• 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:
    Railway vehicle sub-chassis inspection device (10), adapted to move under a railway vehicle between the rails (8) of the railroad track (7) of said railway vehicle, characterized in thatiiii comprises: - a motor system (9) adapted to move along the rails the inspection device; an application block (2) comprising at least one of an image sensor adapted to capture images under the chassis of the inspected railway vehicle and a measuring device adapted to perform measurements relating to said sub-frame, said application block being adapted to deliver data captured or measured by the element to a processing block; the processing block, adapted to process the data delivered by the application block and to determine an inspection status of the inspected railway vehicle as a function of at least said processed data.
    公开号:FR3078160A1
    申请号:FR1851507
    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:

    Railway vehicle sub-chassis inspection device and corresponding inspection method
    The present invention relates to the field of railway vehicle maintenance inspections, which must take place at regular intervals, to guarantee their integrity and thereby the safety of the persons and goods transported. These inspections are visual inspections carried out by human operators. They require the installation of railway vehicles on dedicated inspection railway tracks (rails on pits, raised rails, etc.), which affects the availability of railway vehicles, causes them specific journeys and contributes to saturation of infrastructure. , while imposing on human operators difficult working conditions, which are not very favorable in terms of health and safety. In addition, since 90% of the organs 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.
    To this end, according to a first aspect, the invention provides a sub-chassis inspection device for a rail vehicle, suitable for moving under a rail vehicle between the rails of the rail traffic track of said rail vehicle, characterized in that 'He understands :
    - a motor system adapted to move the inspection device along the rails;
    an application block comprising at least one element from an image sensor adapted to capture images under the chassis of the inspected rail vehicle and a measurement device suitable for carrying out measurements relating to said sub-chassis, said application block being adapted to deliver to a block for processing the data captured or measured by the element;
    - the processing block, suitable for processing the data delivered by the application block and determining an inspection status of the rail vehicle inspected as a function of at least the said processed data.
    Such a sub-chassis inspection device for a rail vehicle allows easy access to the sub-chassis areas comprising all the equipment and components which are located under the chassis (examples: wheels, axles, reducers, brake components, wiring, discs , etc), without requiring specific movements of the railway vehicle, or special maintenance tracks, while allowing human operators to work in a comfortable environment. It also makes it possible to systemize and speed up inspection tasks and the decision-making process, thereby reducing inspection time and the risk of error. An alarm can only be generated in the event of a detected fault or failure of the inspection process.
    In embodiments, the rail vehicle chassis inspection device according to the invention further comprises one or more of the following characteristics:
    the processing block is further adapted to control the engine system, according to an operating mode, as a function of control commands received in real time from a supervision station via a wireless telecommunication receiver or as a function of command sequences predefined stored in a memory of the inspection device or as a function of commands delivered to the processing block by the application block;
    - the inspection device further comprises a removable articulated arm and is adapted to detect a potentially dangerous circumstance, and for in the event of such detection, switch to a safety mode comprising stopping the movement of the inspection device along rails and the retraction of the articulated arm when the latter is installed on the inspection device;
    - the inspection device is adapted to detect any potentially dangerous circumstance of one or more types given among the following types: loss of communication with the supervision station, insufficient level of energy supply, movement of the rail vehicle inspected, loss the ability of the inspection device to locate itself, presence of an obstacle in the direction of movement of the inspection device;
    - The inspection device includes a wireless telecommunication transmission and reception block, adapted to transmit captured or processed images to a supervision station;
    the processing block is further adapted to identify which component of the rail vehicle is on a captured image, to select, as a function of the identified component, an inspection computer program detecting anomalies on said component, to supply to the after the execution of said program the inspection status and send to the supervision station, via the transmission and reception block, the image data associated with an information field indicating said inspection status;
    said inspection computer program detects if the component presents an anomaly as a function of the captured image, characterizes a detected anomaly, and indicates in said information field or in the image data to be transmitted, the detected anomaly and its characterization;
    the inspection device comprises a specified interface with the application block, in which the application block mounted on the inspection device is removable and interchangeable with any application block of a set of application blocks having an interface suitable for interfacing with said specified interface, and in which commands from an application block of said application blocks which is mounted on the inspection device, and which are intended for the processing block or vice versa from the processing block intended for the application block, and relating to an image or measurement processing or to a displacement, are implemented by their recipient only from the successful completion of a matching process between said application block and the processing block where the block application must have a code stored in the processing block and in the application block before mounting said block a pplicative on the inspection device;
    the inspection device is portable.
    According to a second aspect, the invention proposes a method of inspecting a subframe of a rail vehicle using an inspection device according to one of the preceding claims, adapted to move under a rail vehicle between the rails of the rail traffic track of said rail vehicle, said method comprising the following steps:
    - movement along the rails of the inspection device;
    - Capture, by the application block, of images under the chassis of the rail vehicle inspected or measurements, by the application block, relating to said sub-chassis by said device; and delivering said captured or measured data to the processing block;
    - processing by the processing unit of the inspection device, of the data delivered by the application unit and determination, by the processing unit, of an inspection status of the rail vehicle inspected as a function of at least the said processed data.
    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 a sub-chassis inspection device of a rail vehicle in an embodiment of the invention;
    - Figure 2 is a functional view of a rail vehicle subframe inspection device in one embodiment of the invention;
    - Figures 3 and 4 are schematic views of deployment situations of the arm of a sub-chassis inspection device of a rail vehicle in an embodiment of the invention;
    - Figure 5 is a flow diagram of steps implemented in one embodiment of the invention.
    FIG. 1 represents a schematic view, from behind, of an inspection device 10 for a subframe of a rail vehicle in an embodiment of the invention.
    This inspection device 10 comprises in the case considered a robot 1 and an application block 2. It is suitable for inspecting the chassis of a railway vehicle (not shown) placed on the rails of a railway track 7. The vehicle inspected, live or not, is, as the case may be, a locomotive or a car or wagon of a train or tram, etc.
    The rail traffic track 7, in the case under consideration, extends perpendicular to the plane of FIG. 1, along the X axis. This track 7 on which the rail vehicles run along the X axis, or park in particular during a maintenance inspection, comprises two rails 8 extending parallel to the axis X.
    The robot 1 comprises a base 9 and, in the case considered, an arm 3, in the case considered, which is articulated with 6 axes of rotation.
    The base 9 houses elements (not shown) such as a motor, a battery, an inertia unit, smart cards carrying one or more microcontroller (s) and memories used to carry out different algorithmic processing, in particular processing of images and anomaly detection. The base 9 has wheels 6, for example four wheels, each driven in rotation by the motor via a shaft 5.
    In the case considered, the wheels 6 are arranged on the base of the rails 8, two wheels are on the base of the left rail, the other two wheels on the base of the right rail. The movement of the inspection device 10 under the effect of the driving of the wheels 6 by the motor via the shafts 5 takes place along the rails, between the rails, the inspection device 10 thus being guided by the feet of rails which support it.
    In another embodiment, guide members, adapted to cooperate with the rails to guide the inspection device along the rails, for example between said rails, are installed. For example, wheel circulation tracks, dedicated to guiding the robot and parallel to the rails, are fixed to the rails.
    The arm 3, an optional accessory of the inspection device, is an articulated arm 3, removable, the position of which is adjustable and controllable, by commands which are transmitted to it by the robot 1 when it is installed on the base 9, for positioning the application block 2, when the latter is placed on the arm, at locations chosen to inspect the various components of the rail vehicle to be inspected.
    In the case shown in FIG. 1, the arm 3 is present in the inspection device 10 and the application block 2 is connected to the end of the arm 3 which is opposite the base 2. In other configurations , the application block 2 is connected directly to a mounting adapter taking the place of the foot 4 of the arm and the arm 3 is then not installed on the base 9 (the same interfaces at the level of this mounting adapter are presented to the block application 2 only at the end of the arm 3 which is opposite the base 9).
    The application block 2 includes, depending on the case, a sensor, a measuring device, etc.
    The application block 2 comprises, in this case, an image sensor. In one embodiment, it is for example removable and can be replaced, in the inspection device 10, by another application block provided with electrical, mechanical and functional interfaces capable of interfacing with the robot 1.
    The base 9 also includes an interface 15 adapted to wirelessly communicate with a remote supervision station 30, in particular for transmitting to the station 30 images captured by the image sensor 2 (and / or measurements if the application block 2 includes a measuring device) and to receive data from the station 30, for example, in a so-called manual mode, commands intended for the elements of the inspection device 10 via a processing block of the inspection device, said commands indicating for example movements to be made by the inspection device, shots -or measurements or analyzes- to be carried out, etc.
    The supervision station 30 comprising a man-machine interface 32 (for example provided with a screen and a keyboard), is suitable for entering, via the keyboard, operator commands and for sending, by wireless telecommunications, said commands to the inspection device 10. The supervision station 30 is further adapted to display on the screen images (and / or measurements) and other data transmitted by the inspection device 10 and intended for the operator.
    The inspection device 10 is portable, in the embodiment considered: it is of a weight that can be easily carried, in a single assembly or in easily removable sub-assemblies, by a maintenance operator (for example the assembly or each of the sub-assemblies weighing less than 20 kg: for example from 10 to 20 kg).
    The inspection device 10 is of dimensions suitable for moving under a railway vehicle located on the railway track (for example 1200 x 1200 x 200 mm 3 , without the arm).
    FIG. 2 is a partial functional view of an assembly comprising an inspection device 10 for a chassis of a railway vehicle in an embodiment of the invention and a supervision station 30.
    Thus, a processing block 11 of the inspection device 10, located in the base 9, includes an interface 14 intended in particular for exchanges with the application block 2, and also with the arm 3 when the arm is connected to the base 9.
    In the case under consideration, the interface 14 comprises an interface 14a of the WiFi wireless communication type and an interface 14b of the USB type.
    The processing block 11 comprises an interface 15 intended for exchanges with the supervision station 30. In the case considered, the interface 15 notably comprises an interface 15a of the WiFi wireless communication type and an interface 15b of the radio type.
    The processing block 11 comprises a microcontroller 12 and a memory 13. The memory 13 is suitable for storing data, in particular computer programs comprising software instructions, which when they are executed by the microcontroller 12, implement various treatments as indicated below.
    The processing block 11 also comprises a set 16 of modules 16τ at 16 m , among which a supply module 16 1; for example an electric battery, intended to provide electrical power to the inspection device 10, a motor system 16 2 adapted to drive the wheels 6 in rotation and allow movement of the inspection device 10 in accordance with movement commands which give it are transmitted by the microcontroller 12, a geolocation module 16 3 comprising an inertial unit, an obstacle detector 16 m .
    In one embodiment, the electric battery 16 Ί is adapted to supply an insufficient energy alarm to the microcontroller 12 when the available energy level is below a determined threshold.
    The geolocation module 16 3 is adapted to determine the current position of the inspection device 10 as a function of data regularly supplied by the inertial unit. The geolocation module 16 3 is further adapted, in one embodiment, to provide a non-location alarm to the microcontroller 12 when the current position of the inspection device 10 could not be determined.
    The 16 m obstacle detector is suitable for detecting any movement of an inspected railway vehicle and any obstacle in the direction of movement of the inspection device, for example by laser telemetry such as Lidar® sensors, and for providing the microphone -controller 12 a movement alarm when it detects a movement of an inspected railway vehicle and an obstacle alarm when it detects an obstacle in the direction of movement of the inspection device.
    The arm 3 comprises a system 18 of controllable actuators and an interface 17 for exchanges with the interface 14 of the processing block 11. The interface 17 comprises an interface 17b of the USB type.
    In the case under consideration, the actuator system 18 comprises pivots which can be controlled in rotation and which are arranged between the consecutive sections 3.1, 3.2, 3.3, 3.4 of the arm 3, the direction of rotation of which is indicated by arrows in FIG. 5. In addition , the section 3.1 engaged with the base 2 and the section 3.4 intended to carry the application block 2 are adapted to rotate on themselves in the direction indicated by the arrows in FIG. 5. The system 18 of actuators is adapted for apply rotations to all of these elements according to commands supplied to it.
    The application block 2 comprises in the case under consideration a microcontroller 20, a memory 21, an interface 22 for exchanges with the interface 14 of the processing block 11 and an application module 23.
    The application module 23 comprises n (n> 1) devices 23 15 ..., 23 n : sensor (s), measurement device (s), etc. in the present case, an image sensor.
    The interface 22 includes a WiFi wireless communication interface 22a and a USB type interface 22b (the latter is connected with the interface 14b via the base mounting adapter 9 when the application block 2 is mounted on the base 9; and it is connected with the interface 17b of the arm 3 if the application block 2 is mounted on the arm 3).
    Figures 3 and 4 illustrate sectional views perpendicular to the axis X of some of the different deployment configurations of the arm 3 mounted on the support 4 of the base 2, according to commands supplied to the system 18 of actuators.
    FIG. 3 represents the arm 3 retracted to the maximum (the volume then occupied by the robot 10 with the arm 3 retracted is included within the limits of static gauge of rail vehicle / track (the static gauge leaves a free space under the chassis to avoid vehicle interference with protruding equipment on the track. The arm, in the folded position must not exceed the lower limit of the gauge, while Figure 4 represents the arm 3 partially deployed (the height of the arm beyond the pivot between sections 3.1 and 3.2, for a fully extended arm is for example within a range of [0.5 m, 1 m], for example equal to 80 cm).
    The inspection device 10 is adapted to perform, in one embodiment, the elementary task commands GO, SEE, ANALYZE:
    GO (M): commands a movement of the inspection device 10 along track 8 - and / or a positioning configuration of arm 3 if necessary - to a position "M" indicated as the location of the task ordered, from which an inspection can be carried out via the application device 2 in particular; the expected response to this command sent in fine to the initial transmitter of the command (the processing block 10, the supervision station 30 or even the application block 2 depending on the operating mode) is a confirmation of the correct positioning a times the latter executed;
    SEE: command the video sensor 2 to capture a video image (or a video stream) and the processing block 11 to transmit to the station 30 or to an external server or to an internal memory in the inspection device 10, according to the data provided as arguments for this command, the image or video stream thus captured of a quality compatible with the expected analysis of the component inspected (it will be noted that if the application block 2 is a measurement system, a command which it will be sent to him instead of SEE is MEASURE (.);
    ANALYZE (.): Command to the processing block 11 to compare the image or the video stream with a reference already known, to determine an inspection status, for example a status among the following 3 statuses: OK, NO OK, Undetermined .
    These tasks, individually or combined in sequences can be ordered to the inspection device 10 as a function of commands sent on the fly by an operator from the station 30 and received by the inspection device 10 via the interface 15 ( so-called "manual mode"). These commands are then optionally processed by the microcontroller 12, then transmitted by the latter to the entity concerned (or to the entities concerned) by carrying out the order, for example a module of the assembly 16, or the video sensor 2 ... These tasks can also be ordered to the inspection device 10 by the application block 2 via the interfaces 22 and 14 or even internally by commands previously recorded in a computer program stored in the memory 13 and which runs automatically on the microcontroller 12 (so-called “automatic mode”).
    In one embodiment, the microcontroller 12 is adapted to supervise the interface 15, and to, as a function of this supervision, detect a break in the communication with the supervision station 30 in manual mode. It is further adapted for, when it detects such a communication breakdown, that it receives an insufficient energy alarm from the power supply module 16 1; a movement or obstacle alarm from the obstacle detector 16 m , or a non-localization alarm from the geolocation module 16 3 , switch to a security mode.
    When the microcontroller 12 triggers the changeover to safety mode, it provides the motor system 16 2 with a stop command, after which the motor stops, and the wheels 6 are locked, and when the articulated arm 3 is installed on the base 2, the microcontroller 12 sends the necessary commands to the system 18 of actuators to trigger a low and centered position of the arm 3, in one embodiment, to trigger the maximum retraction of the articulated arm 3 corresponding to Figure 3 in the embodiment considered here.
    Once in the security mode, according to the embodiments, the inspection device 10 must remain inactive until the operator from the supervision station 30 resumes its operational operation and / or it automatically resumes the task which took place before switching, depending on the event which caused the switching, and / or after a period of inactivity, for example 10 minutes in safety mode, the inspection device 10 is adapted to automatically switch to power-off mode .
    In one embodiment, the inspection device 10 is adapted to detect other potentially dangerous circumstances in place of or in addition to those set out above, and for in the event of such detections, also initiate the security mode.
    Such provisions allow the inspection device 10 to avoid mechanical interference with the rail vehicle under nominal operating conditions as faulty.
    Furthermore, in one embodiment, the memory 13 further comprises a correspondence table of the components to be inspected of the rail vehicle, indicating the description of the component and its position compared to a reference point of the rail vehicle. The memory 13 also includes computer programs for detecting anomalies specific to each of a component among said components of the table.
    Thus, in one embodiment, the inspection device 10 is adapted to associate the image data of each captured image, for example in a header field of the image file, the coordinates x, y, z for locating the image sensor 2 corresponding to the captured image, determined as a function of the current position of the inspection device 10 determined by the geolocation module 16 3 and of the corresponding position of the arm 3, and the orientation of the image sensor 2.
    The inspection device 10 is adapted to identify, as a function of said coordinates x, y, z and of the orientation of the image sensor 2 associated with a captured image and in addition to the positions of the components of the railway vehicle indicated in the table of correspondence of the components and according to the effective position of the reference point of the rail vehicle, which component of the table appears on the captured image (or which equipment was the object of the capture or the measurement if we consider at instead of the image sensor, a sensor of another type or a measuring device on board the inspection device 10).
    The position of the reference point of a railway vehicle is for example that of the axis of the first front axle of the railway vehicle
    The determination of the effective position of the reference point includes for example the determination of the orientation of the rail vehicle, since the rail vehicles are not symmetrical. In one embodiment, it is performed automatically by the inspection device 10, or by the operator from the supervision station 30, by detecting the position of the identifier of the first car in the rail vehicle.
    The identification of the component appearing on a captured image can be carried out in one embodiment, by detection of an identifier of the component which would be present on the image.
    The inspection device 10 is further adapted for, once it has identified which component appears on the captured image, to select, where it exists, that of the abnormality detection computer programs stored in the memory 13 which is specific to the component thus determined and to apply this specific program to the image.
    As part of the execution by the microcontroller 12 of the selected program, the inspection device 10 implements the following steps: an analysis of the image specific to the component is carried out with a view to detecting anomalies presented by the imaged component, at the end of which a status for exit from detection is issued, for example chosen from the following predetermined statuses:
    A: when no anomaly has been detected;
    B: anomaly detected with characterization of the anomaly;
    C: anomaly detected without characterization of the anomaly;
    D: image processing not available.
    The characterization of the anomaly includes for example the identification of the type of anomaly among a set of predetermined anomalies for the anomaly detection program selected, for example: crack, rust ...; the dimensions of the anomaly are for example estimated and its location can be highlighted on the image by the program by delimiting the anomaly by a contour of the latter. The status is then saved in a data field associated with the image, for example in a header field of the image file, as well as the characterization data if applicable. And if the exit status is B or C, a fault code is recorded in the electronic inspection log.
    When the status is C, the operator must give the characterization of the anomaly after reviewing the image.
    The causes of a D status can be various, for example: no specific computer program for detecting anomalies, corrupted image file, unidentified component. In such a case, the operator will have to provide a status after analyzing the image.
    Then the image file, with its header fields thus completed, is sent via the interface 15 to the supervision station 30 for, for example, to be saved there in a base or to be processed there by the operator if applicable.
    Thus, image processing or specific measurement is automatically carried out by the inspection device 10, which avoids the addition of image transmission time.
    Furthermore, the inspection device 10 is such that an application block 2 can be connected to the arm 3 or to the base 9 via a mounting adapter, and that this application block 2 operates under the control of the robot 1 or else controls the robot 1. A standard open interface system of the inspection device 10, comprising specified mechanical, electrical, communication interfaces as well as protocols specified for controlling the inspection device and / or being controlled from it, is proposed to allow any compatible application block 2 to interface with it (after signing a license agreement), and to operate in "passive application block" or "active application block" mode.
    In fact, in a “passive application block” mode, the application block 2 executes orders from the robot 1 (which may include sending data), and the robot 1, for its part, executes orders for example from the supervision station 30. In an "active application block" mode, the application block 2 sends orders and data to the robot 1 and can receive orders from the supervision station 30 via the interfaces 15, then 14, then 22. The "Active application block" mode is engaged by a specific order from robot 1 and is automatically canceled when switching to security mode.
    The robot 1 is for example suitable for exchanging 3 types of information both with the supervision station 30 and with the application block 2:
    - data, for example image stream (in English "image streaming >>);
    - orders: to control the positioning of the inspection device 10, or to launch functions of the robot 1 or of the application block 2;
    files: to transfer files to the memories of the robot 1 or of the application block 2, to the supervision station 30, to USB memory cards or even to remote servers, typically for recording images and videos.
    The order type information (also called commands) is processed by the supervision station 30, the robot 1 and the application block 2 with the highest priority, while the file type information is processed with the lowest priority.
    USB can be used in one embodiment for the 3 types of information, while WiFi is for example used for image streaming and file transfers.
    Robot 1 has a WiFi server and is accessible through a secure connection. A unique access code is associated with it. This code and the WiFi initialization are transferred to the application block 2 via the USB interfaces 14b and 22b, using a pairing sequence on first connection based on the exchange of identification codes. Once the application block 2 is recognized by the processing block 11 of the robot 1, the pairing step is no longer required. If the pairing fails, no other exchange between the application block 2 and the robot 1 can take place.
    In one embodiment, an application block 2 is associated with a unique identifier (ID), comprising a type ID and a serial ID. The serial ID is assigned by the manufacturer of the application block 2. The standard ID is provided by the manufacturer of the robot 1 to the manufacturer of the application block 2 through a license agreement. In one embodiment, the type ID is valid for a determined time, and the pairing is no longer performed after this time.
    The pairing method is for example the following, with reference to the set of steps 100 shown in FIG. 5. Steps 101 to 107 are implemented via USB, steps 108 and 109 are implemented via WiFi. In a step 101, the application block 2 connects to the robot 1 via the USB interfaces 22b and 14b. The robot 1, under the control of the processing block 11 then requires its ID from the application block 2 in a step 102. In a step 103, the application block 2 supplies its ID to the robot 1. The robot 1 checks the validity of the Type ID extracted from the ID provided in a step 104. If this type ID is valid, then the robot 10 generates a new WiFi code as a function of the serial ID extracted from the ID provided in a step 105; and in a step 106, it supplies it to the application block 2 and the USB connection can continue. The application block 2 receives the WiFi code generated in a step 107, and establishes in a step 108 a WiFi connection initialized with this received WiFi code. The robot 10 checks in a step 109 that the WiFi code thus used to establish the WiFi connection is indeed that generated in step 105. In the positive case, the WiFi pairing is then also considered to be valid and the WiFi and USB connections can continue, and commands can be sent by the station 30 to the application block 2 via the processing block 11 in the context of operation in "passive application block" mode or by the application block 2 to the processing 11 in "Active application block" mode.
    If in step 104, the ID is determined to be invalid, the USB and WiFi pairing fails in a step 111 and no communication via WiFi or via USB can be implemented between the application block 2 and the robot 10 .
    If in step 109, the verification fails, the WiFi pairing is considered to be invalid, no WiFi communication can take place; the USB connection can continue.
    The inspection device 10 is adaptable to the main types of railway tracks (on pits, on ballast, on concrete beds, wooden or concrete sleepers, with fishplates, with bolted or attached rails), in certain cases requiring a dedicated support or a traffic lane.
    Communication interfaces have been described above with USB and WiFi, but of course, other telecommunication standards can be used instead.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1, -Inspection device (10) for a subframe of a rail vehicle, adapted to move under a rail vehicle between the rails (8) of the track (7) of rail traffic of said rail vehicle, characterized in that He understands :
    - a motor system (9) adapted to move the inspection device along the rails;
    - an application block (2) comprising at least one element from an image sensor adapted to capture images under the chassis of the inspected railway vehicle and a measurement device suitable for carrying out measurements relating to said sub-chassis, said application block being adapted to deliver to a processing block (11) data captured or measured by the element;
    - the processing block, suitable for processing the data delivered by the application block and determining an inspection status of the rail vehicle inspected as a function of at least the said processed data.
    [2" id="c-fr-0002]
    2, - Inspection device (10) according to claim 1, in which the processing block (11) is further adapted to control the engine system (9), according to an operating mode, as a function of pilot commands received in real time from a supervision station (30) via a wireless telecommunication receiver or as a function of predefined command sequences stored in a memory of the inspection device or as a function of commands delivered to the processing block by the application block ( 2).
    [3" id="c-fr-0003]
    3, - Inspection device (10) according to claim 1 or 2, further comprising a removable articulated arm (3), said inspection device being adapted to detect a potentially dangerous circumstance, and for in case of such detection, switch to a safety mode comprising stopping movement of the inspection device along the rails (8) and retraction of the articulated arm when the latter is installed on the inspection device.
    [4" id="c-fr-0004]
    4, - Inspection device (10) according to claim 3, adapted to detect any potentially dangerous circumstance of one or more types given among the following types: loss of communication with a supervision station, insufficient level of energy supply , movement of the railway vehicle inspected, loss of the ability of the inspection device to locate itself, presence of an obstacle in the direction of movement of the inspection device.
    [5" id="c-fr-0005]
    5, - Inspection device (10) according to one of the preceding claims, comprising a wireless telecommunication transmission and reception unit (14), suitable for transmitting captured or processed images intended for a supervision station (30).
    [6" id="c-fr-0006]
    6, - Inspection device (10) according to claim 5, in which the processing block (11) is further adapted to identify which component of the rail vehicle appears on a captured image, to select, according to the identified component, an inspection computer program detecting anomalies on said component, to provide, at the end of the execution of said program, the inspection status and send to the supervision station, via the send and receive block , the image data associated with an information field indicating said inspection status.
    [7" id="c-fr-0007]
    7, - Inspection device (10) according to claim 6, wherein said inspection computer program detects if the component has an anomaly according to the captured image, characterizes a detected anomaly, and indicates in said field information or in the image data to be sent, the anomaly detected and its characterization.
    [8" id="c-fr-0008]
    8, - Inspection device (10) according to one of the preceding claims, comprising a specified interface with the application block (2), in which the application block mounted on the inspection device is removable and interchangeable with any application block a set of application blocks having an interface suitable for interfacing with said specified interface, and in which commands from an application block of said application blocks which is mounted on the inspection device, and which are intended for the processing block (11) or vice versa from the processing block intended for the application block, and relating to image or measurement processing or to displacement, are only implemented by their recipient from the successful completion of 'a matching process between said application block and the processing block where the application block must present a code stored in the processing block e t in the application block prior to mounting said application block on the inspection device.
    [9" id="c-fr-0009]
    9, - Inspection device (10) according to one of the preceding claims, and weighing less than 20 kg or decomposable into sub-assemblies weighing less than 20 kg each.
    [10" id="c-fr-0010]
    10. A method of inspecting a subframe of a rail vehicle using an inspection device (10) according to one of the preceding claims, adapted to move under a rail vehicle between the rails (8) of the rail traffic track (7) of said rail vehicle, said method comprising the following steps:
    5 - movement along the rails of the inspection device;
    - Capture, by the application block (2), of images under the chassis of the rail vehicle inspected or measurements, by the application block, of data relating to said sub-chassis; and delivering to the processing block (11) said captured or measured data;
    - processing by the processing unit of the inspection device, of the data delivered by the application unit and determination, by the processing unit, of an inspection status of the rail vehicle inspected as a function of at least the said processed data.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP3531102B1|2020-05-13|Device for inspecting subframes of a railway vehicle and corresponding inspection method
    US8942426B2|2015-01-27|On-train rail track monitoring system
    CN101716945B|2013-06-26|Railway locomotive axle infrared thermal image monitoring method and system
    CN105976450A|2016-09-28|Unmanned vehicle data processing method and device, and black box system
    US9563869B2|2017-02-07|Automatic incorporation of vehicle data into documents captured at a vehicle using a mobile computing device
    US20070276561A1|2007-11-29|Vehicle environmental regulatory compliance system and method of verifying regulatory compliance of a vehicle
    FR2977046A1|2012-12-28|ADVANCED DIAGNOSTIC FOR AIRCRAFT
    FR3040959A1|2017-03-17|METHOD AND SYSTEM FOR MANAGING A MOTOR VEHICLE
    EP3118824B1|2018-11-21|System for monitoring freight conditions
    JP2005146905A|2005-06-09|Vehicle condition monitoring system with vehicle condition monitoring device
    EP3473794A1|2019-04-24|Method and system for diagnosing operation of an automatic or semi-automatic device for access to a transport vehicle
    KR20090091837A|2009-08-31|System and method to monitor a wheel of train
    CN105959409A|2016-09-21|Vehicle mileage capturing and transmitting device and method
    KR20090085214A|2009-08-07|System and method to monitor a rail
    US20190111952A1|2019-04-18|Monitoring system for train
    FR3078159A1|2019-08-23|METHOD AND DEVICE FOR INSPECTING SUB-CHASSIS OF RAILWAY VEHICLE
    US20210325888A1|2021-10-21|Automated inspection of autonomous vehicle equipment
    EP3501940A1|2019-06-26|Railway vehicle, associated railway system and method for composition of such a railway vehicle
    FR3084865A1|2020-02-14|Method and device for monitoring an area of a motor vehicle infrastructure
    FR3032667A1|2016-08-19|METHOD AND DEVICE FOR AUTOMATICALLY STOPPING A VEHICLE
    EP2419891B1|2015-04-08|Method and device for identifying and marking an event taking place on a site of a stationary or mobile object
    JP6459874B2|2019-01-30|Abnormality diagnosis system
    JP5592101B2|2014-09-17|Work vehicle communication management device, work vehicle and work vehicle management system
    KR20130030582A|2013-03-27|Synthetic monitoring system for on-board diagnostics| and image recording device for multiple inquiring vehicles
    CN112134952B|2021-11-30|Vehicle management system and method based on Internet of vehicles, electronic equipment and storage medium
    同族专利:
    公开号 | 公开日
    FR3078160B1|2020-09-18|
    US20190260973A1|2019-08-22|
    MX2019001881A|2019-08-23|
    EP3531102B1|2020-05-13|
    ES2806924T3|2021-02-19|
    EP3531102A1|2019-08-28|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    CN1562686A|2004-04-09|2005-01-12|北京瑞威世纪软件科技发展有限公司|Dynamic fault detection device for bed timber type vehicle|
    GB2546344A|2016-01-12|2017-07-19|Gobotix Ltd|Vehicle underframe examination system|
    EP3192716A1|2016-01-14|2017-07-19|SNCF Mobilités|Maintenance device for the maintenance of railway vehicles|
    US10597054B2|2016-12-15|2020-03-24|Progress Rail Locomotive Inc.|Real-time drone infrared inspection of moving train|CN110722537A|2019-09-28|2020-01-24|深圳中物智建科技有限公司|Building site track inspection robot|
    FR3112729A1|2020-07-27|2022-01-28|Alstom Transport Technologies|Device for detecting contact surface degradation of a vehicle power supply system|
    KR102262532B1|2021-02-05|2021-06-07|박덕식|Device for inspection of lower equipment of railway vehicles|
    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 |
    2021-02-24| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1851507|2018-02-22|
    FR1851507A|FR3078160B1|2018-02-22|2018-02-22|RAIL VEHICLE SUB-CHASSIS INSPECTION DEVICE AND CORRESPONDING INSPECTION PROCEDURE|FR1851507A| FR3078160B1|2018-02-22|2018-02-22|RAIL VEHICLE SUB-CHASSIS INSPECTION DEVICE AND CORRESPONDING INSPECTION PROCEDURE|
    EP19157165.2A| EP3531102B1|2018-02-22|2019-02-14|Device for inspecting subframes of a railway vehicle and corresponding inspection method|
    ES19157165T| ES2806924T3|2018-02-22|2019-02-14|Inspection device for subframes of a railway vehicle and corresponding inspection method|
    MX2019001881A| MX2019001881A|2018-02-22|2019-02-15|Rail vehicle underframe inspection device and corresponding inspection method.|
    US16/278,721| US20190260973A1|2018-02-22|2019-02-19|Rail vehicle underframe inspection device and corresponding inspection method|
    [返回顶部]