CN112834516A - Rail vehicle bottom detection robot and detection method thereof - Google Patents
Rail vehicle bottom detection robot and detection method thereof Download PDFInfo
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Abstract
The invention relates to the technical field of vehicle detection, and provides a rail vehicle bottom detection robot and a detection method thereof, wherein the rail vehicle bottom detection robot comprises a master control system, a walking structure, a handle, a detection module and a mobile terminal; the handle is used for remotely controlling the detection robot through the master control system, the master control system is used for wirelessly transmitting the vehicle bottom data detected by the detection module to the mobile terminal, and the mobile terminal is used for processing the data and identifying faults; the obstacle crossing capability of the walking structure is strong, the adaptability to a locomotive track is enhanced, and the walking structure is suitable for tracks containing ballast; due to the special self-balancing structure, the smoothness of image acquisition of the bottom of the railway vehicle is guaranteed, and image acquisition and fault identification are facilitated. The invention can automatically identify and display the common vehicle bottom faults of the railway vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle detection, in particular to a rail vehicle bottom detection robot and a detection method thereof.
Background
In recent years, with the increasing maturity of the related technologies of rail vehicles, rail vehicles such as high-speed rails and motor cars gradually become a very important travel and transportation mode in life by virtue of their unique advantages of rapidness, safety, punctuality and the like. However, as a complex system, the faults occurring in service are more complex, so that the traditional manual detection method encounters new challenges. Especially in the vehicle operation in-process, when the vehicle bottom appears the bolt and drops, the foreign matter adheres to, locking silk fracture, part warp when proruption trouble such as, the vehicle-mounted machinist need climb into the narrow and small vehicle bottom in space and carry out troubleshooting, and the complicated structure of vehicle bottom and numerous part have reduced machinist's work efficiency, have increased the work degree of difficulty. Therefore, in order to improve the troubleshooting efficiency of the vehicle-mounted mechanic and reduce the working strength, the invention of the robot for assisting the manual entering into the vehicle bottom to complete troubleshooting has important practical significance, which is beneficial to avoiding the occurrence of serious safety accidents and ensuring the personal and property safety of passengers and workers.
Disclosure of Invention
The invention aims to overcome at least one of the defects in the prior art, and provides a rail vehicle bottom detection robot and a detection method thereof, which are used for assisting a vehicle-mounted mechanic to detect the bottom fault of the rail vehicle and improving the detection efficiency.
In one aspect of the present invention, a rail vehicle chassis inspection robot is provided, including: the mobile terminal comprises a main control system, a walking structure, a handle, a detection module and a mobile terminal, wherein the main control system and the detection module are arranged on the walking structure and are respectively connected with the walking structure; the handle is used for controlling the action of the walking structure through the master control system, the detection module is used for collecting rail vehicle underbody data, the master control system is used for receiving a control signal of the handle to perform corresponding control operation and sending the rail vehicle underbody data measured by the detection module to the mobile terminal, and the mobile terminal is used for processing the rail vehicle underbody data and identifying faults;
the walking structure comprises a crawler-type left wheel, a crawler-type right wheel and a vehicle body, wherein the crawler-type left wheel and the crawler-type right wheel are used for driving the vehicle body to walk; the crawler-type left wheel and the crawler-type right wheel are both arranged on the vehicle body at a certain angle;
the detection module comprises an infrared camera and a self-balancing structure, the infrared camera is used for collecting images of the bottom of the rail vehicle, and the self-balancing structure is used for maintaining the infrared camera in a horizontal posture in the motion process of the detection robot by utilizing gravity.
Preferably, the self-balancing structure comprises a spherical hinge and an outer sphere positioned outside the spherical hinge, a bearing rod is arranged on the vehicle body, and the bearing rod penetrates through the spherical hinge to enable the self-balancing structure to be installed on the vehicle body; the infrared camera is fixed on the outer sphere, and a heavy object is fixed at the lower end of the outer sphere.
Preferably, the two ends of the spherical hinge are provided with anti-skid wires.
Preferably, the detection module further comprises an acceleration sensor installed in parallel with the infrared camera, and the acceleration sensor is used for detecting whether the posture of the infrared camera is in a horizontal state.
Preferably, the acceleration sensor determines whether the camera is in a horizontal state by calculating the size of the included angle, the calculated included angle is formed by α, β, and γ, and when α, β, and γ are in the range of-6 ° to 6 °, the infrared camera is determined to be in a horizontal state, and the calculation method is as follows:
wherein, alpha, beta and gamma are respectively a natural coordinate system X, Y, Z and an acceleration sensor Ax、Ay、AZAngle of (A)x、Ay、AZThe acceleration sensor measures the acceleration in three directions.
Preferably, the detection module further comprises a distance measuring sensor for monitoring the distance between the robot and two rails of the track; and/or
The infrared temperature measuring sensor is used for monitoring the temperature of the bottom of the railway vehicle; the infrared camera and the infrared temperature measuring sensor are arranged on the self-balancing structure, and the measuring directions of the infrared camera and the infrared temperature measuring sensor are consistent.
Preferably, the master control system comprises a single chip microcomputer, a lithium battery, a driving module, a first wireless communication module, a radio frequency and a plurality of motors; the single chip microcomputer is connected with the detection module, the lithium battery, the driving module, the wireless communication module and the radio frequency, the driving module is further connected with the motors, and the motors are respectively connected with the crawler-type left wheel or the crawler-type right wheel; the lithium battery is also connected with the driving module and used for supplying power to the singlechip and the driving module; the single chip microcomputer is used for receiving the rail vehicle bottom data collected by the detection module and transmitting the data to the mobile terminal through the wireless communication module; the driving module is used for driving the motor to rotate so as to drive the crawler type left wheel and/or the crawler type right wheel to rotate.
Preferably, the crawler-type left wheel comprises a crawler-type left front arm wheel and a crawler-type left flat bottom wheel, the crawler-type right wheel comprises a crawler-type right front arm wheel and a crawler-type right flat bottom wheel, the crawler-type left front arm wheel is mounted on the vehicle body at a certain angle through the left wheel fixing beam, the crawler-type right front arm wheel is mounted on the vehicle body at a certain angle through the right wheel fixing beam, the crawler-type left flat bottom wheel and the crawler-type right flat bottom wheel are mounted on the vehicle body in parallel, and the crawler-type left wheel and the crawler-type right wheel are symmetrical in structure;
preferably, the crawler-type left front arm wheel and the crawler-type right front arm wheel comprise a first crawler, a first driven wheel and a first driving wheel, and the crawler-type left flat bottom wheel and the crawler-type right flat bottom wheel comprise a second crawler, a second driving wheel, a guide wheel and a plurality of thrust wheels.
Preferably, the crawler-type left front arm wheel and the crawler-type left flat bottom wheel form an included angle of 30-75 degrees, and the crawler-type right front arm wheel and the crawler-type right flat bottom wheel form an included angle of 30-75 degrees.
Preferably, the handle comprises a first rocker, a second rocker and a MODE key, and the MODE key is used for establishing connection between the handle and the master control system; thereby first rocker and second rocker make when being used for all pushing forward crawler-type left wheel and crawler-type right wheel all rotate forward and drive inspection robot walks forward, thereby makes when all pushing backward crawler-type left wheel and crawler-type right wheel all rotate backward and drive inspection robot walks backward, and when first rocker or second rocker pushed forward alone, inspection robot turned right or turned left.
Preferably, the mobile terminal includes a second wireless communication module, a storage module and a display interface. And the mobile terminal is responsible for receiving and storing the data acquired by the detection module, and identifying and displaying the fault point.
In another aspect of the present invention, a detection method for a rail vehicle underbody detection robot is provided, which includes:
sending the control signal to a master control system through a handle, and carrying out corresponding walking operation on the walking structure by the master control system according to the control signal;
the walking structure is when the walking, and detection module gathers rail vehicle bottom data: the infrared camera is kept in a horizontal posture in the motion process of the detection robot by utilizing gravity through a self-balancing structure, and image data of the bottom of the rail vehicle is collected through the infrared camera and transmitted to a master control system; the main control system receives the data collected by the detection module and transmits the data to the mobile terminal;
and the mobile terminal performs data processing on the data and identifies faults.
The invention can obtain at least one of the following beneficial effects:
1. the detection robot is remotely controlled by the handle through the master control system, the master control system wirelessly transmits the vehicle bottom data detected by the detection module to the mobile terminal, and the mobile terminal processes the data and identifies faults. Simple structure principle and convenient operation.
2. In the walking structure, the crawler-type left wheel and the crawler-type right wheel which form a certain angle with the vehicle body are adopted, so that the adaptability of the walking structure to the locomotive track is improved, the obstacle crossing capability is strong, and the walking structure can adapt to the track containing ballast.
3. The invention adopts a special self-balancing structure, ensures the smoothness of the acquisition of the images at the bottom of the railway vehicle and is beneficial to the acquisition of the images and the fault identification.
4. The invention can automatically identify and display the common vehicle bottom faults of the railway vehicle.
Drawings
FIG. 1 is a main block diagram of a control system in accordance with a preferred embodiment of the present invention;
FIG. 2 is a combination diagram of the vehicle body, the main control system and the detection module according to the preferred embodiment of the present invention;
FIG. 3 is a schematic view of the cart of the preferred embodiment of the present invention;
FIG. 4 is a diagram of a track wheel configuration in accordance with a preferred embodiment of the present invention;
FIG. 5 is a flow chart of data processing of a mobile terminal in accordance with a preferred embodiment of the present invention;
FIG. 6 is a schematic view of the handle structure of the preferred embodiment of the present invention;
FIG. 7 is a schematic diagram of a self-balancing structure of the preferred embodiment of the present invention;
fig. 8 is a schematic diagram of a display interface of a mobile terminal according to a preferred embodiment of the present invention.
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.
The preferred embodiment of the invention provides a rail vehicle bottom detection robot, which comprises: the system comprises a main control system 1, a walking structure 2, a handle 5, a detection module 3 and a mobile terminal 4.
Wherein: the main control system 1 and the detection module 3 are arranged on the walking structure 2, and the main control system 1 and the detection module 3 are respectively connected with the walking structure 2; handle 5 is used for controlling the action of walking structure 2 through major control system 1, and detection module 3 is used for gathering rail vehicle bottom data, and major control system 1 is used for receiving handle 5's control signal and carries out corresponding control operation to and with rail vehicle bottom data transmission to mobile terminal 4 that detection module 3 surveyed, mobile terminal 4 is used for carrying out data processing and discernment trouble to rail vehicle bottom data.
The walking structure 2 comprises a crawler-type left wheel 2.1, a crawler-type right wheel 2.2 and a vehicle body 2.5, wherein the crawler-type left wheel 2.1 and the crawler-type right wheel 2.2 are used for driving the vehicle body 2.5 to walk; the crawler-type left wheel 2.1 and the crawler-type right wheel 2.2 are arranged on the vehicle body 2.5 at a certain angle.
In this embodiment, two spherical structures of the joint bearing are utilized, so that the tilt motion and the rotation motion can be performed within a certain angle range, and the performances can be utilized in the balancing device just right, and the infrared camera 3.2 module is automatically adjusted through gravity to keep the horizontal posture. The self-balancing structure 3.5 comprises a spherical hinge 2.7 and an outer sphere 2.8 positioned outside the spherical hinge 2.7, a bearing rod 2.6 is arranged on the vehicle body 2.5, and the bearing rod 2.6 penetrates through the spherical hinge 2.7 so that the self-balancing structure 3.5 is installed on the vehicle body 2.5; the infrared camera 3.2 is fixed on the outer sphere 2.8, a heavy object is fixed at the lower end of the outer sphere 2.8, and the infrared camera 3.2 is kept horizontal through gravity. The invention utilizes the characteristic of the self-balancing structure 3.5, can enable the infrared camera 3.2 to work normally in a certain range of inclination angle, and ensures the smoothness of the acquisition of the bottom image of the rail vehicle.
Wherein, the two ends of the bearing rod 2.6 which are positioned at the spherical hinge 2.7 are provided with anti-skid wires 2.9. The spherical hinge 2.7 only has one degree of freedom of rotation, and the anti-slip wires 2.9 are arranged to prevent the spherical hinge 2.7 and the bearing rod 2.6 from sliding relatively.
In this embodiment, the detection module 3 further includes an acceleration sensor 3.1 installed in parallel with the infrared camera 3.2, and the acceleration sensor 3.1 is used for detecting whether the posture of the infrared camera 3.2 is in a horizontal state. Acceleration sensor 3.1 installs on self-balancing structure 3.5, with infrared camera 3.2 parallel mount, guarantees that acceleration sensor 3.1 can monitor infrared camera 3.2's gesture. Acceleration sensor acquires the gesture of infrared camera, and when the infrared camera gesture of acquireing was the level, master control system can control infrared camera and take a picture and gather the image of vehicle bottom, prevents to influence the judged result to vehicle bottom trouble because of the change of image angle.
In this embodiment, the acceleration sensor determines whether the camera is in a horizontal state by calculating the included angle, where the calculated included angle is α, β, and γ. Considering that in practical situations, the detection robot has jitter in the running process, and errors of +/-6 degrees are allowed for alpha, beta and gamma; and when the alpha, the beta and the gamma are between-6 degrees and 6 degrees, the infrared camera 3.2 is judged to be in a horizontal state, and the calculation method comprises the following steps:
wherein, alpha, beta and gamma are respectively a natural coordinate system X, Y, Z and an acceleration sensor Ax、Ay、AZAngle of (A)x、Ay、AZThe acceleration sensor measures the acceleration in three directions.
Preferably, when the detected alpha, beta and gamma are-3 degrees, the camera is determined to be in a horizontal state, and the image angle in the range has no influence on the detection result.
In this embodiment, the detection module 3 further includes a distance measuring sensor 3.3 installed at a side of the bearing bar 2.6 and perpendicular to the travel route of the detection robot. The distance measuring sensor 3.3 is used for monitoring the distance between the robot and two rails of the track, so that the robot keeps a safe distance with the track in the running process, and the track navigation is realized.
In this embodiment, detection module 3 still includes infrared temperature sensor 3.4, and infrared temperature sensor 3.4 is used for monitoring the temperature of rail vehicle bottom, and whether monitoring vehicle bottom temperature is normal. Wherein, infrared camera 3.2 and infrared temperature sensor 3.4 all install on self-balancing structure 3.5 to infrared camera 3.2 is unanimous with infrared temperature sensor 3.4's measuring direction. Wherein, drive infrared camera 3.2 and infrared temperature sensor 3.4 together with self-balancing structure 3.5 joint motion through setting up bearing bar 2.8, guarantee the accuracy and the stability of gained data.
In this embodiment, crawler-type left wheel 2.1 includes crawler-type left forearm wheel and crawler-type left flat-bottom wheel, and crawler-type right wheel 2.2 includes crawler-type right forearm wheel and crawler-type right flat-bottom wheel, and crawler-type left wheel 2.1 and crawler-type right wheel 2.2's structural symmetry. Crawler-type left front armwheel and crawler-type right front armwheel include first track 2.1.1, first from driving wheel 2.1.2 and first action wheel 2.1.3, and crawler-type left flat return pulley and crawler-type right flat return pulley include second track 2.1.5, second action wheel 2.1.4, leading wheel 2.1.6 and a plurality of thrust wheel. Crawler-type left front arm wheel is certain angle installation through left wheel fixed beam 2.3 and fixes on automobile body 2.5, and crawler-type right front arm wheel is certain angle installation through right wheel fixed beam 2.4 and fixes on automobile body 2.5, and crawler-type left flat return pulley and crawler-type right flat return pulley parallel mount are on automobile body 2.5. The vehicle body 2.5 is a hollow steel rectangle, and the main control system 1 is loaded at the hollow part.
In this embodiment, the crawler-type left front arm wheel and the crawler-type left flat bottom wheel form an included angle of 30 degrees to 75 degrees, and the crawler-type right front arm wheel and the crawler-type right flat bottom wheel form an included angle of 30 degrees to 75 degrees, that is, an included angle of 30 degrees to 75 degrees is formed with the horizon to enhance the obstacle crossing capability of the detection robot, so that the detection robot adapts to a track containing ballast, and the preferable angle is 45 degrees to 60 degrees. The most preferable angle is 45 degrees, and the obstacle crossing capability of the detection robot is optimal.
In this embodiment, the main control system 1 includes a single chip microcomputer 1.5, a lithium battery 1.6, a driving module 1.7, a wireless communication module 1.9, a radio frequency 1.10, a first motor 1.1, a second motor 1.2, a third motor 1.3, and a fourth motor 1.4; the single chip microcomputer 1.5 is connected with the detection module 3, the lithium battery 1.6, the driving module 1.7, the first wireless communication module 1.9 and the radio frequency 1.10, and the driving module 1.7 is further connected with the first motor 1.1, the second motor 1.2, the third motor 1.3 and the fourth motor 1.4. The first driving wheel 2.1.3 and the second driving wheel 2.1.4 are respectively arranged on the first motor 1.1, the second motor 1.2, the third motor 1.3 and the fourth motor 1.4, and are respectively driven by the motors to rotate. The lithium battery 1.6 is also connected with the driving module 1.7 and used for supplying power to the singlechip 1.5 and the driving module 1.7; the single chip microcomputer 1.5 is used for receiving the rail vehicle bottom data collected by the detection module 3 and transmitting the data to the mobile terminal 4 through the wireless communication module 1.9; the driving module 1.7 is used for driving each motor to rotate so as to drive the crawler type left wheel 2.1 and/or the crawler type right wheel 2.2 to rotate. The single chip microcomputer 1.5 controls the driving module 1.7 according to the instruction, drives the four motors to generate different rotating speeds, so that the detection robot has different walking modes such as forward, backward, left-turn and right-turn, meanwhile, the single chip microcomputer 1.5 also receives data from the detection module 3, the data are wirelessly transmitted to the mobile terminal 4 through the first wireless communication module 1.9, and the lithium battery 1.6 provides voltage for the system. The main control system 1 may further include a voltage stabilizing module 1.8 for stabilizing the voltage supplied from the lithium battery 1.6 to the single chip microcomputer 1.5.
In the present embodiment, the handle 5 includes a first rocker 5.1, a second rocker 5.2 and a MODE key 5.3, and the MODE key 5.3 is used for establishing a connection between the handle 5 and the main control system 1; thereby first rocker 5.1 and second rocker 5.2 make crawler-type left wheel 2.1 and crawler-type right wheel 2.2 all forward rotate and drive inspection robot and walk forward when being used for all forward pushing, thereby make crawler-type left wheel 2.1 and crawler-type right wheel 2.2 all backward rotate and drive inspection robot and walk backward when all backward pushing to and when first rocker 5.1 or second rocker 5.2 forward pushing alone, inspection robot is toward the right turn or turn left.
In the present embodiment, the mobile terminal 4 includes a second wireless communication module, a storage module, and a display interface. And the mobile terminal is responsible for receiving and storing the data acquired by the detection module, and identifying and displaying the fault point. After the second wireless communication module on the mobile terminal 4 is connected with the first wireless communication module 1.9 of the main control system 1, the image and temperature data collected by the detection module 3 can be received, and a storage space with a large capacity can facilitate the storage of the data; after receiving the image, the mobile terminal 4 performs fisheye correction and splicing treatment on the image, compares the treated image with a local normal corresponding carriage vehicle bottom condition image, judges a fault and judges whether the temperature is abnormal or not; the display interface displays the received image and temperature data, as well as faults and abnormal conditions.
The first wireless communication module 1.9 and the second wireless communication module can adopt Wi-Fi, so that the data wireless transmission speed is high, the signal is stable, and the reliability is high.
The invention also provides a detection method of the rail vehicle bottom detection robot, which comprises the following steps:
control signal sends to major control system 1 through handle 5, and major control system 1 carries out corresponding walking operation according to control signal to walking structure 2, specifically is:
when the radio frequency 1.10 in the main control system 1 is turned on, the MODE key 5.3 is pressed, the handle 5 is automatically connected, at this time, the first rocker 5.1 can be used for controlling the left wheel 2.1 in the walking structure 2, and the second rocker 5.2 can be used for controlling the right wheel 2.2 in the walking structure 2. When the first rocker 5.1 and the second rocker 5.2 are pushed forwards, the left wheel and the right wheel are both pushed forwards, and the detection robot is driven to move forwards; when the first rocker 5.1 and the second rocker 5.2 push backwards, the detection robot walks backwards; when the first rocker 5.1 is pushed forward and the second rocker 5.2 is not moved or pushed backward, the detection robot turns to the right, otherwise turns to the left. The information transmission process comprises the following steps: the handle 5 sends the operating instructions of the first rocker 5.1 and the second rocker 5.2 to the radio frequency 1.10 in the main control system 1 in real time through the radio frequency on the handle 5, the radio frequency 1.10 forwards the operating instructions of the rockers to the single chip microcomputer 1.5, and the single chip microcomputer 1.5 generates a motor driving instruction according to the operating instructions of the rockers, so that the driving module 1.7 drives the first motor 1.1, the second motor 1.2, the third motor 1.3 and the fourth motor 1.4 to make corresponding responses.
The walking structure 2 is when the walking, and detection module 3 gathers rail vehicle bottom data, specifically is:
the infrared camera 3.2 is kept in a horizontal posture in the motion process of the detection robot by a self-balancing structure 3.5 through gravity, and whether the posture of the infrared camera 3.2 is in a horizontal state is monitored through an acceleration sensor 3.1; when three included angles alpha, beta and gamma detected by the acceleration sensor 3.1 are 0, the detection robot is considered to be horizontal; preferably, the detection robot is determined to be in a horizontal state within a range that α, β, and γ are allowed to have an error of ± 6 ° considering that the detection robot has a shake during operation in a practical situation. At this time, the main control system 1 controls the infrared camera 3.2 to shoot and collect image data of the bottom of the rail vehicle, the shooting pixels are 200 thousands, and the resolution is 1600 × 1280. The infrared temperature measurement sensor 3.4 measures temperature by adopting a 32 × 24P dot matrix, and corresponds to a 1600 × 1280 image acquired by the infrared camera 3.2, namely, one temperature point of the infrared temperature measurement sensor 3.4 corresponds to a pixel area of an image 50 × 50 in the infrared camera 3.2. When the distance measuring sensor 3.3 detects that the robot is closer to the rail, the main control system 1 controls the detection robot to automatically adjust the direction.
The detection module 3 transmits the acquired data to the main control system 1, the main control system 1 receives the data acquired by the detection module 3 and transmits the data to the mobile terminal 4, and the specific process is as follows: singlechip 1.5 model STM32F407ZET6 that uses in major control system 1 will transmit the data set that each sensor gathered in detection module 3 to mobile terminal 4 through first wireless communication module 1.9 in the future.
The mobile terminal 4 will process, store, identify and display the data uploaded by the main control system 1, the flow is shown in fig. 5, and the specific process is as follows:
the mobile terminal 4 stores the data, then carries out fisheye correction processing on the image, displays the temperature measured by the infrared temperature measuring sensor 3.4 on the image, finally compares the processed image with a local normal image, circles out a fault in the image and simultaneously judges whether the temperature is abnormal or not; and displaying and presenting the result to the worker on the display interface of the mobile terminal 4, and further judging whether the detection is missed or false as shown in fig. 8 by the worker.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (10)
1. Rail vehicle bottom inspection robot, its characterized in that includes: the mobile terminal comprises a main control system (1), a walking structure (2), a handle (5), a detection module (3) and a mobile terminal (4), wherein the main control system (1) and the detection module (3) are arranged on the walking structure (2), and the main control system (1) and the detection module (3) are respectively connected with the walking structure (2); the handle (5) is used for controlling the movement of the walking structure (2) through the master control system (1), the detection module (3) is used for collecting rail vehicle bottom data, the master control system (1) is used for receiving a control signal of the handle (5) to perform corresponding control operation, the rail vehicle bottom data measured by the detection module (3) is sent to the mobile terminal (4), and the mobile terminal (4) is used for performing data processing on the rail vehicle bottom data and identifying faults;
the walking structure (2) comprises a crawler-type left wheel (2.1), a crawler-type right wheel (2.2) and a vehicle body (2.5), the crawler-type left wheel (2.1) and the crawler-type right wheel (2.2) are used for driving the vehicle body (2.5) to walk, and the crawler-type left wheel (2.1) and the crawler-type right wheel (2.2) are both installed on the vehicle body (2.5) at a certain angle;
detection module (3) include infrared camera (3.2) and self-balancing structure (3.5), infrared camera (3.2) are used for gathering the image of rail vehicle bottom, self-balancing structure (3.5) are used for utilizing gravity to keep infrared camera (3.2) are in horizontal gesture in the detection robot motion process.
2. The rail vehicle underbody detection robot as claimed in claim 1, wherein the self-balancing structure (3.5) comprises a spherical hinge (2.7) and an outer sphere (2.8) located outside the spherical hinge (2.7), a bearing rod (2.6) is arranged on the vehicle body (2.5), and the bearing rod (2.6) penetrates through the spherical hinge (2.7) so that the self-balancing structure (3.5) is mounted on the vehicle body (2.5); the infrared camera (3.2) is fixed on the outer sphere (2.8), and a heavy object is fixed at the lower end of the outer sphere (2.8).
3. The railway vehicle underbody detection robot as claimed in claim 1, wherein the detection module (3) further comprises an acceleration sensor (3.1) installed in parallel with the infrared camera (3.2), and the acceleration sensor (3.1) is used for detecting whether the attitude of the infrared camera (3.2) is in a horizontal state.
4. The railway vehicle underbody detection robot as claimed in claim 3, wherein the acceleration sensor determines whether the camera is in a horizontal state by calculating an included angle, the calculated included angle is composed of α, β, and γ, and the calculation method is as follows:
wherein, alpha, beta and gamma are respectively a natural coordinate system X, Y, Z and an acceleration sensor Ax、Ay、AZAngle of (A)x、Ay、AZThe acceleration in three directions is measured by the acceleration sensor;
the judging method comprises the following steps: when the alpha, the beta and the gamma are between-6 degrees and 6 degrees, the infrared camera (3.2) is judged to be in a horizontal state.
5. The rail vehicle underbody detection robot as claimed in claim 1, characterized in that said detection module (3) further comprises a distance measurement sensor (3.3), said distance measurement sensor (3.3) being adapted to monitor the distance between the robot and two rails of the track; and/or
The detection module (3) further comprises an infrared temperature measurement sensor (3.4), and the infrared temperature measurement sensor (3.4) is used for monitoring the temperature of the bottom of the railway vehicle; the infrared camera (3.2) and the infrared temperature sensor (3.4) are installed on the self-balancing structure (3.5), and the measuring directions of the infrared camera (3.2) and the infrared temperature sensor (3.4) are consistent.
6. The railway vehicle underbody detection robot as claimed in claim 1, wherein the master control system (1) comprises a single chip microcomputer (1.5), a lithium battery (1.6), a driving module (1.7), a first wireless communication module (1.9), a radio frequency (1.10) and a plurality of motors; the single chip microcomputer (1.5) is connected with the detection module (3), the lithium battery (1.6), the driving module (1.7), the wireless communication module (1.9) and the radio frequency (1.10), the driving module (1.7) is also connected with the motors, and the motors are respectively connected with the crawler-type left wheel (2.1) or the crawler-type right wheel (2.2); the lithium battery (1.6) is also connected with the driving module (1.7) and is used for supplying power to the singlechip (1.5) and the driving module (1.7); the single chip microcomputer (1.5) is used for receiving the rail vehicle bottom data collected by the detection module (3) and transmitting the data to the mobile terminal (4) through the wireless communication module (1.9); the driving module (1.7) is used for driving the motor to rotate so as to drive the crawler type left wheel (2.1) and/or the crawler type right wheel (2.2) to rotate.
7. The rail vehicle underbody detection robot as claimed in claim 1, characterized in that said tracked left wheel (2.1) comprises a tracked left front arm wheel and a tracked left flat bottom wheel, said tracked right wheel (2.2) comprises a tracked right front arm wheel and a tracked right flat bottom wheel, said tracked left front arm wheel is mounted on said vehicle body (2.5) at an angle by means of a left wheel fixing beam (2.3), said tracked right front arm wheel is mounted on said vehicle body (2.5) at an angle by means of a right wheel fixing beam (2.4), said tracked left flat bottom wheel and tracked right flat bottom wheel are mounted on said vehicle body (2.5) in parallel, said tracked left wheel (2.1) and tracked right wheel (2.2) are structurally symmetrical;
the crawler-type left front arm wheel and the crawler-type right front arm wheel comprise a first crawler (2.1.1), a first driven wheel (2.1.2) and a first driving wheel (2.1.3), and the crawler-type left flat bottom wheel and the crawler-type right flat bottom wheel comprise a second crawler (2.1.5), a second driving wheel (2.1.4), a guide wheel (2.1.6) and a plurality of thrust wheels.
8. The rail vehicle underbody detection robot of claim 7, wherein the tracked left front arm wheel and the tracked left flat bottom wheel form an included angle of 30-75 °, and the tracked right front arm wheel and the tracked right flat bottom wheel form an included angle of 30-75 °.
9. The rail vehicle underbody detection robot as claimed in claim 1, characterized in that said handle (5) comprises a first rocker (5.1), a second rocker (5.2) and a MODE key (5.3), said MODE key (5.3) being used to establish the connection of said handle (5) and a master control system (1); first rocker (5.1) and second rocker (5.2) make when being used for all pushing forward thereby crawler-type left wheel (2.1) and crawler-type right wheel (2.2) all rotate forward and drive inspection robot walks forward, makes when all pushing backward thereby crawler-type left wheel (2.1) and crawler-type right wheel (2.2) all rotate backward and drive inspection robot walks backward, and when first rocker (5.1) or second rocker (5.2) pushed forward alone, inspection robot turned right or turned left.
10. The detection method of the rail vehicle bottom detection robot is characterized by comprising the following steps:
sending a control signal to the master control system (1) through the handle (5), and carrying out corresponding walking operation on the walking structure (2) by the master control system (1) according to the control signal;
when walking structure (2) is walked, rail vehicle bottom data are gathered in detection module (3): the infrared camera (3.2) is kept in a horizontal posture in the motion process of the detection robot by utilizing gravity through the self-balancing structure (3.5), and image data of the bottom of the rail vehicle is collected through the infrared camera (3.2) and transmitted to the main control system (1); the main control system (1) receives the data collected by the detection module (3) and transmits the data to the mobile terminal (4);
and the mobile terminal (4) performs data processing on the data and identifies faults.
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