CN110667726A - Four-foot walking inspection robot applied to subway train inspection warehouse - Google Patents
Four-foot walking inspection robot applied to subway train inspection warehouse Download PDFInfo
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- CN110667726A CN110667726A CN201910943175.9A CN201910943175A CN110667726A CN 110667726 A CN110667726 A CN 110667726A CN 201910943175 A CN201910943175 A CN 201910943175A CN 110667726 A CN110667726 A CN 110667726A
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- inspection
- walking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K13/00—Other auxiliaries or accessories for railways
Abstract
The invention discloses a four-foot walking inspection robot applied to a metro vehicle train inspection warehouse, which comprises a main control box, a six-degree-of-freedom mechanical arm, an image acquisition module and four walking mechanisms, wherein one end of the six-degree-of-freedom mechanical arm is installed on the main control box, and the other end of the six-degree-of-freedom mechanical arm is installed on the image acquisition module; for each walking mechanism, each walking mechanism comprises a waist joint motor, a waist joint, a connecting seat, a hip joint motor, a hip joint, a thigh part, a knee joint motor, a knee joint and a shank part, wherein the waist joint motor is arranged on a main control box and connected with the connecting seat through the waist joint, the hip joint motor is arranged on the connecting seat and connected with the thigh part through the hip joint, the knee joint motor is arranged on the thigh part and connected with the shank part through the knee joint, the waist joint is vertically arranged, and the hip joint and the knee joint are horizontally arranged. The invention has small size and flexible movement and can automatically detect the ditch up and down.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to an inspection robot.
Background
At present, daily overhaul contents of urban rail metro vehicles in China are complicated and repetitive operation is multiple, a method that workers are mainly regarded as main tools and auxiliary tools is adopted, the problems of night work overhaul, easy fatigue of operators, easy false inspection and easy omission of inspection exist, overhaul efficiency is low, experience dependence is strong, multiple repetitive overhaul items exist, labor intensity of the operators is high, and the demands of the operators are large. Therefore, the robot replaces manpower to carry out daily inspection and maintenance operation on the urban rail metro vehicle, has practical requirements, and is very necessary for reducing the influence of human factors on quality control, improving the operation efficiency and reducing the personnel cost.
At present, similar products applied to urban rail transit subway vehicle bases are not found, and the similar products cannot adapt to the requirements of narrow and small urban rail transit subway vehicle base parking train inspection base ditches, complex environments with steps and flexible and convenient transportation between overhauling ditches.
Disclosure of Invention
Aiming at the defects or the improvement requirements in the prior art, the invention provides a four-foot walking inspection robot applied to a metro vehicle train inspection warehouse, which is small in size, flexible to move and capable of automatically detecting up and down ditches.
To achieve the above object, according to one aspect of the present invention, there is provided a four-footed walking inspection robot applied in a train inspection warehouse of metro vehicles, which is characterized by comprising a main control box, a six-degree-of-freedom mechanical arm, an image acquisition module, a waist mechanism and four walking mechanisms, wherein,
one end of the six-degree-of-freedom mechanical arm is mounted on the main control box, and the other end of the six-degree-of-freedom mechanical arm is mounted with the image acquisition module so as to drive the image acquisition module to move to acquire images of target components at the bottom and the side of the subway vehicle;
the waist mechanism is provided with two and arranged at the front end of the main control box respectively;
each waist mechanism comprises a waist joint motor and a waist joint, the waist joint motor is mounted on the main control box, a motor shaft of the waist joint motor is connected with the waist joint, and the waist joint is vertically arranged;
for each walking mechanism, each walking mechanism comprises a connecting seat, a hip joint motor, a hip joint, a thigh part, a knee joint motor, a knee joint and a shank part, wherein the hip joint motor is arranged on the connecting seat, is connected with the thigh part through the hip joint and is used for driving the thigh part to rotate, the knee joint motor is arranged on the thigh, is connected with the shank part through the knee joint and is used for driving the shank part to rotate, and the hip joint and the knee joint are both horizontally arranged;
and the waist joint of each waist mechanism is respectively provided with a connecting seat of the walking mechanism, the other two connecting seats of the walking mechanisms are respectively arranged on the main control box, and the connecting seats of the four walking mechanisms are arranged in a rectangular shape.
Preferably, main control box includes the box shell and installs robot mainboard, collection system hardware, motor drive and main control unit in the box shell, main control unit respectively with robot mainboard, collection system hardware, motor drive connect to be used for to each walk the mechanism carry out the operation coordination between six degrees of freedom arms and the image acquisition module to and let the robot of patrolling and examining possess the ability of accurate positioning detected subway vehicle's parking position, main control unit is connected with comprehensive data detection service platform, carries out analysis processes to comprehensive data detection service platform with image data real-time transmission.
Preferably, the main controller transmits the image data to the comprehensive data detection service platform in real time in a wireless AP mode.
Preferably, the comprehensive data detection service platform analyzes and judges the image data transmitted by the main controller, identifies the abnormal states of the target components at the bottom and the side of the train through pattern recognition, feature matching and deep learning so as to generate an overhaul report and a corresponding operation plan, arranges related operators or inspection robots to implement a rechecking task according to the operation plan, and finally writes the overhaul report into a subway train file management system of the comprehensive data detection service platform for recording.
Preferably, the main control box further comprises a middle mounting seat, waist joint motors of all the walking mechanisms are mounted on the middle mounting seat, and the six-degree-of-freedom mechanical arm is also mounted on the middle mounting seat.
Preferably, the image acquisition module comprises an image acquirer, and the image acquirer comprises a two-dimensional image acquirer and/or a three-dimensional image acquirer.
Preferably, the image acquisition module further comprises a searchlight.
Preferably, the subway vehicle further comprises a panoramic scanning camera, wherein the panoramic scanning camera is mounted on the main control box and used for being matched with the main control box to position the subway vehicle and control the walking mechanism to move to avoid obstacles and go up and down the trench through the walking mechanism.
Preferably, the inspection robot receives the maintenance task of the comprehensive data detection service platform on the next subway vehicle after completing the image acquisition of one subway vehicle, the main control box generates the nearest route for transferring the trench, the current nearest maintenance stand column is determined and arrives at the maintenance stand column through the panoramic scanning camera, the inspection robot turns around in situ, the walking mechanism climbs the steps beside the maintenance stand column, the walking mechanism penetrates through the passageway between the two maintenance routes, and the inspection task of the trench is executed after the steps of the other maintenance route are descended into the other trench.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1) the inspection robot is connected with the maintenance task of the comprehensive detection service platform, can automatically walk, accurately position and automatically detect in the subway vehicle maintenance trench under the condition of no human intervention, can cross the maintenance trench, realize independent transportation among different trenches, detect the faults of deformation, looseness, foreign matters, deletion and the like of target components at the bottom and the side of a vehicle, and send images and fault data to the maintenance task of the comprehensive detection service platform for analysis processing.
2) The robot can flexibly transfer the upper and lower trench steps and the trench. The robot runs in a trench pair, the target components at the bottom and the side of the vehicle are detected by the six-degree-of-freedom mechanical arm and the image acquisition module by taking the carriage as a unit, and the detection data are wirelessly transmitted to the comprehensive data detection service platform for analysis and processing.
3) This inspection robot compares traditional manual work, has reduced the omission factor, has improved the efficiency and the quality of detection and has practiced thrift the human cost.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a schematic view of one of the running gears of the present invention mounted on an intermediate mounting block;
fig. 3 is a schematic view of the inspection robot of the present invention in a trench.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 3, a four-footed walking inspection robot 20 applied to a train-inspection warehouse of metro vehicles is characterized by comprising a main control box 1, a six-degree-of-freedom mechanical arm 2, an image acquisition module 3, a waist mechanism and four traveling mechanisms 4, wherein,
one end of the six-degree-of-freedom mechanical arm 2 (namely, a base of the six-degree-of-freedom mechanical arm 2) is mounted on the main control box 1, and the other end of the six-degree-of-freedom mechanical arm 3 (namely, the tail end of the six-degree-of-freedom mechanical arm 3) is mounted with the image acquisition module 3, so that the image acquisition module 3 is driven to move to acquire images of target components at the bottom and the side of the subway vehicle; the six-degree-of-freedom mechanical arm 2 can adjust the posture of the image acquisition module 3 through the rotation of each shaft so as to ensure that the inspection robot 20 can carry out all-dimensional inspection on target components at the bottom and the side of the subway vehicle;
the waist mechanism is provided with two and they are arranged at the front end of the main control box 1 respectively;
each waist mechanism comprises a waist joint motor and a waist joint 5, the waist joint motor is mounted on the main control box 1, a motor shaft of the waist joint motor is connected with the waist joint 5, and the waist joint 5 is vertically arranged;
each walking mechanism 4 comprises a connecting seat 6, a hip joint motor 7, a hip joint 8, a thigh part 9, a knee joint motor 10, a knee joint 11 and a shank part 12, wherein the hip joint motor 7 is installed on the connecting seat 6, the hip joint motor 7 is connected with the thigh part 9 through the hip joint 8 and is used for driving the thigh part 9 to rotate, the knee joint motor 10 is installed on the thigh, the knee joint motor 10 is connected with the shank part 12 through the knee joint 11 and is used for driving the shank part 12 to rotate, and the hip joint 8 and the knee joint 11 are horizontally arranged;
the waist joint 5 of each waist mechanism is respectively provided with a connecting seat 6 of the walking mechanism 4, the other two connecting seats 6 of the walking mechanisms 4 are respectively arranged on the main control box 1, and the connecting seats 6 of the four walking mechanisms 4 are arranged in a rectangular shape.
The structure of the four-foot walking inspection robot 20 is similar to that of a quadruped, the walking of the four-foot walking inspection robot is similar to that of the quadruped, the hip joint motor 7 and the knee joint motor drive the thigh part 9 and the shank part 12 to be lifted and fallen, the inspection robot 20 can advance and retreat, the two waist joint motors at the front end of the inspection robot 20 can drive the two walking mechanisms 4 at the front end to rotate, and therefore turning of the inspection robot 20 is achieved, and the inspection robot 20 can walk up and down in the ditches 18 in the train inspection warehouse and in the ditches 18 to achieve image acquisition.
Further, main control box 1 includes the box shell and installs robot mainboard, collection system hardware, motor drive and main control unit in the box shell, main control unit respectively with robot mainboard, collection system hardware, motor drive connect to be used for to each walk capable mechanism 4 carry out the operation coordination between six degrees of freedom arms 2 and the image acquisition module 3 to and let patrol and examine robot 20 possess the ability of accurate positioning detected subway vehicle's parking position, main control unit is connected with comprehensive data detection service platform, carries out analysis processes to comprehensive data detection service platform with image data real-time transmission. In addition, the main control box 1 further comprises a middle mounting base 13, waist joint motors of all the walking mechanisms 4 are mounted on the middle mounting base 13, and the six-degree-of-freedom mechanical arm 2 is also mounted on the middle mounting base 13.
Further, the image capturing module 3 comprises an image capturing device 14 and a searchlight 15, and the image capturing device 14 comprises a two-dimensional image capturing device 14 and/or a three-dimensional image capturing device 14. The front end of the six-degree-of-freedom mechanical arm 2 is provided with an image acquisition module 3 mounting seat, and the image acquisition module 3 is mounted on the mounting seat. The two-dimensional image collector 14 and the three-dimensional image collector 14 can obtain two-dimensional and three-dimensional image monitoring data of a specific target, and the searchlight 15 is mainly used for providing a light source. When the inspection robot 20 runs in the trench 18, the target components at the bottom and the side of the subway vehicle are detected by taking the carriage as a unit through the six-degree-of-freedom mechanical arm 2 and the image acquisition module 3.
When a subway vehicle enters a track above the trench 18 to wait for maintenance, the inspection robot 20 leaves a parking space after receiving an inspection task, positions the subway vehicle and controls the inspection robot 20 to move to avoid obstacles through the main controller and the panoramic scanning camera arranged on the main control box 1, and walks down the trench 18 through the four walking mechanisms 4.
The main controller of the inspection robot 20 sends monitoring data to the comprehensive data detection service platform in a wireless AP mode, the comprehensive data detection service platform analyzes and judges the transmitted data, and identifies the abnormal states of target components at the bottom and the side of the vehicle through pattern recognition, feature matching and deep learning, so that an inspection report and a corresponding operation plan are generated, and related operators or the inspection robot 20 are arranged to implement reinspection tasks according to the operation plan. And finally writing the maintenance report into a subway vehicle file management system of the comprehensive data detection service platform for recording. After a subway vehicle is overhauled, the inspection robot 20 receives the overhaul task of the next subway vehicle of the comprehensive data detection service platform, generates the nearest route of the transfer trench 18, determines the nearest overhaul stand column 17 at present through the panoramic scanning camera and arrives at the overhaul stand column 17, turns around the inspection robot 20 in situ, climbs the step beside the overhaul stand column 17 through the walking mechanism 4, passes through the passageway 19 between the two overhaul lines, and starts to execute the overhaul task of the trench 18 by descending the step of the other overhaul line into the other trench 18.
Four walking mechanisms 4 of the invention form four limbs of the inspection robot 20, the four walking mechanisms 4 are coordinated to lead the robot to walk and turn, and the four-foot mechanism can lead the inspection robot 20 to go up and down steps, thus being capable of leading the trench 18 to move down and transferring the trench 18 and realizing flexible transfer between the trenches 18. The four-foot walking inspection robot 20 can scan panoramic images of target components at the bottom and the side of the vehicle through the panoramic scanning camera 16. The panoramic scanning camera 16 cooperates with the main controller to enable the robot to be accurately positioned and to recognize obstacles in the train examination room and perform avoidance operation.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A four-foot walking inspection robot applied to a train inspection warehouse of subway vehicles is characterized by comprising a main control box, a six-degree-of-freedom mechanical arm, an image acquisition module, a waist mechanism and four walking mechanisms, wherein,
one end of the six-degree-of-freedom mechanical arm is mounted on the main control box, and the other end of the six-degree-of-freedom mechanical arm is mounted with the image acquisition module so as to drive the image acquisition module to move to acquire images of target components at the bottom and the side of the subway vehicle;
the waist mechanism is provided with two and arranged at the front end of the main control box respectively;
each waist mechanism comprises a waist joint motor and a waist joint, the waist joint motor is mounted on the main control box, a motor shaft of the waist joint motor is connected with the waist joint, and the waist joint is vertically arranged;
for each walking mechanism, each walking mechanism comprises a connecting seat, a hip joint motor, a hip joint, a thigh part, a knee joint motor, a knee joint and a shank part, wherein the hip joint motor is arranged on the connecting seat, is connected with the thigh part through the hip joint and is used for driving the thigh part to rotate, the knee joint motor is arranged on the thigh, is connected with the shank part through the knee joint and is used for driving the shank part to rotate, and the hip joint and the knee joint are both horizontally arranged;
and the waist joint of each waist mechanism is respectively provided with a connecting seat of the walking mechanism, the other two connecting seats of the walking mechanisms are respectively arranged on the main control box, and the connecting seats of the four walking mechanisms are arranged in a rectangular shape.
2. The robot for inspecting the four-foot walking in the metro vehicle train inspection warehouse according to the claim 1, wherein the main control box comprises a box body shell, and a robot main board, acquisition system hardware, a motor driver and a main controller which are installed in the box body shell, the main controller is respectively connected with the robot main board, the acquisition system hardware and the motor driver and is used for carrying out operation coordination among all walking mechanisms, the six-degree-of-freedom mechanical arm and the image acquisition module and enabling the inspection robot to have the capability of accurately positioning the parking position of the detected metro vehicle, and the main controller is connected with the comprehensive data detection service platform so as to transmit image data to the comprehensive data detection service platform for analysis and processing in real time.
3. The four-footed walking inspection robot applied to the train inspection warehouse of the metro vehicles according to claim 2, wherein the main controller transmits image data to the comprehensive data detection service platform in real time in a wireless AP mode.
4. The robot for inspection of four-footed walking in a metro vehicle train inspection warehouse according to claim 3, wherein the comprehensive data detection service platform analyzes and discriminates image data transmitted from the main controller, identifies abnormal states of target components at the bottom and at the side of the train through pattern recognition, feature matching and deep learning, thereby generating an inspection report and a corresponding operation plan, arranges related operators or inspection robots to implement a re-inspection task according to the operation plan, and finally writes the inspection report into a metro vehicle file management system of the comprehensive data detection service platform for recording.
5. The four-foot walking inspection robot applied to the train and examination warehouse of the metro vehicles according to claim 2, wherein the main control box further comprises a middle mounting seat, waist joint motors of all the walking mechanisms are mounted on the middle mounting seat, and the six-degree-of-freedom mechanical arm is also mounted on the middle mounting seat.
6. The robot for four-footed walking inspection according to claim 1, wherein the image acquisition module comprises an image collector, and the image collector comprises a two-dimensional image collector and/or a three-dimensional image collector.
7. The robot for four-foot walking inspection in the train inspection warehouse of the subway vehicles according to claim 5, wherein the image acquisition module further comprises a searchlight.
8. The robot for the inspection of the four-foot walking in the metro vehicle train inspection warehouse according to claim 1, further comprising a panoramic scanning camera, wherein the panoramic scanning camera is installed on the main control box and used for being matched with the main control box to position the metro vehicle and control the walking mechanism to move to avoid the obstacle and to go up and down the trench through the walking mechanism.
9. The four-foot walking inspection robot applied to the metro vehicle train inspection warehouse according to claim 8, wherein the inspection robot receives the inspection task of the comprehensive data detection service platform on the next metro vehicle after completing the image acquisition of one metro vehicle, the main control box generates the nearest line for transferring the trench, the nearest inspection upright at present is determined and arrives at the inspection upright through the panoramic scanning camera, the inspection robot turns around in situ, the walking mechanism climbs the steps beside the inspection upright, the walking mechanism passes through the passage between two inspection lines, and the inspection task of the trench is started to be executed from the step of the other inspection line going into the other trench.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910943175.9A CN110667726A (en) | 2019-09-30 | 2019-09-30 | Four-foot walking inspection robot applied to subway train inspection warehouse |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112693541A (en) * | 2020-12-31 | 2021-04-23 | 国网智能科技股份有限公司 | Foot type robot of transformer substation, inspection system and method |
| CN114137962A (en) * | 2021-11-06 | 2022-03-04 | 中山嘉明电力有限公司 | Ladder climbing method and system based on quadruped robot |
| CN114683297A (en) * | 2020-12-31 | 2022-07-01 | 国网智能科技股份有限公司 | Rotatable supporting leg of foot type inspection robot of transformer substation and working method of rotatable supporting leg |
| CN114714376A (en) * | 2022-05-06 | 2022-07-08 | 湖南工业大学 | Intelligent train detection robot system and detection method thereof |
-
2019
- 2019-09-30 CN CN201910943175.9A patent/CN110667726A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112693541A (en) * | 2020-12-31 | 2021-04-23 | 国网智能科技股份有限公司 | Foot type robot of transformer substation, inspection system and method |
| CN114683297A (en) * | 2020-12-31 | 2022-07-01 | 国网智能科技股份有限公司 | Rotatable supporting leg of foot type inspection robot of transformer substation and working method of rotatable supporting leg |
| CN114683297B (en) * | 2020-12-31 | 2023-10-27 | 国网智能科技股份有限公司 | Rotatable supporting leg of transformer substation foot type inspection robot and working method thereof |
| CN114137962A (en) * | 2021-11-06 | 2022-03-04 | 中山嘉明电力有限公司 | Ladder climbing method and system based on quadruped robot |
| CN114137962B (en) * | 2021-11-06 | 2023-12-22 | 中山嘉明电力有限公司 | Ladder stand method and system based on four-foot robot |
| CN114714376A (en) * | 2022-05-06 | 2022-07-08 | 湖南工业大学 | Intelligent train detection robot system and detection method thereof |
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