Mobile framework intelligent detection system

Abstract

The invention discloses a mobile framework intelligent detection system, and the system comprises a remote control center which generates robot scheduling information based on a detection task; the ground control station is used for receiving and analyzing the robot scheduling information from the remote control center and generating an execution statement; the intelligent detection robot is used for receiving and executing an execution statement from the ground control station, and comprises the following steps: automatically navigating to the position of the framework to be detected, carrying out eddy current detection on a welding seam of the framework to be detected, and transmitting running state information and detection data to the ground control station; and then the data is transmitted to the remote control center by the ground control station. The eddy current detection is high in applicability; the remote control center and the ground control station are flexibly controlled and can receive and transmit running state information and detection data in real time, so that centralized management and analysis of the data are facilitated; the robot, automatic navigation, visual positioning and eddy current nondestructive testing technologies are combined, the operation time is shortened, and the working efficiency and the system utilization rate are improved.

Description

Technical Field

[0001] This application relates to the field of rail transit detection, and particularly to a mobile frame intelligent detection system. Background Art

[0002] As an important part of the running gear of urban rail transit vehicles, the frame plays a key role in the operation and braking of trains. However, the current welding process of the frame welds is still insufficient, resulting in fatigue problems of the frame structure due to track unevenness or wheel-rail interaction during vehicle operation, especially fatigue defects at the weld positions. If not detected in a timely and effective manner, it may cause potential structural safety hazards of the frame, thus seriously affecting the driving safety of the train. Therefore, it is usually required to conduct a comprehensive detection of frame weld defects regularly within the mileage of 400,000 to 450,000 kilometers of train operation to ensure train safety.

[0003] Currently, the commonly used detection method is manual magnetic particle detection, which requires a series of complex processes after disassembling the vehicle, including cleaning, paint removal, cleaning, magnetization, detection, demagnetization, re-cleaning, and re-painting. This process not only has a long cycle but also has many problems such as poor environmental protection, low efficiency, high cost, and insufficient degree of data informatization and intelligence. Summary of the Invention

[0004] In view of this, the present invention proposes a mobile frame intelligent detection system, which can solve the above problems to a certain extent.

[0005] The technical solution of this application is: A mobile frame intelligent detection system, comprising:

[0006] A remote control center, which generates robot scheduling information based on detection tasks;

[0007] A ground control station, which receives and analyzes the robot scheduling information from the remote control center and generates execution statements;

[0008] An intelligent detection robot, which receives and executes the execution statements from the ground control station, including: automatically navigating to the position where the frame to be detected is located, performing eddy current detection on the welds of the frame to be detected, and transmitting the operation status information and detection data to the ground control station, and then transmitted by the ground control station to the remote control center.

[0009] According to a preferred embodiment, the remote control center includes:

[0010] A system scheduling module, which is used to generate the robot scheduling information;

[0011] A data display module, which is used to display the detection data of the intelligent detection robot;

[0012] A status monitoring module for monitoring the operating status of the intelligent inspection robot.

[0013] According to a preferred embodiment, the robot scheduling information generated by the system scheduling module includes the action path of the intelligent inspection robot, the detection task priority, and the detection time window.

[0014] According to a preferred embodiment, the detection data includes the eddy current detection results, defect positions, and defect types of the welds.

[0015] According to a preferred embodiment, the operating status includes the position information, power status, and working power of the intelligent inspection robot.

[0016] According to a preferred embodiment, the system scheduling module, the data display module, and the status monitoring module are all located on the front-end page.

[0017] According to a preferred embodiment, the ground control station includes:

[0018] An application module for transmitting the execution statement to the intelligent inspection robot and receiving the operating status information of the intelligent inspection robot;

[0019] An analysis module for receiving the detection data of the intelligent inspection robot and transmitting it to the application module.

[0020] According to a preferred embodiment, the application module of the ground control station is further configured to provide storage services for the operating status information and detection data.

[0021] According to a preferred embodiment, the intelligent inspection robot includes:

[0022] An automatic navigation platform for carrying the robotic arm, machine vision system, and eddy current detection system, and automatically navigating to the location of the structure to be inspected according to the execution statement;

[0023] A robotic arm providing a multi-degree-of-freedom movement range and automatically generating a detection path;

[0024] A machine vision system disposed at the tool end of the robotic arm for accurately positioning the weld position;

[0025] An eddy current detection system disposed at the tool end of the robotic arm for detecting fatigue cracks on the weld.

[0026] Furthermore, the remote control center, the ground control station, and the intelligent inspection robot further include a remote communication module for information and data transmission.

[0027] The mobile frame intelligent detection system proposed by the present invention can use eddy current detection to detect frames in different states and different repair processes, that is, it can detect the frames on the vehicle when the vehicle is not disassembled and the frames after the vehicle is disassembled. It has strong adaptability to on-site working conditions and greatly shortens the detection cycle. The remote control center and the ground control station are flexibly controlled, and can receive and transmit operation status information and detection data in real time, which is convenient for centralized management and analysis of data, and improves the degree of data informatization and intelligence. Combining robot, automatic navigation, visual positioning and eddy current non-destructive testing technology, it realizes reducing operation time, improving work efficiency and system utilization rate. Brief Description of the Drawings

[0028] Figure 1 is a schematic diagram of the composition of a mobile frame intelligent detection system of the present application;

[0029] Figure 2 is a schematic diagram of the structure of an intelligent detection robot of the present application.

[0030] Description of the reference numerals: 1 - Automatic navigation platform; 2 - Manipulator; 3 - Machine vision system; 4 - Eddy current detection system. Detailed Description of the Invention

[0031] As an important part of the running gear of urban rail transit vehicles, the frame plays a key role in the running and braking of trains. However, the current welding process of the frame welds is still insufficient, resulting in fatigue problems of the frame structure due to track unevenness or wheel-rail interaction during vehicle operation, especially fatigue defects at the weld positions. If not detected in time and effectively, it may cause potential structural safety hazards of the frame, thus seriously affecting the driving safety of the train. Therefore, it is usually required to conduct a comprehensive detection of frame weld defects regularly within the mileage of 400,000 to 450,000 kilometers of train operation to ensure train safety.

[0032] Currently, the commonly used detection method is manual magnetic particle detection, which requires a series of complex processes after disassembling the vehicle, including cleaning, paint removal, cleaning, magnetization, detection, demagnetization, re-cleaning and re-painting, etc. This process not only has a long cycle, but also has many problems such as poor environmental protection, low efficiency, high cost and insufficient degree of data informatization and intelligence.

[0033] In view of this, the present invention proposes a mobile frame intelligent detection system, which can solve the above problems to a certain extent. In order to enable those skilled in the art to better understand the technical solutions of the present application, the following further detailed description of the present application is made in conjunction with the drawings and specific embodiments.

[0034] As Figure 1 shown, the present invention proposes a mobile frame intelligent detection system, including:

[0035] Remote control center, generating robot scheduling information based on inspection tasks;

[0036] Ground control station, receiving and parsing the robot scheduling information from the remote control center, generating execution statements, and transmitting the execution statements to the intelligent inspection robot;

[0037] Intelligent inspection robot, receiving and executing the execution statements from the ground control station, including: automatically navigating to the location of the frame to be inspected, performing eddy current inspection on the welds of the frame to be inspected, and transmitting the operation status information and inspection data to the ground control station, and then transmitted by the ground control station to the remote control center.

[0038] In specific implementation, after an inspection task is manually constructed on the remote control center, robot scheduling information is automatically generated, and the task information is transmitted through a communication module. The ground control station further parses the task information and constructs a control logic, generates execution statements and sends them to the intelligent inspection robot; on the one hand, the robot real-time feedbacks the current device operation status, on the other hand, the traveling path is taken and eddy current data is collected and the data is transmitted back for analysis. The analysis results are uploaded for back-end processing and storage, and finally the inspection results are transmitted back to the remote control center for users to view.

[0039] The mobile frame intelligent inspection system proposed by the present invention can use eddy current inspection to inspect frames in different states and different repair processes, that is, it can inspect the frames on the vehicle when the vehicle is not disassembled and the frames after the vehicle is disassembled. It has strong adaptability to on-site working conditions and greatly shortens the inspection cycle; the remote control center and the ground control station are flexibly controlled, and can receive and transmit operation status information and inspection data in real time, which is convenient for centralized management and analysis of data, and improves the degree of data informatization and intelligence; combined with robots, automatic navigation, visual positioning and eddy current non-destructive testing technologies, it realizes reducing operation time, improving work efficiency and system utilization rate.

[0040] Further, the remote control center includes:

[0041] System scheduling module, used to generate the robot scheduling information;

[0042] Data display module, used to display the inspection data of the intelligent inspection robot;

[0043] Status monitoring module, used to monitor the operation status of the intelligent inspection robot.

[0044] For the system scheduling module, robot scheduling information is generated according to the specific requirements of the manually issued inspection tasks. These information include but are not limited to the action path of the robot, the priority of the inspection task, the inspection time window, etc., to ensure that the intelligent inspection robot can efficiently and orderly complete various inspection tasks.

[0045] For the data display module, it can receive and process the inspection data from the intelligent inspection robot in real time, including key information such as the eddy current inspection results of the weld, the defect location, and the defect type. Through various forms such as charts, curves, and 3D models, it intuitively and clearly displays the inspection data, provides comprehensive inspection result analysis for technicians, and helps them make accurate judgments.

[0046] For the status monitoring module, this module always pays attention to the running status of the intelligent inspection robot. It collects key data such as the position information, power status, and working power of the robot in real time, and deeply analyzes these data. Once an abnormal status of the robot is detected, such as insufficient power or mechanical failure, the status monitoring module will immediately issue an alarm and start the corresponding emergency handling mechanism to ensure the safe and smooth progress of the inspection task.

[0047] In summary, through the close cooperation of the system scheduling module, data display module, and status monitoring module, the remote control center realizes the efficient scheduling of the intelligent inspection robot, the intuitive display of inspection data, and the comprehensive monitoring of the running status, providing strong technical support for the intelligent inspection of the welds of urban rail transit vehicle frames.

[0048] Furthermore, the system scheduling module, data display module, and status monitoring module are all located on the front-end page to ensure the convenience of technicians' operations.

[0049] Furthermore, the ground control station includes:

[0050] An application module, which is used to transmit the robot scheduling information to the intelligent inspection robot and receive the running status information of the intelligent inspection robot: On the one hand, it is responsible for accurately transmitting the robot scheduling information generated by the remote control center to the intelligent inspection robot to ensure that the robot can perform inspection work according to the established task requirements. These information cover key elements such as the action instructions, inspection parameters, and task priorities of the robot, providing guarantee for the efficient operation of the robot. On the other hand, the application module also receives the running status information transmitted back by the intelligent inspection robot in real time, including position coordinates, work progress, power status, etc., providing real-time robot operation monitoring for technicians to detect and handle potential problems in a timely manner.

[0051] An analysis module is used to receive the detection data of the intelligent detection robot and transmit it to the application module. The data covers eddy current detection results of welds, detailed information about defects (such as location, size, type), etc. After receiving this data, the analysis module will perform preliminary processing and analysis, extract key information, and then transmit this information to the application module. The application module then uploads this processed data to the remote control center for technicians to conduct further in-depth analysis and decision-making.

[0052] Furthermore, the application module of the ground control station is also used to provide storage services for operation status information and detection data. The storage service is equipped with encryption technology and a data backup mechanism to ensure the integrity and security of the data. Even in the face of unexpected situations, such as system failures, data loss and other risks, the data can be quickly restored to ensure the continuity and stability of the detection work.

[0053] The automatic navigation platform 1 is the mobile foundation of the intelligent detection robot. This platform adopts autonomous navigation technology and can accurately plan and navigate to the precise position of the structure to be inspected according to the execution statements transmitted by the ground control station. This platform not only has high-precision positioning capabilities but also has good terrain adaptability and can operate stably in the complex and changeable urban rail transit environment. Its implementation forms include one or more of high-precision map construction, laser or visual SLAM (Simultaneous Localization and Mapping) algorithms, and path planning algorithms. Such settings not only greatly improve the detection efficiency but also ensure the accuracy and safety of the detection work.

[0054] Furthermore, as Figure 2 shown, the intelligent detection robot includes:

[0055] An automatic navigation platform 1, which is used to carry the robotic arm 2, the machine vision system 3, and the eddy current detection system 4, and automatically navigate to the location of the structure to be inspected according to the execution statements;

[0056] A robotic arm 2, which provides a multi-degree-of-freedom movement range and automatically generates a detection path;

[0057] A machine vision system 3, which is set at the tool end of the robotic arm 2 and is used for precise positioning of the weld position;

[0058] An eddy current detection system 4, which is also set at the tool end of the robotic arm 2 and is used for the detection of fatigue cracks on the weld.

[0059] Specifically, the robotic arm 2, as the operating arm of the intelligent inspection robot, provides a multi-degree-of-freedom range of motion, enabling it to flexibly adapt to the welding seam inspection requirements at different positions and angles. The intelligent algorithm built into the robotic arm 2 can automatically generate the optimal inspection path based on the geometric features and inspection requirements of the welding seam, ensuring the efficiency and accuracy of the inspection process. The implementation form of the robotic arm 2 can adopt a high-performance servo motor drive, combined with a precise transmission mechanism and sensors, to achieve high-precision position control and force control. Such a setting not only improves the inspection accuracy but also enhances the adaptability and flexibility of the robot.

[0060] The machine vision system 3 is set at the tool end of the robotic arm 2. This system adopts image processing technology and deep learning algorithms, which can capture the image information of the welding seam in real time and perform precise processing and analysis on it. The machine vision system 3 can accurately judge the position and shape of the welding seam, providing key information for subsequent inspection work. Its implementation form includes a high-resolution camera, an image acquisition card, image processing software, and a deep learning model, etc. Such a setting not only improves the automation degree of the inspection but also significantly enhances the accuracy and efficiency of the inspection.

[0061] The eddy current detection system 4 is also set at the tool end of the robotic arm 2 and is the core detection tool of the intelligent inspection robot. This system uses the eddy current detection principle and can non-contact detect defects such as fatigue cracks on the welding seam. The eddy current detection system 4 can collect and analyze the eddy current signals of the welding seam in real time. By comparing the signal differences between normal welding seams and defective welding seams, it can accurately judge the integrity of the welding seam. Its implementation form includes an eddy current sensor, a signal acquisition and processing circuit, data analysis software, etc. Such a setting not only realizes the efficient and accurate detection of welding seam defects but also reduces the potential damage risk to the welding seam during the inspection process.

[0062] In the above, regarding the specific implementation forms of the automatic navigation platform 1, the robotic arm 2, the machine vision system 3, and the eddy current detection system 4, the present invention does not make any restrictions, and those skilled in the art can set them according to their needs.

[0063] In summary, the intelligent inspection robot realizes the efficient and accurate inspection of the welding seams of urban rail transit vehicle frames by integrating the automatic navigation platform 1, the robotic arm 2, the machine vision system 3, and the eddy current detection system 4. The precise cooperation of each component and the application of technology not only improve the inspection efficiency and quality but also reduce the inspection cost and safety risk, providing a strong guarantee for the safe operation of urban rail transit.

[0064] Furthermore, the remote control center, the ground control station, and the intelligent inspection robot further include a remote communication module.

[0065] Between the remote control center and the ground control station, the communication module mainly transmits the following information:

[0066] Robot scheduling instructions: According to the requirements of the inspection task, the control center sends detailed robot scheduling instructions to the ground control station through the communication module, including the specific requirements of the inspection task, the action path of the robot, the inspection time window, etc.

[0067] Operation status monitoring information: The ground control station transmits the operation status information of the intelligent inspection robot to the control center in real time through the communication module, such as position coordinates, work progress, power consumption, abnormal alarm, etc., so that the control center can comprehensively grasp the operation status of the robot.

[0068] Inspection data: The ground control station is also responsible for uploading the inspection data collected by the intelligent inspection robot (such as eddy current inspection results of welds, defect information, image data, etc.) to the control center through the communication module for further analysis and processing by technical personnel.

[0069] Between the ground control station and the intelligent inspection robot, the communication module mainly transmits the following information:

[0070] Execution statements: According to the scheduling instructions of the control center, the ground control station sends specific execution statements to the intelligent inspection robot through the communication module, including navigation instructions, manipulator 2 operation instructions, machine vision system 3 startup instructions, eddy current inspection system 4 parameter settings, etc.

[0071] Operation status feedback: During the task execution process, the intelligent inspection robot transmits its operation status information to the ground control station in real time through the communication module, such as the position, speed, and acceleration of the manipulator 2, the image recognition results of the machine vision system 3, and the signal intensity of the eddy current inspection system 4.

[0072] Inspection data transmission: The collected inspection data (such as eddy current inspection results of welds, defect images, etc.) is transmitted back to the ground control station through the communication module for subsequent analysis and processing.

[0073] The above has introduced in detail a mobile frame intelligent inspection system provided by an embodiment of the present application. The various embodiments in the specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

[0074] Those skilled in the art may further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application.

[0075] The steps of the methods or algorithms described in combination with the embodiments disclosed herein can be directly implemented by hardware, software modules executed by a processor, or a combination of both. The software modules can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

Claims

1. A mobile frame intelligent detection system, characterized in that: include: The remote control center generates robot scheduling information based on the detection tasks; The ground control station receives and analyzes the robot scheduling information from the remote control center and generates execution statements; The intelligent inspection robot receives and executes the execution statements from the ground control station, including: automatically navigating to the location of the structure to be inspected, performing eddy current inspection on the weld of the structure to be inspected, and transmitting the operation status information and the inspection data to the ground control station, and then the ground control station transmits it to the remote control center.

2. The mobile frame intelligent detection system according to claim 1 is characterized in that: The remote control center comprises: A system scheduling module, used to generate the robot scheduling information; A data display module, used to display the detection data of the intelligent detection robot; A status monitoring module is used to monitor the operating status of the intelligent detection robot.

3. The mobile frame intelligent detection system according to claim 2 is characterized in that: The robot scheduling information generated by the system scheduling module includes the action path of the intelligent detection robot, the detection task priority and the detection time window.

4. The mobile frame intelligent detection system according to claim 2, characterized in that: The inspection data includes eddy current inspection results of the weld, defect locations and defect types.

5. The mobile frame intelligent detection system according to claim 2, characterized in that: The operating status includes the position information, power status, and working power of the intelligent detection robot.

6. The mobile frame intelligent detection system according to claim 2, characterized in that: The system scheduling module, data display module and status monitoring module are all located on the front-end page.

7. The mobile frame intelligent detection system according to claim 1, characterized in that: The ground control station comprises: An application module, used for transmitting the execution statement to the intelligent detection robot and receiving the operation status information of the intelligent detection robot; The analysis module is used to receive the detection data of the intelligent detection robot and transmit it to the application module.

8. The mobile frame intelligent detection system according to claim 7, characterized in that: The application module of the ground control station is also used to provide storage services for operation status information and detection data.

9. The mobile frame intelligent detection system according to claim 1, characterized in that: The intelligent detection robot comprises: An automatic navigation platform, used to carry a mechanical arm, a machine vision system and an eddy current detection system, and automatically navigate to the location of the structure to be inspected according to the execution statement; The robotic arm provides multi-degree-of-freedom range of motion and automatically generates the inspection path; A machine vision system, disposed at the tool end of the robotic arm, for accurately locating the weld position; The eddy current detection system is arranged at the tool end of the mechanical arm and is used for detecting fatigue cracks on the weld.

10. The mobile frame intelligent detection system according to claim 1, characterized in that: The remote control center, ground control station and intelligent detection robot also include a remote communication module for information and data transmission.

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