A turnout grinding head lifting device and grinding operation vehicle based on image recognition and positioning

Abstract

A turnout grinding head lifting device and grinding vehicle based on image recognition positioning are disclosed. The device includes a processing center, a relay group for information interaction, a camera group for collecting image data of the work area, an encoder for assisting in the positioning of the grinding vehicle, and an on-board touch screen. The camera group, encoder, and on-board touch screen are connected to the processing center. This invention practically solves the problems of low precision in grinding lifting points and high operator requirements in existing technologies. It aims to replace the traditional methods of manually placing signs and manually pressing PASS switches, improving the efficiency and accuracy of turnout grinding operations and reducing the labor intensity and safety risks for operators without affecting the operation of existing turnout grinding vehicles.

Description

Technical Field

[0001] This utility model belongs to the field of turnout grinding technology, specifically relating to a turnout grinding head lifting device and grinding operation vehicle based on image recognition positioning. Background Technology

[0002] my country imported its first turnout grinding machine from abroad in 2003. After years of development, it has established a suitable grinding mode and technical standards for turnout areas. As a weak link in the track, turnouts are effectively protected by grinding operations, which significantly improves wheel-rail relationships, enhances rail smoothness, and ensures railway transportation safety.

[0003] Research indicates that a typical turnout operation requires grinding 1 to 6 sets of turnouts and approximately 100 meters of rail before and after them. Taking the operation with a maximum of 6 sets of turnouts as an example, each grinding head needs to be raised and lowered 26 times. During the turnout grinding operation, the raising and lowering of the grinding heads is controlled manually. Before the operation, based on pre-measured track data, special markers are placed at the grinding descent (raise) points on the left and right sides of the turnout. When the vehicle approaches the marker, the operator observes that the marker pole in front of the windshield and the marker align, and simultaneously presses the PASS switch on the left and right control handles to control the raising and lowering of the left and right grinding heads, thus completing the grinding operation. Manual operation has limitations in terms of control precision and requires highly skilled operators; long hours of work at night can easily lead to fatigue and incorrect grinding operations, posing risks such as damage to the rails or the vehicle. Summary of the Invention

[0004] The purpose of this invention is to solve the above-mentioned problems and shortcomings, and to provide a turnout grinding head lifting device based on image recognition positioning. This device solves the problems of low precision of grinding lifting points and high requirements for operators in the existing technology. It aims to replace the traditional manual placement of signs and manual pressing of PASS switches, and improve the efficiency and accuracy of turnout grinding operations without affecting the operation of existing turnout grinding vehicles, while reducing the labor intensity and safety risks of operators.

[0005] Another objective of this invention is to provide a grinding operation vehicle.

[0006] The objective of this utility model can be achieved through the following technical solutions:

[0007] A turnout grinding head lifting device based on image recognition positioning includes a wide-area camera, a high-speed camera, an on-board touch screen, a relay, a processing center, a speed encoder and a tablet computer, a relay, an on-board touch screen, a high-speed camera, and a wide-area camera. The relay group includes relay one and relay two. Wide-area camera one and high-speed camera one are installed at appropriate positions directly above the left and right rail surfaces at the front end of the first grinding car; the speed encoder is installed at the end of the bogie axle of the first grinding car. High-speed camera two and wide-area camera two are installed at appropriate positions directly above the left and right rail surfaces at the front end of the second grinding car. The first and second grinding cars are symmetrically connected and assembled into a grinding device, and each of the first and second grinding cars is equipped with a grinding trolley.

[0008] The vehicle-mounted touch screen is installed on the operating table of the driver's cab of the first grinding vehicle; the relays 1 and 2 and the processing center are installed in the equipment control cabinet of the first grinding vehicle; the vehicle-mounted touch screen is installed on the operating table of the driver's cab of the second grinding vehicle.

[0009] The wide-area camera 1, high-speed camera 1, speed encoder, tablet computer, vehicle-mounted touch screen 1, relay 1, relay 2 and processing center are grouped together; the high-speed camera 2, wide-area camera 2, speed encoder, tablet computer, vehicle-mounted touch screen 2, relay 1, relay 2 and processing center are grouped together, and each group can work independently.

[0010] Vehicle-mounted touchscreen displays 1 and 2 are used to input grinding plans and monitor the operating status of the equipment. Before or during turnout grinding operations, the grinding plan is determined and edited on either display. The system accesses the turnout type map library in the processing center, selects a turnout map matching the site conditions, and clicks to select characteristic sections such as the turnout guard rails, turnout tips, and turnout roots, setting them as permissible or non-permissible for grinding. This generates a grinding operation plan map consistent with the site conditions. When the first grinding vehicle is selected as the forward direction for turnout grinding operations, the processing center determines the permissible or non-permissible grinding sections of the turnout based on image data from wide-area camera 1 and high-speed camera 1. When a grinding zone is determined to be permissible, grinding is permitted on the left, right, or both sides of the turnout. The processing center will issue a high-level signal, which, via relay one, relay two, or both relays, will communicate with the grinding control system of the first grinding car to control the first and second grinding cars to sequentially lower their left, right, or both grinding heads for turnout grinding. When a grinding zone is determined to be inaccessible, the processing center will output a low-level signal, which, via relay one, will communicate with the grinding control system of the first grinding car. If the car is already in a grinding state, the grinding control system will automatically raise the grinding head to prevent accidental grinding; if the car is not currently in a grinding state, the grinding control system will keep the grinding head inactive. Wide-area cameras 1 and 2 are used to monitor the work areas in front of the first and second grinding vehicles, respectively, collecting turnout data. This data is used to monitor the work area and transmits it to the processing center for image smoothing, sharpening, binarization, thinning, and automatic trimming to obtain an actual track map. This map is then compared with the work plan track map to verify consistency and predict the grinding area. High-speed cameras 1 and 2 are used to collect image data of characteristic sections of the turnouts, such as the turnout guard rails, turnout tips, and turnout roots, in front of the first and second grinding vehicles. This data is transmitted to the processing center to provide location references based on the current grinding work plan map, allowing / disallowing grinding zones.

[0011] The tablet computer interacts with the onboard processing center via wireless communication. The processing center communicates with the grinding control systems of the first and second grinding vehicles. During grinding operations, personnel off the vehicle can monitor the process via the tablet computer. If a discrepancy is found between the grinding plan and the actual situation, the plan can be temporarily modified by accessing the turnout type map library from the processing center on the tablet computer. Based on the real-time operational status, the tablet computer accesses the turnout type map library, selects the turnout map matching the site conditions, and clicks to select characteristic sections such as the turnout guard rails, turnout tips, and turnout roots, setting them to allow or disallow grinding, thus generating a grinding operation plan map consistent with the site conditions. When the first grinding car is selected as the forward direction for turnout grinding, the processing center receives image data from wide-area camera one and high-speed camera one in real time according to the grinding operation plan map. It monitors the operation area, verifies the operation plan route, identifies characteristic sections of the turnout such as guard rails, turnout tips, and turnout roots, and outputs grinding head lifting signals according to different grinding plans. These signals interact with the grinding car via relay one and relay two, controlling the left and right grinding heads to descend sequentially in the designated grinding sections to complete the turnout grinding operation, and to lift sequentially in the designated non-grinding sections. A speed encoder is used to accurately calculate the vehicle's speed, distance, and direction for auxiliary vehicle positioning. During vehicle movement, the speed encoder rotates at the axle end with the wheel, generating pulse signals according to a certain pattern. Based on the number of pulses n per unit time, the distance L traveled per unit time is calculated as v = n*L; based on the running time t, the travel distance S = v*t; and based on the pulse phase changes of the speed encoder, the direction of travel is determined.

[0012] Relay 1 and Relay 2 are input / output relays.

[0013] This utility model device has a built-in map library of turnout types in its processing center, storing more than 50 grinding schemes. It includes the map library for all turnout types listed in the "Adapted Line" clause and supports map library expansion. Grinding schemes can be edited and saved on a general-purpose computer operating system and imported into the processing center via USB flash drive or wirelessly. During turnout grinding operations, operators can flexibly select and apply a grinding scheme as the current operation plan through an onboard touchscreen display or tablet. Each turnout diagram is finely segmented based on existing grinding feature sections, and the segment length can be set according to requirements. Each feature section can be clicked to set whether grinding is allowed. When not set for grinding, the feature section is displayed in gray, with adjacent feature sections distinguished by dark gray and light gray, enhancing visual identification. By default, all feature sections are set to not be ground (displayed in gray). Feature sections set for grinding are highlighted in green, while areas that cannot be ground at any time are displayed in yellow, and these feature sections cannot be set for grinding.

[0014] Relays 1 and 2 have multiple sets of interfaces. Some interfaces are used to input and output lifting signals, while others are used for normal and emergency signal exchange. During normal operation, the relay maintains its output state. In the event of an emergency, the device automatically shuts off the relay, achieving an emergency stop function. Simultaneously, the tablet computer also has an emergency button. When the emergency lift button is pressed, all grinding heads rise simultaneously. If an abnormal situation arises during grinding and a stop is needed, the grinding heads can be raised using the emergency lift button on the tablet computer. During operation, the dynamic display function shows the vehicle's real-time location on the work map on the vehicle-mounted touchscreen display (Part 1), vehicle-mounted touchscreen display (Part 2), and the tablet computer.

[0015] This utility model device adopts a simple design to replace the manual placement of special signs and manual pressing of the PASS switch on the left and right operation handrail boxes to control the raising and lowering of the left and right grinding heads. It uses image recognition positioning technology to control the automatic raising and lowering of the left and right grinding heads on the grinding vehicle for grinding operations, which reduces the requirements for operators, improves the control accuracy of grinding operations, and reduces the risk of damage to rails, vehicles, etc. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0017] Figure 1 This is a circuit diagram of the turnout grinding head lifting device based on image recognition and positioning according to this utility model.

[0018] Figure 2 This is a schematic diagram of the structure of the grinding operation vehicle of this utility model;

[0019] Figure 3 yes Figure 2 View from direction A;

[0020] Figure 4 yes Figure 2 View from direction B;

[0021] Numbering in the diagram: 1-Wide-area camera one, 2-High-speed camera one, 3-Vehicle-mounted touch screen one, 4-Relay one, 5-Processing center, 6-Speed ​​encoder, 7-First grinding car, 8-Second grinding car, 9-Tablet computer, 10-Relay two, 11-Vehicle-mounted touch screen two, 12-High-speed camera two, 13-Wide-area camera two, 14-Line rail. Detailed Implementation

[0022] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0023] like Figure 1-4 The image-based positioning-based turnout grinding head lifting device shown includes 1-wide-area camera one, 2-high-speed camera one, 3-vehicle-mounted touch screen one, 4-relay one, 5-processing center, 6-speed encoder, 9-tablet computer, 10-relay two, 11-vehicle-mounted touch screen two, 12-high-speed camera two, and 13-wide-area camera two.

[0024] Wide-area camera 1 and high-speed camera 2 are installed at the front end of the first grinding car 7, and speed encoder 6 is installed at the end of the axle of the bogie of the first grinding car 8; high-speed camera 12 and wide-area camera 13 are installed at the front end of the second grinding car 8; vehicle-mounted touch screen 3 is installed on the operating table of the driver's cab of the first grinding car 7; relay 4, relay 10, and processing center 5 are installed in the equipment control cabinet of the first grinding car 7; vehicle-mounted touch screen 11 is installed on the operating table of the driver's cab of the second grinding car 8. The first and second grinding cars are assembled into a grinding device, and grinding carriages are respectively provided on the first and second grinding cars.

[0025] The wide-area camera 1, high-speed camera 2, speed encoder 6, tablet computer 9, vehicle-mounted touch screen 3, relay 4, relay 2 10, and processing center 5 form one group; the high-speed camera 2 12, wide-area camera 2 13, speed encoder 6, tablet computer 9, vehicle-mounted touch screen 2 11, relay 4, relay 2 10, and processing center 5 form another group, each group can operate independently. Relay 4 receives high and low level signals from the processing center and interacts with the first grinding car 7 and the second grinding car 8 to control the raising and lowering of the left grinding head of both cars. Relay 2 10 receives high and low level signals from the processing center and interacts with the first grinding car 7 and the second grinding car 8 to control the raising and lowering of the right grinding head of both cars.

[0026] The vehicle-mounted touch screen 11, vehicle-mounted touch screen 21, and handheld tablet computer 9 can be flexibly configured and edited to create work plans.

[0027] The processing center 5 and the handheld tablet computer 9 are connected wirelessly; the wide-area camera 1, the high-speed camera 2, the vehicle-mounted touch screen 3, the relay 4, the processing center 5, the speed encoder 6, and the relay 10 are connected by cables; the high-speed camera 12, the wide-area camera 13, and the vehicle-mounted touch screen 11 are connected to the relay 4, the relay 10, and the processing center 5 through a reconnection cable between the first grinding car 7 and the second grinding car 8.

[0028] During the grinding operation, according to the requirements of the task, the turnout map in the map library of the processing center can be called through the vehicle-mounted touch screen 3 or the vehicle-mounted touch screen 11. Each feature segment can be clicked as needed to set the grinding feature segment, non-grinding feature segment, and non-grinding feature segment. Alternatively, the current work plan map can be generated by importing the pre-edited map from the general computer into the processing center 5 via USB flash drive.

[0029] When the first grinding car 7 is selected as the forward direction, the image data collected by the wide-area camera 1 and the high-speed camera 2 is transmitted to the processing center 5 for processing and comparison analysis. According to the grinding operation plan map, the characteristic sections of the turnout, such as the guard rail, the tip of the turnout, and the root of the turnout, are identified. According to different grinding plans, the grinding head lifting signal is output and communicates with the grinding car through the relay 4 and the relay 10.

[0030] When the vehicle is 3 meters from the grinding start point, if the grinding zone is deemed permissible (either the left or right side of the turnout is permissible, or both sides are permissible), the processing center 5 will issue a high-level signal for 1 second. This signal, transmitted via relay 4, relay 10, or both, will communicate with the grinding control system of the first grinding car 7 to control the left or right grinding heads of the first grinding car 7 and the second grinding car 8 to descend sequentially for turnout grinding. If the processing center 5 determines the grinding zone is not permissible, it will output a low-level signal for 1 second. This signal, transmitted via relay 4, will communicate with the grinding control system of the first grinding car 7, which will then keep the grinding heads inactive. When the vehicle continues to travel to 3 meters from the grinding end point, the processing center 5 will issue a low-level signal for 1 second. This signal, transmitted via relay 4 and relay 10, will communicate with the grinding control system of the first grinding car 7 to control the left and right grinding heads of the first grinding car 7 and the second grinding car 8 to rise sequentially to stop turnout grinding and prevent accidental grinding.

[0031] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. A turnout grinding head lifting device based on image recognition and positioning, characterized in that: It includes a processing center, a relay group for information exchange, a camera group for acquiring image data of the work area, an encoder for assisting in the positioning of the grinding vehicle, and an on-board touch screen; the camera group, encoder, and on-board touch screen are connected to the processing center; The relay group includes multiple interfaces. One part of the interfaces is used to input and output lifting signals to realize information interaction between the processing center and the grinding control system of the grinding vehicle. The other part of the interfaces is used to interact with normal signals and emergency signals. The camera group is Camera Group 1 set on the front end of the first grinding vehicle (7) and Camera Group 2 set on the front end of the second grinding vehicle (8). Camera Group 1 includes High-speed Camera 1 (2) and Wide-area Camera 1 (1). Camera Group 2 includes High-speed Camera 2 (12) and Wide-area Camera 2 (13).

2. The turnout grinding head lifting device based on image recognition and positioning according to claim 1, characterized in that: The relay group includes relay one (4) and relay two (10); relay one (4) has an interface corresponding to the left grinding head, and relay two (10) has an interface corresponding to the right grinding head.

3. The turnout grinding head lifting device based on image recognition and positioning according to claim 1, characterized in that: The vehicle-mounted touch screen includes a vehicle-mounted touch screen one (3) installed on the operating table of the driver's cab of the first grinding vehicle 7 and a vehicle-mounted touch screen two (11) installed on the operating table of the driver's cab of the second grinding vehicle (8).

4. The turnout grinding head lifting device based on image recognition and positioning according to claim 1, characterized in that: It also includes a tablet computer (9) that communicates wirelessly with the processing center.

5. The turnout grinding head lifting device based on image recognition and positioning according to claim 1, characterized in that: The encoder is a speed encoder.

6. A grinding operation vehicle, characterized in that: The equipment includes two symmetrically connected first grinding cars (7) and second grinding cars (8), a turnout grinding head lifting device based on image recognition positioning as described in any one of claims 1-5, a vehicle-mounted touch screen display 1 (3) on the operating table of the driver's cab of the first grinding car (7), a vehicle-mounted touch screen display 2 (11) on the operating table of the driver's cab of the second grinding car (8), a camera group 1 installed at the front end of the first grinding car (7), an encoder installed at the end of the bogie axle of the first grinding car (7), a camera group 2 installed at the front end of the second grinding car (8), a relay 1 (4), a relay 2 (10), and a processing center (5) installed in the equipment control cabinet of the first grinding car (7).

Images