• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A rail vehicle subframe inspection method (2) using an inspection device (1) comprising a processing block (10) and a motor system (11.1), said processing block being adapted for controlling the engine system adapted to move the inspection device to position it at a destination point; comprising the following steps, given a list, stored in the processing block, coordinates of points of interest of the sub-frame expressed in a reference system having as origin a reference point: - displacement of the inspection device up to a predetermined point of known position relative to the reference point; - Recording, by the processing block, the location of the reference point according to said position; determining, by the processing block, a command intended for the motor system for positioning the inspection device at a point of interest of the list as a function of at least the coordinates of said point of interest expressed in the list; and said location of the registered reference point.
    公开号:FR3078159A1
    申请号:FR1851511
    申请日:2018-02-22
    公开日:2019-08-23
    发明作者:Norbert BEHETY
    申请人:Alstom Transport Technologies SAS；
    IPC主号:
    专利说明:

    Method and device for inspecting a subframe of a railway vehicle
    The present invention relates to the field of maintenance inspections which must take place at regular intervals on railway vehicles, to guarantee their integrity and thereby the safety of the persons and goods transported. These visual inspections carried out by human operators require the installation of vehicles on dedicated railway inspection tracks (rails on pits, raised rails, etc.), which affects the availability of vehicles, causes them specific journeys and contributes infrastructure saturation, while imposing uneasy working conditions on human operators, which are not very favorable in terms of health and safety. In addition, since 90% of the vehicle parts inspected are determined to be in conformity with the outcome of the inspection, a relaxation of the concentration necessary for these inspections may be feared.
    It is necessary to propose a rail vehicle inspection solution which is easy to implement and which allows remote control of an inspection device towards the areas to be inspected of the rail vehicle.
    To this end, according to a first aspect, the invention proposes a method of inspecting a sub-chassis of a rail vehicle on a rail track using an inspection device comprising a processing block and an engine system, said processing unit being adapted to control the engine system and the engine system being adapted to move the inspection device until it is positioned at at least one destination point controlled by the processing unit;
    said method being characterized in that, given a list, stored in the processing block, of coordinates of points of interest of the sub-frame expressed in a reference system originating from a reference point, the method comprises the following steps:
    - movement of the inspection device to a predetermined point whose position relative to the reference point is known;
    - recording, by the processing block, of the location of the reference point as a function of the position to which the device has been moved;
    - determination, by the processing block, of at least one command intended for the engine system for positioning the inspection device at at least one point of interest in the list as a function of at least the coordinates of said point of interest expressed in the list and of said location of the recorded reference point.
    The invention thus provides a solution to facilitate the speed and reliability of the automation of inspection operations. Once the actual position of the reference point of the rail vehicle inspected has been recorded during maintenance, the inspection device is then able to determine the optimal displacement necessary to inspect each component of the rail vehicle. Another advantage, linked to the basis for referencing equipment under chassis for each type of train referenced, is to be able to identify the equipment in the vicinity of the robot, and the cataloged inspections for this equipment.
    Optimizing movements reduces them and therefore preserves the energy (battery) necessary for movements, thus increasing the autonomy of the robot.
    In embodiments, the inspection method according to the invention further comprises one or more of the following characteristics:
    the processing block supplies said determined command to the motor system, then, as a function of said command, the inspection device moves under the action of the motor system to the point of interest and captures an image or performs there a measurement ;
    the predetermined point is an axle of the mobile railway vehicle, the location of the reference point on an X axis extending parallel to the track being that corresponding to said axle on the X axis, the location of the reference point on a Y axis located in the track plane and perpendicular to rails of the track being determined as a function of the location of at least one of the two rails on the Y axis and the location of the reference point on a Z axis perpendicular to the X axes and Y being determined as a function of the location of at least one of the two rails on the Z axis;
    - the following steps are implemented:
    - calculation of an area corresponding to an envelope of an area of the sub-chassis of the rail vehicle;
    - determination of displacement (s) of the inspection device to be carried out between two successive points of interest from the list by the implementation of an algorithm for minimizing displacements carried out in 1 dimension, 2 dimensions or 3 dimensions, said minimization being carried out according to the points of the list and the calculated envelope.
    According to a second aspect, the present invention provides a computer program comprising software instructions which, when executed by a computer, implement a method as defined above.
    According to a third aspect, the present invention provides a device for inspecting a subframe of a railway vehicle on a railway track comprising a processing block and an engine system, said processing block being adapted to control the engine system and the engine system. being adapted to move the inspection device until it is positioned at at least one destination point controlled by the processing block;
    said device being characterized in that, given a list, stored in the processing block, of coordinates of points of interest of the subframe expressed in a reference system originating from a reference point, the processing block is suitable for , following a movement of the inspection device to a predetermined point whose position relative to the reference point is known, recording a location of the reference point as a function of the position to which the device has been moved;
    the processing block being adapted to determine at least one command intended for the engine system for positioning the inspection device at at least one point of interest in the list as a function of at least the coordinates of said point of interest expressed in the list and said location of the recorded reference point.
    In embodiments, the inspection device according to the invention further comprises one or more of the following characteristics:
    the processing block is adapted to supply said determined command to the engine system, then, as a function of said command, the inspection device is adapted to move under the action of the engine system to the point of interest and in capture or measure an image;
    the predetermined point is an axle of the rail vehicle, the location of the reference point on an X axis extending parallel to the track being that corresponding to said axle on the X axis, the location of the reference point on a Y axis located in the track plane and perpendicular to rails of the track being determined as a function of the location of at least one of the two rails on the Y axis and the location of the reference point on a Z axis perpendicular to the X axes and Y being determined as a function of the location of at least one of the two rails on the Z axis;
    the processing block is adapted to determine displacements of the inspection device to be carried out between two successive points of interest from the list by the implementation of an algorithm for minimizing displacements carried out in 1 dimension, 2 dimensions or 3 dimensions, said minimization being carried out as a function of the points of the list and of an envelope of a surface of the sub-chassis of the rail vehicle.
    These characteristics and advantages of the invention will appear on reading the description which follows, given solely by way of example, and made with reference to the accompanying drawings, in which:
    - Figure 1 shows a schematic view of an inspection device in an embodiment of the invention;
    - Figure 2 is a view of the rail track and the reference axes in an embodiment of the invention;
    - Figure 3 is a block diagram of an inspection device in one embodiment of the invention;
    - Figure 4 is a flow diagram of steps implemented in an embodiment of the invention;
    - Figure 5 is a flow diagram of steps implemented in an embodiment of the invention;
    - Figure 6 shows movements made in embodiments of the invention.
    FIG. 1 schematically represents an inspection device 1, also called a robot 1, in an embodiment of the invention. The inspection device 1 is suitable for inspecting the chassis of a rail vehicle 2, in the case considered a train 2 (in other cases a tram, a locomotive etc.), parked on a rail track 3 which s extends along an axis X. As shown in FIG. 2, the rails 5 and 6 of track 3 lie in the plane defined by the orthogonal axes X and Y, themselves perpendicular to a vertical axis Z.
    The inspection device 1 comprises a carriage 7 provided with wheels 8 and an arm 9. When the inspection device 1 is placed on between the rails, for example the wheels on the feet of the rails 5 and 6, it is suitable for roll on these rails and thus move along the X axis, driven by a motor system mentioned below. The arm 9 is adapted to deploy or retract along the Z axis and also along the Y axis, under the action of the motor system. At the top of the arm 9, an application device 11.2 is arranged. In the case under consideration, the application device is a video camera 11.2 (in other embodiments, the application device includes a measuring device). The inspection device 1 is of dimensions adapted to travel, between the rails 5 and 6, under the chassis of the train 2, by means of the folding of the arm along the Z axis, or even along the Y axis, according to the volumes of the train on the path of the inspection device 1.
    Figure 3 is a block diagram of the inspection device 1 in the embodiment of the invention considered. It comprises a processing block 10, a set of systems 11 and a wireless telecommunication interface 13.
    The processing block 10 includes a microprocessor 12 and a memory area
    14. The set of systems 11 includes in particular a motor system 11.1, at least one application device 11.2, here a video camera 11.2, a battery 11.3 and a geolocation system 11.4.
    The motor system 11.1 is adapted to implement the movements of the inspection device 1, both those of the carriage 7 along the X axis, those of the arm 9 along the Y and Z axes and those of the head tilt. of camera 11.2 with respect to each of the axes X, Y, Z.
    The video camera 11.2 is suitable for capturing images.
    The battery 11.3, for example electric, is adapted to supply electrical energy to the entire inspection device 1.
    The geolocation system 11.4 includes, for example, an inertial unit with 3 gyrometers and 3 accelerometers. It is suitable for calculating the current position of the carriage 7, of the arm 9 and the orientation of the camera 11.2.
    The wireless telecommunication interface 13 is for example of the WiFi type suitable for exchanging data with a remote supervision station operated by an operator.
    The processing block 10 is suitable for controlling the systems of the set of systems 11. Thus it is suitable for sending commands to the different systems of the set of systems 11, for example:
    - sending movement commands to be carried out by the carriage 7, the arm 9 and the camera 11.2 to position them at a determined location;
    - sending image capture commands to the video camera 11.2.
    These commands are for example initially received by the processing block 10 via the telecommunication interface 13, coming from the remote supervision station, before being possibly completed, processed and then sent by the processing block 10 to the assembly. of systems 11: the inspection device is then in manual mode. Or again, these commands are part of preprogrammed inspection sequences recorded in the memory area 14 in the form of software instructions, then executed on the microprocessor 12: the inspection device is then in automatic mode.
    The processing block 10 is also adapted to receive and process the different data transmitted by the different systems of the set of systems (for example the image files captured by the camera 11.2, the current positions calculated by the geolocation system 11.4 ...), to store them or, if necessary, to transmit them, directly or after processing, to the supervision station via the interface 13.
    In memory 14, a database B o is stored. This database B o includes a list of the components to be inspected from train 2 and also includes, for each component, at least the coordinates for locating the component in a reference system which originates from a reference point P o from train 2, as well as roll angles, pitch, yaw of the camera head 11.2. These coordinates are for example expressed in a frame of reference having for axes the 3 axes X, Y, Z (corresponding to the axes indicated above which are also the axes respectively, longitudinal, lateral and vertical of train 2).
    The coordinates in the base B o relating to each component are, according to the embodiments, those of the component or those of shooting the component.
    With reference to FIG. 3, the processing block 10 is further adapted for, in a mode of determining the reference point, implementing the set 100 of following steps.
    In one embodiment, these steps 101, 102 are implemented following the execution on the microprocessor 12, of software instructions stored in the memory area 14.
    In a step 101: displacement of the inspection device 1 until the latter is located as being at the level of the reference point P o .
    In a step 102, the processing block 10 then identifies the current position (X o , Y o , Z o ) of the inspection device as that corresponding to the point P o used as the origin in the base B o and stores it as such. And in addition, for example, it assigns to this position P o the coordinates (X o = 0, Y o = 0, Z 0 = 0), ie the origin of the three-dimensional coordinate system comprising the axes X, Y and Z.
    In the embodiment considered, the point P o corresponds to the point of coordinates (X o , Y o , Z o ), where:
    - X o on the X axis corresponds to the point of contact between the front axle wheel and the rail, as shown in Figure 1;
    - Y o is on the central line located between the two rails 5 and 6, or halfway between two wheels of the train 2 facing each other on the Y axis, as shown in FIG. 2 (for example determined intrinsically from the made of a symmetrical construction of the inspection device 1 along the axis Y); and
    - Z o corresponds to the upper limit of the rail, as shown in Figure 2.
    In railways, CAD systems commonly use this standard. Thus they can generate the dimensions of the equipment under chassis, directly usable by the robot. Otherwise, the robot can build up this repository using a scanner mode and specific sensors. In another embodiment, another repository can be used. The reference point can be determined in manual or automatic mode ("reference point determination" mode):
    - manually:
    . the operator of the supervision station provides movement commands to the inspection device 1 via the interface 13 to bring the inspection device 1 to the reference point, and according to these movement commands, the processing block 10 commands the engine system 11.1 to move until the inspection device 1 is located as being at the reference point P o , or else. the operator transports the device to the reference point;
    - automatically (by pressing a button on the device 1 or supplying, from the supervision station, the order corresponding to the passage to the mode of automatic determination of the reference point), the inspection device moves the along the rails, controlled by the processing block 10 until automatically recognizing for example the lowest part of the first wheel on its left side (for example by automatic shape recognition processing on the basis of images provided by the camera 11.2). And for example, if for any reason the inspection device 1 does not succeed in identifying this wheel, the search will be stopped after having advanced 10 meters (m) from a basic position (corresponding to the X coordinate B on the X axis, shown in Figure 1).
    After carrying out the steps for determining the reference point, the inspection device 1 returns to its basic position XB.
    In the embodiment described, in step 101, the inspection device is moved to the reference point. In other embodiments, the inspection device is moved in step 101 to a characteristic point (for example easily detectable by automatic search on image), then determines the geographical position of the reference point as a function of that of this characteristic point and of information stored in its memory indicating the delta between these two geographical positions.
    Then once this process of locating the reference point has been carried out, the inspection device 1 is adapted, in an "inspection mode", to:
    - carry out the movements necessary to position themselves successively in each of at least some, or even all, of the components of the train 2 appearing in the base B o as a function of the coordinates of the component appearing in the base B o , and the roll angles, pitch, yaw of the camera relative to the axes, X, Y, Z and of the position as recorded from the reference point P o in step 102 (the movements are stopped to set up the measurement when the movements required are judged to be achieved by comparing the displacement commands, defined as a function of the coordinates of the components and of the reference position recorded, with the current positions determined by the geolocation system 11.4), and
    - at each of these different locations, capture images using the camera 11.2 (or perform measurements at these different locations using measuring devices) and perform image processing on these images to provide a component inspection status, for example from OK, NOK, undetermined, or even determine a characterization of a fault detected on the component by processing these images (the characterization includes, for example, the identification of a type of fault from a crack , wear, hole etc.).
    All the points of interest of the train 2 to be inspected will have been referenced, in a prior phase, relative to the reference point P o , then they are then inspected, the movements controlled by the processing block 10 then being determined relative to the point of reference P o .
    Thus, in a phase prior to the first embodiment of the step assembly 100, in order to constitute the base B o , the operator successively moves the carriage 7 along X to each component of the list considered, also positions the arm 9 along Y and Z and orient the camera 11.2 in accordance with the point of view desired for the inspection of said component of interest of train 2 (then using a train of gauge similar to train 2). Then the coordinates (x, y, z) and orientations relating to the component are then recorded in the base B o :
    - x: longitudinal distance along the X axis between the current position and P o ;
    - y: lateral distance along the Y axis between the current position and P o ;
    - z: vertical distance along the Z axis between the current position and P o ;
    - roll, pitch, yaw angles of the camera head 11.2.
    Then, the inspection device 1 may be used to automatically inspect, in inspection mode, the components of train 2 or of any train having components in the same place as train 2 relative to the reference position retained.
    In "inspection mode", whether manual or automatic, inspection by the inspection device includes a list of tasks to be carried out at different locations on the train chassis. Depending on how these tasks are sequenced, the total duration of the inspection and the energy consumption can vary significantly.
    Thus in one embodiment of the invention, with reference to FIG. 5, a set of steps 200 is implemented.
    In a step 201, the tasks of the sequence of tasks to be performed by the inspection device 1 are ordered in an order minimizing in the plane X, Y (since the movements along Z are taken into account in step 202 ) the number and the transition distance between two successive tasks, (for example, taking pictures of components) corresponding to two successive locations (x, y, z) of the inspection device (the optimization algorithms used are similar to those used when calculating road routes). In one embodiment, the inspection device 1 has the same starting and ending point: X B , but does not pass through X B between two distinct components of the list.
    In a step 202, the movements along the axis Z of the arm between two consecutive tasks are minimized while avoiding any interference with the train 2, is carried out.
    The steps 201, 202 are for example implemented in the inspection device 1, using the microprocessor 12 and a sequence optimization algorithm stored in the memory 14. The best options for the journey inspection and the elementary movements of the inspection device 1 (both of the carriage 7 and of the arm 9) are thus calculated.
    Step 202 is implemented as a function of a static envelope of the train (which varies according to the 3-dimensional shapes of the components of train 2) which represents the border, in height (ie along the Z axis) beyond from which the upper limit of the camera at the end of the arm 9 cannot go, for each geographical position (x, y) given in the plane defined by the axes X and Y. This envelope therefore delimits the surface of minus the subframe of train 2.
    This static train envelope is defined for example for each type of railway vehicle, in a respective 3-dimensional matrix file, named B 15 stored in memory 14. The envelope (or ceiling) is provided by the designer of the train to using CAD, or provided by the robot using an automated scanner mode and dedicated sensors.
    Thus, after each identification of a railway vehicle (performed automatically by the inspection device 1, in particular by image processing or else indicated in manual mode by the operator to the device 1 from the supervision station), the processing block 10 of the inspection device 1 selects the static envelope file corresponding to the identified railway vehicle 2. In the event that the identification of the rail vehicle is impossible, or if the appropriate static envelope file is missing or unusable, a default envelope corresponding to a static safety gauge specified by the operator (LUC standard for example) is used.
    These provisions help to reduce the time and energy consumption required to complete the railway vehicle inspection sequence.
    By way of illustration and comparison, successive stages between the end of any task (call the "task N-1 >>) and that of the following task (call the" task N "), the scheduling of the tasks having have been obtained following step 201, are described below, firstly in an embodiment without use of the envelope matrix, in steps 301 to 309, and then in an embodiment with use of the envelope matrix, in steps 401 to 408.
    FIG. 6 represents in the plane of the axes X and Z the location O N -i of coordinates (x N -i, Yn-i, z N -i) corresponding to the task N-1, the location O N of coordinates (x N , Yn, z n ) corresponding to task N and the components 30 and 31 of the train appearing nearby. Task N-1 is for example taking a photo of the component 31 and task N is for example taking a photo of the component (not shown) located further along the X axis.
    - Step 301: end of task N-1 at location O N -i.
    - Step 302: lower the arm 9 to the height z = Z maX | ibre (height of the lowest element of train 2), as shown by the arrow ότ in Figure 6.
    - Step 303: center the arm 9 between the two rails 5 and 6 (y = 0).
    - Step 304: move the carriage 7 on the X axis to the location x N along X corresponding to task N, as represented by the arrow d 2 in FIG. 6.
    - Step 305: position the arm laterally, ie on the Y axis, to the location y N along Y corresponding to task N.
    - Step 306: position the arm vertically, ie on the Z axis, up to the location z N along Z corresponding to task N, as represented by the arrow d 3 in FIG. 6.
    - Step 307: orient the camera head 11.2.
    - Step 308: execute task N (image capture, measurement, etc.).
    - Step 309: end of task N; N = N + 1; return to step 301 if the task sequence has not been completed.
    Thus in step 302, the arm is systematically lowered below the height of the lowest element of the train 2).
    - Step 401: end of task N-1.
    - Step 402: determine if there is an intersection along the Z axis with the train 2 to go directly from the location O N -i, with coordinates (x N -i, Yn-i, z N -i) at task N-1, at location O N , with coordinates (x N , y N , z N ) corresponding to task N, as a function of the segment between (x ^, yN.!, z N _i) and (x N , y N , z N ) and from the envelope file Bt of the envelope corresponding to the train 2 inspected. If yes, go to step 403; if not, go to step 405 directly.
    - Step 403: determine an intermediate position O '(or more) such that we can go from O N -i to O', then from O 'to O N by minimizing the total distance traveled (in 3 dimensions) by going to the X axis from x N _i to x N , as a function of the envelope file Bt corresponding to the train 2 inspected.
    - Step 404: move the carriage 7 (along X) and the arm 9 (along Z) to the intermediate position O ’, in accordance with the movement indicated by the arrow Ü! in figure 6.
    - Step 405: move the carriage 7 and the arm 9 from the current position to O N along the axis indicated by the arrow D 2 in FIG. 6.
    - Step 406: orient the camera head 11.2.
    - Step 407: execute task N (image capture, measurement, etc.).
    - Step 408: end of task N; N = N + 1; return to step 301 if the task sequence has not been completed.
    The sum of the distances represented by the arrows di, d 2 and d 3 amounts to di + d 2 + d 3 = 200 + 2500 + 180 = 2880 millimeters (mm), and is covered in the case considered in 14 seconds (s) . The sum of the distances represented by the displacements along the arrows Dt and D 2 amounts to Dt + D 2 = 1266 + 1262 = 2528 mm, and is covered in the case considered in 12 s.
    权利要求:
    Claims (9)
    [1" id="c-fr-0001]
    1. - Method for inspecting a subframe of a railway vehicle (2) on a railway track (3) using an inspection device (1) comprising a processing block (10) and a motor system (11.1), said processing block being adapted to control the engine system and the engine system being adapted to move the inspection device until it is positioned at at least one destination point controlled by the processing block;
    said method being characterized in that, given a list, stored in the processing block, of coordinates of points of interest of the sub-frame expressed in a reference system originating from a reference point, the method comprises the following steps:
    - movement of the inspection device to a predetermined point whose position relative to the reference point is known;
    - recording, by the processing block, of the location of the reference point as a function of the position to which the device has been moved;
    - determination, by the processing block, of at least one command intended for the engine system for positioning the inspection device at at least one point of interest in the list as a function of at least the coordinates of said point of interest expressed in the list and of said location of the recorded reference point.
    [2" id="c-fr-0002]
    2. - A method of inspecting a subframe of a rail vehicle (2) according to claim 1, according to which the processing block (10) supplies said determined command to the engine system (11.1), then, as a function of said command, the inspection device moves under the action of the motor system to the point of interest and captures an image or performs a measurement there.
    [3" id="c-fr-0003]
    3. - A method of inspecting a subframe of a rail vehicle (2) according to claim 1 or 2, according to which the predetermined point is an axle of the rail vehicle, the location of the reference point on an axis X extending parallel to the track (3) being that corresponding to said axle on the X axis, the location of the reference point on a Y axis situated in the plane of the track and perpendicular to rails (5,6) of the track being determined by function of the location of at least one of the two rails on the Y axis and the location of the reference point on a Z axis perpendicular to the X and Y axes being determined as a function of the location of at least one of the two rails on the Z axis.
    [4" id="c-fr-0004]
    4, - Method for inspecting a subframe of a rail vehicle (2) according to any one of the preceding claims, according to which the following steps are implemented:
    - calculation of an envelope of a surface of the sub-chassis of the railway vehicle;
    - determination of movement (s) of the inspection device (1) to be carried out between two successive points of interest from the list by the implementation of an algorithm for minimizing movements made in 1 dimension, 2 dimensions or 3 dimensions , said minimization being carried out as a function of the points of the list and of the envelope calculated.
    [5" id="c-fr-0005]
    5. Computer program comprising software instructions which, when executed by a computer, implement a method according to any one of the preceding claims.
    [6" id="c-fr-0006]
    6. - Inspection device (1) of a subframe of a railway vehicle (2) on a railway track (3) comprising a processing block (10) and a motor system (11.1), said processing block being adapted for controlling the engine system and the engine system being adapted to move the inspection device until it is positioned at at least one destination point controlled by the processing block;
    said device being characterized in that, given a list, stored in the processing block, of coordinates of points of interest of the subframe expressed in a reference system originating from a reference point, the processing block is suitable for , following a movement of the inspection device to a predetermined point whose position relative to the reference point is known, recording a location of the reference point as a function of the position to which the device has been moved;
    the processing block being adapted to determine at least one command intended for the engine system for positioning the inspection device at at least one point of interest in the list as a function of at least the coordinates of said point of interest expressed in the list and said location of the recorded reference point.
    [7" id="c-fr-0007]
    7, - Inspection device (1) of a subframe of a railway vehicle (2) according to claim 6, in which the processing block (10) is adapted to supply said determined command to the engine system (11.1), then, as a function of said command, the inspection device is adapted to move under the action of the motor system to the point of interest and to capture an image of it or make a measurement there.
    [8" id="c-fr-0008]
    8. - inspection device (1) of a subframe of a rail vehicle (2) according to claim 6 or 7, wherein the predetermined point is an axle of the rail vehicle, the location of the reference point on an axis X s extending parallel to the
    5 track (3) being that corresponding to said axle on the X axis, the location of the reference point on a Y axis located in the plane of the track and perpendicular to the rails of the track being determined as a function of the location of at least one of the two rails (5, 6) on the Y axis and the location of the reference point on a Z axis perpendicular to the X and Y axes being determined as a function of the location of at least one of the two rails on the 'Z axis.
    [9" id="c-fr-0009]
    9. - inspection device (1) of a subframe of a rail vehicle according to any one of claims 6 to 8, wherein the processing block (10) is adapted to determine movement (s) of the device inspection to be carried out between two successive points of interest from the list by the implementation of an
    15 minimization of displacements carried out in 1 dimension, 2 dimensions or 3 dimensions, said minimization being carried out as a function of the points of the list and of an envelope of a surface of the sub-chassis of the railway vehicle.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP3531101B1|2020-02-26|Method and device for inspecting subframes of a railway vehicle
    US7562563B2|2009-07-21|Apparatus for automatically inspecting road surface pavement condition
    US9810533B2|2017-11-07|Railway track monitoring
    US20140142868A1|2014-05-22|Apparatus and method for inspecting track in railroad
    US20120197588A1|2012-08-02|Apparatus and method for inspecting road surfaces
    US20030163249A1|2003-08-28|System for remote monitoring of a vehicle and method of determining vehicle mileage, jurisdiction crossing and fuel consumption
    CN103790108A|2014-05-14|Comprehensive bridge detection device
    JP4305073B2|2009-07-29|Pantograph obstacle detection method and apparatus
    EP3531102B1|2020-05-13|Device for inspecting subframes of a railway vehicle and corresponding inspection method
    KR102338370B1|2021-12-13|Vehicle and sensing device of utilizing spatial information acquired using sensor, and server for the same
    CN108230483A|2018-06-29|Logistics vehicles monitor terminal
    Phillips et al.2019|Automating data collection for robotic bridge inspections
    KR101030229B1|2011-04-22|Bridge inspecting system using inspection moving car
    Platinsky et al.2020|Collaborative augmented reality on smartphones via life-long city-scale maps
    WO2018168318A1|2018-09-20|Vehicle control system, data processing apparatus, and control program
    EP3555566A1|2019-10-23|Locating a vehicle
    KR101806810B1|2017-12-08|he railroad tunnel inspecting system using train
    KR102255978B1|2021-05-25|Apparatus and method for generating tunnel internal precise map based on tunnel internal object detection using 3D sensor
    EP3815955A1|2021-05-05|Travel control device
    JP6241218B2|2017-12-06|Measuring apparatus, information processing apparatus, measuring program, information processing program, measuring method, and information processing method
    CN203878470U|2014-10-15|Comprehensive detection device for bridge
    JP2003341389A|2003-12-03|Device for measuring position of trolley line
    Wang et al.2020|A machine vision system based on driving recorder for automatic inspection of rail curvature
    JP6766994B2|2020-10-14|Container top condition recording system
    KR102310105B1|2021-10-08|Method, recording medium and apparatus for managing abnormal protrusions and depressions of road pavement
    同族专利:
    公开号 | 公开日
    EP3531101A1|2019-08-28|
    ES2792448T3|2020-11-11|
    US20190260972A1|2019-08-22|
    EP3531101B1|2020-02-26|
    FR3078159B1|2020-03-13|
    MX2019001882A|2019-08-23|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    CN105882683A|2016-04-13|2016-08-24|北京康拓红外技术股份有限公司|Machine vision based technical inspection and detection system and method for railway trains|
    CN110501928B|2019-08-26|2020-09-04|西南交通大学|Intelligent railway monitoring system|
    CN110913146A|2019-12-31|2020-03-24|北京科旭威尔科技股份有限公司|Fixed-point linkage shooting method for rail car and holder|
    法律状态:
    2019-02-20| PLFP| Fee payment|Year of fee payment: 2 |
    2019-08-23| PLSC| Publication of the preliminary search report|Effective date: 20190823 |
    2020-02-19| PLFP| Fee payment|Year of fee payment: 3 |
    2021-11-12| ST| Notification of lapse|Effective date: 20211005 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1851511|2018-02-22|
    FR1851511A|FR3078159B1|2018-02-22|2018-02-22|RAIL VEHICLE SUB-CHASSIS INSPECTION METHOD AND DEVICE|FR1851511A| FR3078159B1|2018-02-22|2018-02-22|RAIL VEHICLE SUB-CHASSIS INSPECTION METHOD AND DEVICE|
    ES19156843T| ES2792448T3|2018-02-22|2019-02-13|Method and device for inspecting the lower frame of a railway vehicle|
    EP19156843.5A| EP3531101B1|2018-02-22|2019-02-13|Method and device for inspecting subframes of a railway vehicle|
    MX2019001882A| MX2019001882A|2018-02-22|2019-02-15|Rail vehicle underframe inspection device and method.|
    US16/278,717| US20190260972A1|2018-02-22|2019-02-19|Rail vehicle underframe inspection device and method|
    [返回顶部]