center sends a shooting instruction to the first industrial camera 132. The first industrial camera 132 collects image data of the bottom of the bogie 180 according to the preset shooting parameters (such as resolution, frame rate, exposure time, etc.) and transmits the collected image data back to the control center in real time.

[0118] The control center performs preliminary processing on the received image data, such as image enhancement, denoising, etc., and then stores the processed image data in the database of the system for subsequent detailed image analysis and defect detection.

[0119] To ensure that the height detection device 120 and the first image detection device 130 can work synchronously, the control center adopts an accurate time synchronization mechanism. When sending the start command, the control center sets the same timestamp for the height detection device 120 and the first image detection device 130, and performs precise time control through the internal clock system. At the same time, the control center monitors the working status and data transmission of the two devices in real time, and makes adjustments and coordination according to the actual situation. For example, if it is found that the measurement speed of the height detection device 120 is slow, the control center can appropriately adjust the shooting rhythm of the first image detection device 130 to match the working progress of the height detection device 120, avoiding situations such as data mismatch or detection process confusion.

[0120] According to the control method of the bogie 180 detection system provided by the embodiments of the present application, by setting the height detection device 120, the first image detection device 130, and the second image detection device 140 to synchronously detect the bogie 180, the height parameters and multi-view image acquisition of the bogie 180 are completed synchronously at a single station. The multi-modal data fusion analysis improves the accuracy of defect identification, significantly reduces the labor intensity of the detection personnel, the station integrated design reduces the repeated configuration of equipment, effectively shortens the detection cycle and saves the workshop space, providing an efficient and intelligent detection solution for rail transit equipment manufacturing.

[0121] According to some embodiments of the present application, controlling the first image detection device 130 to perform image detection on the bottom of the bogie 180 includes: step 221, step 222, step 223, and step 224.

[0122] Step 221, obtain the mass point information of the bogie 180 to be measured;

[0123] Step 222, plan the movement path of the robotic arm 131 according to the mass point information, and obtain the photographing strategy corresponding to the mass point information;

[0124] Step 223, control the robotic arm 131 to drive the first industrial camera 132 to move according to the movement path, and control the first industrial camera 132 to obtain image information according to the photographing strategy;

[0125] Step 224, process the image information based on the trained image detection model to determine whether the mass points of the bogie 180 to be measured meet the preset conditions.

[0126] In step 221, during the production process of the bogie 180, a series of quality points are clearly defined in its design documents and manufacturing process files. These quality points usually include the connection parts of the key components of the bogie 180, areas that are prone to wear or subject to large forces, etc. In addition, based on past inspection experience and data analysis, some additional key quality points are also determined. Exemplarily, the quality points can include rivet pins, split pins, brake shoe pin rings, and so on. The system directly obtains the relevant design and process data of the bogie 180 to be inspected by docking with the production management system or database, thereby extracting the quality point information.

[0127] In step 222, according to the position coordinates of the quality points at the bottom of the bogie 180, the control module combines the kinematic model and workspace limitations of the robotic arm 131, and uses a path planning algorithm (such as the A* algorithm or Dijkstra algorithm) to plan the optimal movement path of the robotic arm 131. When planning the path, factors such as the movement speed, acceleration of the robotic arm 131, and the angular range of each joint are taken into account to ensure that the robotic arm 131 can reach each quality point position safely and efficiently. At the same time, collisions between the robotic arm 131 and other equipment on the inspection station or the bogie 180 itself are also avoided. In one example, the nearest neighbor principle can be used for planning and programming to shorten the inspection cycle.

[0128] For each quality point, according to its characteristics and inspection requirements, the system has pre-set corresponding photographing strategies. The photographing strategies include parameters such as shooting angle, shooting distance, exposure time, focal length, etc. Exemplarily, please refer to Figure 8 , extract the image characteristics of 3 inspection points on the rivet pin, compare them with the standard image, and determine whether the riveting quality is qualified. As long as 1 of the 3 inspection points meets the requirements, the product quality can be judged to meet the requirements. Please refer to Figure 9 , whether the split pin is split is photographed from multiple angles, and the image with quality characteristics is taken to determine whether the product quality meets the requirements. Please refer to Figure 10 , the brake shoe pin ring is photographed vertically from the front, and the ring characteristics and roundness characteristics are calculated to determine whether the product quality meets the requirements.

[0129] In step 223, the control module converts the planned movement path into motion commands for each joint of the robotic arm 131 and sends them to the controller of the robotic arm 131. Based on these commands, the controller of the robotic arm 131 drives the movement of each joint through servo motors, causing the robotic arm 131 to drive the first industrial camera 132 to move along a predetermined path. During the movement, the position feedback system of the robotic arm 131 monitors the positions and angles of each joint in real time and feeds the information back to the control module. The control module makes real-time adjustments to the movement of the robotic arm 131 according to the feedback information to ensure that it accurately reaches each quality point position. When the robotic arm 131 reaches the quality point position, the control module controls the first industrial camera 132 to take a picture according to the pre-acquired photographing strategy parameters. The first industrial camera 132 automatically adjusts parameters such as the shooting angle, focal length, and exposure time according to the received commands and takes an image of the quality point. After the shooting is completed, the first industrial camera 132 transmits the image information to the control center in the form of digital signals for subsequent processing.

[0130] In step 224, before the system is put into use, a large amount of bogie 180 image data is used to train the image detection model. These image data include quality point images of bogies 180 of different models and different quality states, and the quality points in the images are labeled, such as whether there are cracks, wear degrees, etc. A deep learning algorithm (such as the convolutional neural network CNN) is used to construct the image detection model, and the labeled image data is used to train and optimize the model so that it can accurately identify the quality point features and defects in the images. After the control center receives the image information transmitted by the first industrial camera 132, it inputs it into the trained image detection model. The model analyzes and processes the image, extracts the feature information of the quality point, and compares it with the preset quality standards. According to the comparison results, it is judged whether the quality point meets the preset conditions, such as whether there are defects such as cracks and wear beyond the allowable range.

[0131] The judgment results of the image detection model are output in the form of text or charts and stored in the database of the system. At the same time, the system also generates a corresponding inspection report, which details the inspection results, image information, and whether the preset conditions are met for each quality point. This information can be viewed and analyzed by the operator to evaluate and make decisions on the quality of the bogie 180.

[0132] By obtaining quality point information and specifically planning the movement path of the robotic arm 131 and the photographing strategy, it is possible to ensure that the first industrial camera 132 accurately captures the key information of the quality points, improving the accuracy of detection. At the same time, based on the analysis of the trained image detection model, it is possible to accurately identify the defects and abnormal conditions of the quality points, providing a reliable basis for the quality assessment of the bogie 180. The automated path planning and photographing control reduce manual intervention and operation time. The robotic arm 131 can quickly and accurately reach the positions of each quality point, and the first industrial camera 132 can also take pictures according to the preset strategy, greatly shortening the detection cycle. This control method can flexibly obtain quality point information and adjust the photographing strategy according to bogies 180 of different models and different quality requirements. By updating and optimizing the image detection model, it can also adapt to new quality standards and detection requirements, having strong adaptability and scalability. The image information and judgment results during the detection process are both detailedly recorded and stored, facilitating data traceability and analysis by the operators. Through the analysis of historical detection data, the laws and trends of quality problems can be discovered, providing strong support for improving the production process and enhancing product quality.

[0133] The terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of this application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same category, and do not limit the number of objects. For example, the first object can be one or multiple. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the associated objects before and after.

[0134] In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying 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 construed as a limitation to this application.

[0135] In the description of this application, the "first feature", "second feature" may include one or more of such features.

[0136] In the description of this application, the meaning of "a plurality" is two or more.

[0137] In the description of the present application, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through additional features therebetween.

[0138] In the description of the present application, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature.

[0139] In the description of this specification, the description of reference terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0140] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A bogie detection system, characterized in that: include: A guide rail, wherein a detection station is provided on the guide rail; A height detection device is arranged above the detection station, and is used to detect the height of the bogie; A first image detection device is disposed below the detection station, and is used to perform image detection on the bottom of the bogie while performing height detection; The second image detection device is arranged on the side of the detection station, and is used for performing image detection on the side of the bogie while performing height detection.

2. The bogie detection system according to claim 1, characterized in that: Also includes: The protective device is arranged at the lower side of the detection station. When the detection station is idle, the protective device covers the top of the first image detection device.

3. The bogie detection system according to claim 2, characterized in that: A receiving groove with an upper opening is provided below the detection station, the first image detection device is installed in the receiving groove, and the protective device includes: A cover plate, movably mounted at the opening of the receiving groove; A drive motor is installed on one side of the receiving slot. The drive motor is dynamically coupled to the cover plate through a transmission assembly. When the bogie reaches the inspection station, the drive motor is used to drive the cover plate to move according to an indication signal to open the opening of the receiving slot, and to close the opening of the receiving slot after the inspection is completed.

4. The bogie detection system according to claim 3, characterized in that: The protection device also includes a slide rail, which extends along the extension direction of the guide rail, and the cover plate is slidably mounted on the slide rail.

5. The bogie detection system according to claim 1, characterized in that: Also includes: A positioning device is provided at the detection station and is used to fix the bogie when the bogie is located at the detection station.

6. The bogie detection system according to any one of claims 1 to 5, characterized in that: The first image detection device comprises: A mechanical arm is installed below the guide rail, and a free end of the mechanical arm is movably arranged along the length direction and the width direction of the guide rail; The first industrial camera is installed at the free end of the mechanical arm and can adjust the shooting angle and position along with the mechanical arm.

7. The bogie detection system according to any one of claims 1 to 5, characterized in that: The height detection device comprises: An installation frame installed at the inspection station, the installation frame comprising a beam spanning above the guide rail; A hydraulic cylinder is mounted on the crossbeam, and a movable end of the hydraulic cylinder is movably arranged on the lower side of the crossbeam in a height direction; a pressure sensor, mounted on the movable end of the hydraulic cylinder, the pressure sensor being used to detect the pressure when the movable end of the hydraulic cylinder contacts the bogie; A grating ruler is installed at the movable end of the hydraulic cylinder, and the grating ruler is used to detect the displacement of the movable end of the hydraulic cylinder in real time.

8. The bogie detection system according to any one of claims 1 to 5, characterized in that: The height detection device also includes: A plurality of laser rangefinders are installed on the peripheral side of the detection station, the angles and positions of the plurality of laser rangefinders are different, and the laser rangefinders are used to detect the free height of the bogie.

9. A control method for a bogie detection system according to any one of claims 1 to 8, characterized in that: The control method comprises: Obtaining an arrival signal of the bogie to be tested moving to the detection station; When the arrival signal is received, the height detection device is controlled to perform height detection on the bogie, while the first image detection device is controlled to perform image detection on the bottom of the bogie, and the second image detection device is controlled to perform image detection on the side of the bogie.

10. The control method of the bogie detection system according to claim 9, characterized in that: The controlling the first image detection device to perform image detection on the bottom of the bogie comprises: Obtain the mass point information of the bogie to be tested; Planning a moving path of the robot arm according to the mass point information, and obtaining a photographing strategy corresponding to the mass point information; Controlling the robotic arm to drive the first industrial camera to move along the moving path, and controlling the first industrial camera to acquire image information according to the photographing strategy; The image information is processed based on the trained image detection model to determine whether the mass points of the bogie to be tested meet preset conditions.

Images