CN111890375A

CN111890375A - Intelligent searching robot and teaching system thereof

Info

Publication number: CN111890375A
Application number: CN202010552478.0A
Authority: CN
Inventors: 龚凌云; 陈泽宇
Original assignee: Guangzhou Railway Polytechnic
Current assignee: Guangzhou Railway Polytechnic
Priority date: 2020-06-16
Filing date: 2020-06-16
Publication date: 2020-11-06

Abstract

The invention discloses an intelligent searching and detecting robot and a teaching system, wherein the robot comprises a robot body, an intelligent movement device, a mechanical arm movement device, a vehicle bottom vision acquisition device, a movement control device and a vision processing device; the intelligent movement device at least comprises an autonomous positioning navigation module, a flexible movement control module, an intelligent power management module, a wireless network communication module and a guide rail type movement chassis; the mechanical arm movement device comprises a mechanical arm controlled by the movement control device and a position measurement sensor arranged on the mechanical arm; the vehicle bottom vision acquisition device comprises an image acquisition module, and the image acquisition module comprises a visible light camera; the vision processing device is used for processing the image data transmitted by the image acquisition module. The intelligent searching and inspecting robot provided by the embodiment of the invention can greatly reduce the long-term manual investment, realize the uninterrupted inspection task all day long, solve the problems of manual operation of daily train inspection of the passenger car and improve the maintenance quality and efficiency of the railway vehicle.

Description

Intelligent searching robot and teaching system thereof

Technical Field

The invention relates to the technical field of train inspection, in particular to an intelligent inspection robot and a teaching system thereof.

Background

With the construction and rapid development of urban facilities, domestic facilities such as traffic, security, tunnels and the like also play an increasingly important role, and the safe operation of the facilities also directly influences the reliability and stability of the operation of the country, so that the inspection work of the facilities such as the traffic, the security, the tunnels and the like is very important. If the faults such as mutual hooking difference of connecting positions of train ends, inclination of a train body, wheel defects, tread peeling, abrasion, local recess, falling, cracking, deformation caused by foreign matter impact and the like need to be inspected in a key mode according to the principle that parts possibly causing faults are pulled by a train, parts possibly causing faults when passengers or goods are loaded, and parts possibly causing faults when foreign matters hit in the process of running need to be inspected in a key mode, because the types of bottom parts of the train are multiple, the structure complexity is high, if the states of all parts are inspected only manually, people can hardly judge and memorize the normal states and the structural forms of all the parts accurately, the operation time is long, the visual fatigue is easily caused, the condition of missed inspection is caused, and particularly, major accidents can be caused by any slight fault of the train in a high-speed running state. Meanwhile, the potential fault points can not be found by manual detection, so that the intelligent inspection robot is researched and developed, and the intelligent inspection robot has important significance for vehicle maintenance.

Disclosure of Invention

The invention provides an intelligent searching and inspecting robot, which aims to solve the technical problems of high difficulty and low overhauling quality caused by the fact that the conventional facility inspection mainly depends on manual inspection.

In order to solve the technical problem, an embodiment of the invention provides an intelligent searching and detecting robot, which comprises a robot body, and an intelligent movement device, a mechanical arm movement device, a vehicle bottom vision acquisition device, a movement control device and a vision processing device which are integrated on the robot body;

the motion control device is respectively electrically connected with the intelligent operation device, the mechanical arm motion device and the vehicle bottom vision acquisition device, and the vision processing device is electrically connected with the vehicle bottom vision acquisition device

The intelligent movement device at least comprises an autonomous positioning navigation module, a flexible movement control module, an intelligent power management module, a wireless network communication module and a guide rail type movement chassis arranged under the robot body;

the mechanical arm movement device comprises a mechanical arm controlled by the movement control device and a position measurement sensor arranged on the mechanical arm;

the vehicle bottom vision acquisition device comprises an image acquisition module, wherein the image acquisition module at least comprises a visible light camera;

and the visual processing device is used for processing the image data transmitted by the image acquisition module.

In one embodiment of the present invention, the intelligent movement device further includes a front laser obstacle avoidance sensor disposed at the front end of the robot body, and a rear laser obstacle avoidance sensor disposed at the rear end of the robot body.

In one embodiment of the invention, the intelligent sports apparatus further comprises an audio alarm prompting module and a device state indicating module.

In one embodiment of the invention, the motion control device comprises a first rectifying and filtering module, a resonant inverter, an inductive coupler, a second rectifying and filtering module and a control module;

the input end of the first rectifying and filtering module is connected with a power supply, and the output end of the first rectifying and filtering module is connected with the input end of the resonant inverter; the output end of the resonant inverter is connected with the input end of the second rectifying and filtering module through the inductive coupler; the control module is connected with the resonant inverter.

The invention also provides a teaching system of the intelligent searching robot, which comprises a 3D imaging system and the intelligent searching robot.

Compared with the prior art, the intelligent locating robot has the advantages that the automatic identification of vehicle bottom equipment faults can be realized through the vision processing device and the vehicle bottom vision collecting device of the intelligent locating robot, the accurate locating of the robot can be realized through the autonomous locating navigation module, and the collected data can be transmitted in real time through the wireless network communication module.

Drawings

Fig. 1 is a schematic structural diagram of an intelligent detection robot in an embodiment of the present invention;

FIG. 2 is a schematic diagram of an explosion circuit of the motion control apparatus in an embodiment of the present invention;

wherein the reference numbers in the drawings of the specification are as follows:

1. an intelligent motion device; 2. a robotic arm movement device; 3. a vehicle bottom vision acquisition device; 4. a motion control device; 5. a vision processing device; 6. a first rectifying and filtering module; 7. a resonant inverter; 8. an inductive coupler; 9. a second rectifying and filtering module; 10. and a control module.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, an embodiment of the present invention provides an intelligent robot for searching and examining, including a robot body, and an intelligent movement device 1, a mechanical arm movement device 2, a vehicle bottom vision acquisition device 3, a movement control device 4, and a vision processing device 5 integrated on the robot body;

the motion control device 4 is respectively electrically connected with the intelligent operation device, the mechanical arm motion device 2 and the vehicle bottom vision acquisition device 3, and the vision processing device 5 is electrically connected with the vehicle bottom vision acquisition device 3

The intelligent movement device 1 at least comprises an autonomous positioning navigation module, a flexible movement control module, an intelligent power management module, a wireless network communication module and a guide rail type movement chassis arranged below the robot body; the guide rail type chassis is convenient to install and debug, and has the advantages of being suitable for long-stroke application, being used in severe environments and the like;

the mechanical arm movement device 2 comprises a mechanical arm controlled by the movement control device 4 and a position measurement sensor arranged on the mechanical arm;

the vehicle bottom vision acquisition device 3 comprises an image acquisition module, wherein the image acquisition module at least comprises a visible light camera;

the vision processing device 5 is used for processing the image data transmitted by the image acquisition module, acquiring images by adopting a visible light camera, and processing the images by the vision processing device 5 so as to enable a background to intelligently analyze and judge faults and simultaneously detect key parts by adopting 3D imaging.

The vision processing apparatus 5 and the vehicle bottom vision collection system 3 that this embodiment looked for through intelligence and examined the robot can realize the automatic identification of vehicle bottom equipment trouble, can realize the accurate positioning of robot through independently fixing a position navigation module, can carry out real-time transport with the data collection through wireless network communication module.

In the embodiment of the invention, the coordinated actions of the two arms of the human body can be simulated by adopting the double-arm robot, and various complex tasks are reasonably planned and decomposed, so that the operation difficulty of the robot is reduced, and the double-arm robot has flexible arms with multiple degrees of freedom and an accurate positioning system with visual feedback; the system has a touch perception and slippage detection perception system, and has the computing power of intelligent decision and the like; the method has the characteristics of high flexibility, safety, automatic obstacle avoidance, quick configuration and the like.

In one embodiment of the present invention, the intelligent movement device 1 further includes a front laser obstacle avoidance sensor disposed at the front end of the robot body, and a rear laser obstacle avoidance sensor disposed at the rear end of the robot body. The embodiment adopts the laser sensor and realizes full autonomous walking through laser guidance.

The intelligent sports device 1 further comprises a sound alarm prompting module and an equipment state indicating module.

In this embodiment, the functions of the intelligent search robot are described as follows:

the intelligent sports apparatus 1:

1) and the autonomous positioning navigation module adopts a laser axis finding technology and realizes accurate positioning through the control of a magnetic guide grid and a servo motor.

2) The flexible motion control module adopts double-wheel differential drive to support the control of forward, backward and equal motion, and the motion process is smooth and flexible.

3) And the intelligent power management module supports multi-level electric quantity threshold control, voltage display and automatic charging.

4) The multi-safety protection device comprises multiple safety protections, a front laser obstacle avoidance sensor and a rear laser obstacle avoidance sensor, supports multi-stage safety protections such as front long-distance detection, front short-distance detection and emergency stop buttons, and realizes safe and reliable motion control.

5) Has mechanical anti-collision function.

6) The man-machine interaction is friendly, and voice alarm prompt is supported.

7) And a single mechanical arm and a double mechanical arm are additionally arranged.

8) And equipment state indication is realized, and equipment states are prompted through a double-color indicator lamp.

9) Wireless network communication, the network coverage area is operated without obstacles.

The technical parameters are shown in table 1:

TABLE 1

The robot arm movement device 2 has the following functional characteristics

1) The sensor can be carried to the corresponding measuring position according to different measuring requirements.

2) Can carry out good interdynamic with intelligent motion module, keep shortening the state in the motion process, stand-by robot stops the back, rotates and removes.

3) Can output signals to the sensor to carry out the field mining start and end instructions.

4) Safety distance limitation can be performed to prevent accidental collision.

5) The obstacle can be sensed, and reasonable avoidance can be performed.

In practical design, the robot can reach an arm spread of 0.7 m, a load of 7kg and a weight of 35kg, the repeated positioning precision can reach +/-0.07 mm, and the technical parameters of the mechanical arm movement device 2 are shown in table 2:

TABLE 2

The vehicle bottom vision acquisition device 3 has the following functional characteristics:

1) high-quality information input is realized, and false alarm is reduced;

2) high-brightness laser fill-in/structured light;

3) a high resolution imaging device;

4) a high-precision 2D +3D matching algorithm;

5) 20 images with good quality;

6) double verification;

7) low false alarm rate;

8) and a high-precision positioning system improves the algorithm precision.

The technical parameters of the vehicle bottom vision acquisition device 3 are shown in table 3:

TABLE 3

Technical scheme	Area array grabbing
		Angle of view	33*X19'
Depth of field range	300-800mm
		SD accuracy	0.06mm
2D resolution	1280X960
		Output format	ASC file
Time of acquisition	02s
		Time of modeling	06s

The whole motion control system is formed by fusing a robot and the motion control device 4 and the intelligent motion device 1, and a communication protocol is established through data intercommunication to complete the linkage and coordination of the whole system.

The vision processing device 5 adopts vision software to carry out three-dimensional reconstruction on the part characteristics of the 2D and 3D image information acquired by the vision sensor, so as to judge whether the part has deficiency, deformation or other abnormity and the like.

Referring to fig. 2, the motion control device 4 includes a first rectifying and filtering module 6, a resonant inverter 7, an inductive coupler 8, a second rectifying and filtering module 9, and a control module 10;

the input end of the first rectifying and filtering module 6 is connected with a power supply, and the output end of the first rectifying and filtering module 6 is connected with the input end of the resonant inverter 7; the output end of the resonant inverter 7 is connected with the input end of the second rectifying and filtering module 9 through the inductive coupler 8; the control module is connected to the resonant inverter 7.

The intelligent searching and detecting robot can be applied to school teaching, production fields and client training, production and application are taken as the important factors, and the following examples of maintenance functions can be realized:

(1) detecting abnormal vehicle bottoms;

(2) detecting the looseness of bolts of key parts of the bogie;

(3) detecting the deformation of the easily deformable part;

(4) detecting bottom scratches and other bruises;

(5) detecting the cable interface falling prevention;

(6) and detecting the liquid level of the lubricating oil.

It can be understood that the invention can also dynamically and synchronously show the work receiving and passing principle of the vehicle bottom abnormity detection technology in detail by using the 3D technology; by using the 3D technology, the operable searching robot can decompose all component parts and can stereoscopically operate the lecture to the student.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims

1. An intelligent searching and detecting robot is characterized by comprising a robot body, and an intelligent movement device, a mechanical arm movement device, a vehicle bottom vision acquisition device, a movement control device and a vision processing device which are integrated on the robot body;

the motion control device is respectively and electrically connected with the intelligent operation device, the mechanical arm motion device and the vehicle bottom vision acquisition device, and the vision processing device is electrically connected with the vehicle bottom vision acquisition device;

2. The intelligent robot of claim 1, further comprising a front laser obstacle avoidance sensor at the front end of the robot body and a rear laser obstacle avoidance sensor at the rear end of the robot body.

3. The intelligent inspection robot as claimed in claim 1, wherein the intelligent motion device further comprises an audible alarm prompt module and a device status indication module.

4. The intelligent inspection robot of claim 1, wherein the motion control device comprises a first rectifier filter module, a resonant inverter, an inductive coupler, a second rectifier filter module, a control module;

5. A teaching system of an intelligent detection robot, which is characterized by comprising a 3D imaging system and the intelligent detection robot as claimed in any one of claims 1-4.