CN218647347U

CN218647347U - Subway inspection vehicle

Info

Publication number: CN218647347U
Application number: CN202223372634.9U
Authority: CN
Inventors: 朱智洪; 俞太亮; 卞能建; 夏前寅; 郭时铣; 邵国栋; 王陈; 陆俊林
Original assignee: Changzhou Metro Group Co ltd
Current assignee: Changzhou Metro Group Co ltd
Priority date: 2022-12-15
Filing date: 2022-12-15
Publication date: 2023-03-17
Anticipated expiration: 2032-12-15

Abstract

The utility model relates to a metro inspection vehicle, which comprises a vehicle body, a first mechanical arm and a second mechanical arm, wherein the first mechanical arm and the second mechanical arm are arranged on the vehicle body; a PLC controller and an industrial personal computer are arranged in the vehicle body; the front wall and the rear wall of the vehicle body are respectively provided with a laser radar and a navigation camera, the laser radar is arranged above the vertical line of the navigation camera, and the navigation camera is arranged at the central position of the front wall and the rear wall of the whole vehicle body; two sides of the vehicle body are respectively provided with a laser ranging sensor; obstacle avoidance sensors are respectively arranged on the front wall, the rear wall, the left side and the right side of the vehicle body. The laser radar adopted by the utility model has the advantages of fast scanning speed, strong anti-interference performance, high stability and the like, and can assist the polling vehicle and guide the polling vehicle to always keep a certain distance from the track for movement; the laser ranging sensors on the two sides of the vehicle body can be combined with a laser radar to obtain the accurate positioning of the inspection vehicle in the running process of the vehicle body; meanwhile, the navigation camera enables the inspection vehicle to accurately position the position of the inspection vehicle to complete inspection.

Description

Subway inspection vehicle

Technical Field

The utility model belongs to the technical field of the robotechnology and specifically relates to a subway patrols and examines vehicle.

Background

Along with subway network operation, the requirement to operating vehicle maintenance is higher and higher, and vehicle maintenance pressure is heavier and heavier, the main problem of manual inspection at present:

1. the personnel base number is large, and the labor cost is high;

2. the labor intensity is high, and the repeatability is strong;

3. the maintenance regulations are more original;

4. the maintenance result is judged manually, the detection quality is influenced by the personal technical level of operators, and potential safety hazards are caused by easy omission.

Therefore, in part of regions, subway inspection vehicles are used for replacing manual inspection, and the problems of high risk, easiness in fatigue, low efficiency and the like in manual inspection are solved.

However, the subway inspection vehicle can intelligently judge the abnormal state of the key component only by accurately imaging the key maintenance point of the vehicle, and the precondition of accurate imaging is that the inspection vehicle can be accurately positioned, otherwise, an inspection blind area can be caused, and inspection omission is caused.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is: the subway patrol vehicle has the characteristics of accurate positioning, high stability, strong anti-interference performance and the like.

The utility model provides a technical scheme that its technical problem adopted is: a metro inspection vehicle comprises a vehicle body, a first mechanical arm and a second mechanical arm, wherein the first mechanical arm and the second mechanical arm are arranged on the vehicle body; a PLC controller and an industrial personal computer are arranged in the vehicle body; the front wall and the rear wall of the vehicle body are respectively provided with a laser radar and a navigation camera, the laser radar is arranged above the vertical line of the navigation camera, and the navigation camera is arranged at the central position of the front wall and the rear wall of the whole vehicle body; the left side and the right side of the vehicle body are respectively provided with a laser ranging sensor; and obstacle avoidance sensors are respectively arranged on the front wall, the rear wall, the left side and the right side of the vehicle body.

Further say, first arm and second arm all set up at the automobile body top.

Further say, the end of first arm be provided with first arm extension arm, linear arrangement is provided with a plurality of cameras and linear light filling lamp on the first arm extension arm.

Further say, the end of second arm be provided with second arm extension arm, linear arrangement is provided with a plurality of cameras and linear light filling lamp on the second arm extension arm.

Further, the bottom of wall is provided with the anticollision strip before the automobile body.

Further say, laser radar, navigation camera, laser rangefinder sensor and keep away the barrier sensor respectively with industrial computer circuit connection, the PLC controller be connected with the industrial computer, the motion of PLC controller control automobile body, industrial computer control patrol and examine the vehicle and patrol and examine.

The utility model has the advantages that the defects in the background technology are overcome, the laser radar has the advantages of high scanning speed, strong anti-interference performance, high stability and the like, and the system can assist the inspection vehicle to independently construct a scene model and guide the inspection vehicle to always keep a certain distance from the track for movement; the laser ranging sensors on the two sides of the vehicle body can be combined with a laser radar to obtain the accurate positioning of the inspection vehicle in the running process of the vehicle body; meanwhile, the navigation camera enables the inspection vehicle to accurately position the position of the inspection vehicle to complete inspection.

Drawings

Fig. 1 is a schematic structural view of a preferred embodiment of the present invention;

in the figure: 1. a vehicle body; 2. a first robot arm; 3. a first mechanical arm extension arm; 4. a second mechanical arm; 5. a second mechanical arm extension arm; 6. a laser radar; 7. a navigation camera; 8. a laser ranging sensor; 9. an obstacle avoidance sensor; 10. and (4) an anti-collision strip.

Detailed Description

The invention will now be described in further detail with reference to the drawings and preferred embodiments. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.

A metro inspection vehicle as shown in fig. 1 comprises a vehicle body 1, and a first mechanical arm 2 and a second mechanical arm 4 which are arranged on the vehicle body 1; the first mechanical arm 2 and the second mechanical arm 4 are both arranged on the top of the vehicle body. The tail end of the first mechanical arm 2 is provided with a first mechanical arm extension arm 3, and a plurality of cameras and linear light supplement lamps are arranged on the first mechanical arm extension arm 3 in a linear mode. The end of the second mechanical arm 4 is provided with a second mechanical arm extension arm 5, and a plurality of cameras and linear light supplementing lamps are linearly arranged on the second mechanical arm extension arm 5.

The front wall and the rear wall of the vehicle body are respectively provided with a laser radar 6 and a navigation camera 7, the laser radar 6 is arranged above the vertical line of the navigation camera 7, and the navigation camera 7 is arranged at the central position of the front wall and the rear wall of the whole vehicle body; the left side and the right side of the vehicle body are respectively provided with a laser ranging sensor 8; obstacle avoidance sensors 9 are respectively arranged on the front wall, the rear wall, the left side and the right side of the vehicle body. In order to ensure the use safety of the vehicle body in the operation process, the bottom of the front wall and the rear wall of the vehicle body is provided with an anti-collision strip 10.

A PLC controller and an industrial personal computer are arranged in the vehicle body; laser radar 6, navigation camera 7, laser rangefinder sensor 8 and keep away barrier sensor 9 and respectively with industrial computer circuit connection, the PLC controller be connected with the industrial computer, the motion of PLC controller control automobile body, industrial computer control patrols and examines the vehicle and patrols and examines. The industrial personal computer in the embodiment is the prior art, and is equivalent to a control host, and the connection mode and the working mode between the industrial personal computer and devices such as a laser radar, a navigation camera, a laser ranging sensor, an obstacle avoidance sensor and the like are conventional technical means in the field.

The laser radar adopted by the embodiment has the advantages of high scanning speed, strong anti-interference performance, high stability and the like, so that the laser radar on the front wall and the rear wall of the subway patrol vehicle can assist the patrol vehicle to independently construct a scene model and navigate the patrol vehicle to keep a certain distance from a track to move all the time.

For the areas with high scene similarity, a positioning blind area exists, for example, the edges of pillars at two sides of a subway track are similar, so that a laser radar can easily scan a plurality of same distance points, and the current position of a vehicle can not be accurately judged, so that the defects can be just made up by the laser ranging sensors arranged at the left side and the right side of the vehicle body; the laser ranging sensors on the two sides of the vehicle body can count the columns on the two sides of the subway rail through the rising edge and the falling edge of the measured distance in the running process of the vehicle body, and then the accurate positioning of the inspection vehicle is calculated by integrating the data of the laser radar and the laser ranging sensors.

Meanwhile, the patrol vehicle is not enough at a corner by only depending on the laser radar, so that the patrol vehicle is easy to get lost, and the navigation camera shoots the navigation mark to enable the patrol vehicle to accurately locate the position of the patrol vehicle to finish the patrol.

While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.

Claims

1. The utility model provides a subway inspection vehicle which characterized in that: the device comprises a vehicle body, a first mechanical arm and a second mechanical arm, wherein the first mechanical arm and the second mechanical arm are arranged on the vehicle body; a PLC controller and an industrial personal computer are arranged in the vehicle body; the front wall and the rear wall of the vehicle body are respectively provided with a laser radar and a navigation camera, the laser radar is arranged above the vertical line of the navigation camera, and the navigation camera is arranged at the central position of the front wall and the rear wall of the whole vehicle body; the left side and the right side of the vehicle body are respectively provided with a laser ranging sensor; and obstacle avoidance sensors are respectively arranged on the front wall, the rear wall, the left side and the right side of the vehicle body.

2. The subway inspection vehicle according to claim 1, wherein: the first mechanical arm and the second mechanical arm are both arranged at the top of the vehicle body.

3. The subway inspection vehicle according to claim 1, wherein: the tail end of the first mechanical arm is provided with a first mechanical arm extension arm, and the first mechanical arm extension arm is provided with a plurality of cameras and linear light supplement lamps in a linear arrangement mode.

4. The subway inspection vehicle according to claim 1, wherein: the tail end of the second mechanical arm is provided with a second mechanical arm extension arm, and a plurality of cameras and linear light supplementing lamps are linearly arranged on the second mechanical arm extension arm.

5. The subway inspection vehicle according to claim 1, wherein: and the bottom of the front wall and the bottom of the rear wall of the vehicle body are provided with anti-collision strips.

6. The subway inspection vehicle according to claim 1, wherein: laser radar, navigation camera, laser rangefinder sensor and keep away barrier sensor and respectively with industrial computer circuit connection, the PLC controller be connected with the industrial computer, the motion of PLC controller control automobile body, industrial computer control patrols and examines the vehicle and patrol and examine.