CN113436366B - Synchronous and cooperative inspection method for bottom and side edges of rail transit vehicle - Google Patents

Synchronous and cooperative inspection method for bottom and side edges of rail transit vehicle Download PDF

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Publication number
CN113436366B
CN113436366B CN202110712148.8A CN202110712148A CN113436366B CN 113436366 B CN113436366 B CN 113436366B CN 202110712148 A CN202110712148 A CN 202110712148A CN 113436366 B CN113436366 B CN 113436366B
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inspection
mobile robot
rail transit
transit vehicle
acquisition module
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CN113436366A (en
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黎莎
彭刚
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Beijing Railway Institute of Mechanical and Electrical Engineering Group Co Ltd
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Beijing Railway Institute of Mechanical and Electrical Engineering Group Co Ltd
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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • G07C5/085—Registering performance data using electronic data carriers
    • G07C5/0866—Registering performance data using electronic data carriers the electronic data carrier being a digital video recorder in combination with video camera

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

The invention discloses a synchronous and collaborative inspection method for the bottom and the side of a rail transit vehicle, which belongs to the technical field of robots and comprises the following steps: controlling two side routing inspection mobile robots to respectively perform routing inspection information acquisition on two sides of the rail transit vehicle, and controlling a bottom routing inspection mobile robot to perform routing inspection information acquisition on the bottom of the rail transit vehicle; in the inspection process, the bottom inspection mobile robot sends the acquired information to an inspection data analysis and management platform, and the side inspection mobile robot sends the acquired information to the inspection data analysis and management platform; the inspection data analysis and management platform analyzes and processes the received information in real time and generates an inspection report; and the patrol data analysis and management platform sends the patrol report to the handheld mobile terminal. The invention can realize the automatic inspection of the rail transit vehicle.

Description

Synchronous and cooperative inspection method for bottom and side edges of rail transit vehicle
Technical Field
The invention relates to the technical field of robots, in particular to a synchronous and collaborative inspection method for the bottom and the side edges of a rail transit vehicle.
Background
With the development of transportation, the number of rail transit vehicles is larger and larger, and more maintenance tasks are required.
In the prior art, a traditional manual visual overhauling method is generally adopted to carry out routine inspection and detection on the technical state and part of technical performance of a motor train unit train during overhauling of the motor train unit train.
The mode of manual maintenance is adopted, the daily maintenance operation cycle is frequent, the working efficiency is low, the working strength is high, the maintenance task is carried out at night, and certain potential safety hazards exist. And a manual maintenance mode is adopted, so that the maintenance result is greatly influenced by the experience level of maintenance personnel, and the reliability of the detection result is insufficient.
Therefore, a method for synchronously and cooperatively inspecting the bottom and the side of the rail transit vehicle is needed to solve the above problems.
Disclosure of Invention
The invention aims to provide a synchronous and collaborative inspection method for the bottom and the side of a rail transit vehicle, and aims to solve the technical problems of low manual inspection efficiency, low reliability and potential safety hazards in the prior art.
As the conception, the technical scheme adopted by the invention is as follows:
a rail transit vehicle bottom and side synchronous cooperative inspection method comprises the following steps:
controlling two side routing inspection mobile robots to respectively perform routing inspection information acquisition on two sides of the rail transit vehicle, and controlling a bottom routing inspection mobile robot to perform routing inspection information acquisition on the bottom of the rail transit vehicle;
in the inspection process, the bottom inspection mobile robot sends the acquired information to an inspection data analysis and management platform, and the side inspection mobile robot sends the acquired information to the inspection data analysis and management platform;
the inspection data analysis and management platform analyzes and processes the received information in real time and generates an inspection report;
and the patrol data analysis and management platform sends the patrol report to the handheld mobile terminal.
Optionally, the side inspection mobile robot comprises a mobile chassis, and a first inspection mechanical arm, a first image acquisition module assembly and a first sound acquisition module which are arranged on the mobile chassis;
control the side is patrolled and examined mobile robot and is in the information acquisition includes patrolling and examining rail transit vehicle's side:
s1, the side routing inspection mobile robot receives a detection instruction and automatically calls an operation scheme of a corresponding vehicle type according to information of a train to be detected;
s2, the side inspection mobile robot acquires ground yellow line information and/or a rail upright post image and then continues to move after moving to the head position of the rail transit vehicle, in the process that the side inspection mobile robot moves from the head position of the rail transit vehicle to the tail position of the rail transit vehicle, the first image acquisition module assembly acquires side image information of the rail transit vehicle and uploads the side image information to the inspection data analysis and management platform, and the first sound acquisition module acquires side sound information of the rail transit vehicle and uploads the side sound information to the inspection data analysis and management platform;
s3, the side inspection mobile robot stops after running to the tail position of the rail transit vehicle, the side inspection mobile robot is controlled to move from the tail position of the rail transit vehicle to the head position of the rail transit vehicle, in addition, the first inspection mechanical arm sequentially collects side images of the bogies of the rail transit vehicle in the moving process, the first image collection module assembly needs to carry out wheel pair detection alignment on the bogies before collecting each side image of the bogies, and the side images of the bogies are uploaded to the inspection data analysis and management platform;
s4, analyzing the side image information, the side sound information and the side image of the bogie by the inspection data analyzing and managing platform to generate a side inspection report;
and S5, the inspection data analysis and management platform sends the side inspection report to the handheld mobile terminal.
Optionally, a laser sensor is arranged on the side inspection mobile robot, and in the step S2, the side inspection mobile robot positions the head position of the rail transit vehicle through the laser sensor.
Optionally, in the step S2, a deviation between the ground yellow line position and/or the rail upright position and the motion direction of the side inspection mobile robot is calculated, and PI control is performed.
Optionally, the first image acquisition module assembly comprises a first image acquisition module and a second image acquisition module, the first image acquisition module is arranged on the mobile chassis, and the second image acquisition module and the first sound acquisition module are both arranged at the tail end of the first inspection mechanical arm;
the side is patrolled and examined real-time judgement when mobile robot marchs whether the side is patrolled and examined mobile robot and is reachd the side and patrol and examine the station, judge whether the side is patrolled and examined mobile robot and is reachd the side is patrolled and examined the station and is included:
s10, when the first image acquisition module detects wheels of the rail transit vehicle, controlling the side edge inspection mobile robot to decelerate to a first set movement speed, and then controlling the side edge inspection mobile robot to continue to move at the first set movement speed;
s20, the second image acquisition module identifies wheels of the rail transit vehicle and calculates the center positions of the wheels, and when the distance between the vertical center line of the image of the second image acquisition module and the center line of the wheels is within a first set error range, the side edge inspection mobile robot reaches the side edge inspection station at the moment and is controlled to stop moving;
s30, judging whether the deviation between the image acquired by the second image acquisition module and the first template image is within a second set error range, wherein the second set error range is within the first set error range;
if so, directly controlling the first inspection mechanical arm to reach a side inspection point according to a planned motion track; if not, adding a first correction quantity to the planned motion track of the first inspection mechanical arm, and controlling the first inspection mechanical arm to reach the side inspection point, so that the deviation between the side inspection point image acquired by the second image acquisition module and the first target image is within a third set error range.
Optionally, the bottom inspection mobile robot comprises a rail-mounted guided vehicle, and a second inspection mechanical arm, a second image acquisition module assembly and a second sound acquisition module are mounted on the rail-mounted guided vehicle;
control bottom patrol and examine mobile robot and patrol and examine information acquisition in rail transit vehicle's bottom and include:
s01, the bottom inspection mobile robot receives the detection instruction and automatically calls the operation scheme of the corresponding vehicle type according to the information of the train to be detected;
s02, the bottom inspection mobile robot moves to the head position of the rail transit vehicle according to an inspection path and then continues to move in a continuous motion mode, in the process that the bottom inspection mobile robot moves from the head position of the rail transit vehicle to the tail position of the rail transit vehicle, a second image acquisition module assembly of the bottom inspection mobile robot acquires bottom image information of the rail transit vehicle and uploads the bottom image information to an inspection data analysis and management platform, and a second sound acquisition module of the bottom inspection mobile robot acquires bottom sound information of the rail transit vehicle and uploads the bottom sound information to the inspection data analysis and management platform;
s03, the bottom inspection mobile robot stops after running to the tail position of the rail transit vehicle, the bottom inspection mobile robot is controlled to move from the tail position of the rail transit vehicle to the head position of the rail transit vehicle, a second inspection mechanical arm sequentially collects bogie bottom images of the rail transit vehicle in the moving process, a second image collection module assembly needs to carry out wheel set and wheel axle detection alignment on a bogie before collecting each bogie bottom image, and the bogie bottom images are uploaded to the inspection data analysis and management platform;
s04, analyzing the bottom image information, the bottom sound information and the bogie bottom image by the inspection data analyzing and managing platform to generate a bottom inspection report;
and S05, the inspection data analysis and management platform sends the bottom inspection report to the handheld mobile terminal.
Optionally, an infrared laser ranging sensor is arranged on the bottom inspection mobile robot, and in the step S02, the bottom inspection mobile robot positions the head position of the rail transit vehicle through the infrared laser ranging sensor.
Optionally, in the step S03, in the process of controlling the bottom inspection mobile robot to move from the tail position of the rail transit vehicle to the head position of the rail transit vehicle, the bottom inspection mobile robot is controlled to be in an intermittent motion mode, where the intermittent motion mode includes:
when the wheel axle of the wheel set is detected, the bottom inspection mobile robot stops moving, the second image acquisition module assembly and the second sound acquisition module acquire information and transmit the acquired bottom information of the bogie to the inspection data analysis and management platform, after the information acquisition is finished, the inspection data analysis and management platform performs algorithm analysis on the received bottom information of the bogie, and the inspection data analysis and management platform can complete the algorithm analysis before the next wheel axle detection is started;
the bottom patrol inspection mobile robot is in the intermittent motion mode, and the patrol inspection data analysis and management platform can synchronously analyze the bottom image information and the bottom sound information collected in the continuous motion mode.
Optionally, the infrared laser ranging sensor comprises a wheel set infrared ranging sensor and a wheel axle infrared ranging sensor, and the wheel set infrared ranging sensor comprises a first wheel set infrared ranging sensor and a second wheel set infrared ranging sensor;
the second image acquisition module assembly comprises a third image acquisition module and a fourth image acquisition module, the third image acquisition module is arranged on the rail type guide vehicle, and the fourth image acquisition module is arranged at the tail end of the second inspection mechanical arm;
the bottom inspection mobile robot further comprises a lifting module, the lifting module is arranged on the rail type guide vehicle, the second inspection mechanical arm is arranged on the lifting module, and the lifting module can drive the second inspection mechanical arm to move in a three-dimensional space;
the bottom is patrolled and examined mobile robot according to when walking the route is patrolled and examined real-time judgement whether the bottom is patrolled and examined mobile robot and is reachd the bottom and patrol and examine the station, judge whether the bottom is patrolled and examined mobile robot and is reachd the bottom is patrolled and examined the station and include:
s010, when the first wheel pair infrared distance measuring sensor detects a wheel disc of the wheel pair of the rail transit vehicle, the bottom inspection mobile robot is controlled to decelerate to a second set motion speed, and then the bottom inspection mobile robot is controlled to continue to move at the second set motion speed;
s020, when the wheel disc and the wheel shaft of the rail transit vehicle are detected by the second wheel pair infrared distance measuring sensor, the wheel shaft infrared distance measuring sensor detects the central line and/or the edge line of the wheel shaft, the third image acquisition module of the second image acquisition module component acquires the central line and/or the edge line of the wheel shaft, and when the distance between the image central point of the third image acquisition module and the central line of the wheel shaft is within a fourth set error range, the bottom patrol inspection mobile robot reaches the bottom patrol inspection station at the moment and is controlled to stop moving;
s030, judging whether the deviation between the image acquired by the third image acquisition module of the second image acquisition module assembly and the second template image is within a fifth set error range, wherein the fifth set error range is within the fourth set error range;
if yes, directly controlling the second inspection mechanical arm to reach a bottom inspection point according to the planned motion track; if not, adding a second correction quantity to the lifting module, or adding a third correction quantity to the planned motion track of the second inspection mechanical arm, and controlling the second inspection mechanical arm to reach the bottom inspection point, so that the deviation between the bottom inspection point image acquired by the fourth image acquisition module and the second target image is within a sixth set error range.
Optionally, the side is patrolled and examined mobile robot and is included first communication module, the mobile robot is patrolled and examined to the bottom includes second communication module, it can pass through to patrol and examine data analysis and management platform first communication module is right the side is patrolled and examined mobile robot and is issued the task instruction, it can pass through to patrol and examine data analysis and management platform the second communication module is right the bottom is patrolled and examined mobile robot and is issued the task instruction.
The invention provides a rail transit vehicle bottom and side synchronous cooperative inspection method, which is characterized in that a bottom inspection mobile robot is controlled to finish bottom inspection of a rail transit vehicle, two side inspection mobile robots are controlled to finish two side inspection of the rail transit vehicle, the bottom inspection mobile robot and the side inspection mobile robots send collected information to an inspection data analysis and management platform, the inspection data analysis and management platform carries out real-time analysis and processing on the received information and generates an inspection report, the inspection report is sent to a handheld mobile terminal, and an inspector can receive and process the inspection report at the handheld mobile terminal. The bottom inspection mobile robot and the side inspection mobile robot are used for cooperative inspection, automatic inspection of the rail vehicle is completed, automatic inspection is achieved, inspection efficiency and maintenance quality are improved, and the problems that manual inspection is high in labor intensity, potential safety hazards exist and the like are solved.
Drawings
FIG. 1 is a flow chart of a synchronous cooperative inspection method for the bottom and the side of a rail transit vehicle provided by an embodiment of the invention;
fig. 2 is a schematic diagram of the components of the side inspection mobile robot provided by the embodiment of the invention;
fig. 3 is a schematic composition diagram of a bottom inspection mobile robot according to an embodiment of the present invention.
In the figure:
10. the side edge patrols and examines the mobile robot; 11. a first onboard computing platform; 12. a first inspection mechanical arm; 13. a first image acquisition module assembly; 14. a first sound collection module; 15. a first communication module; 16. moving the chassis; 17. a first routing inspection positioning module; 18. a first obstacle detection module;
40. the bottom patrol mobile robot; 41. a second on-board computing platform; 42. a second inspection mechanical arm; 43. a second image acquisition module assembly; 44. a second sound collection module; 45. a second communication module; 46. a rail-guided vehicle; 47. a second routing inspection positioning module; 48. a second obstacle detection module.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.
Referring to fig. 1 to 3, the embodiment provides a synchronous and cooperative inspection method for the bottom and the side of a rail transit vehicle, which is used for cooperative inspection of the bottom and the side of the rail transit vehicle, so as to solve the technical problems of large workload, low inspection efficiency, and low safety and reliability caused by frequent daily inspection operation periods of the rail transit vehicle in the prior art.
Specifically, in this embodiment, the rail transit vehicle bottom and side synchronous collaborative inspection method includes:
controlling the two side routing inspection mobile robots 10 to respectively perform routing inspection information acquisition on two sides of the rail transit vehicle, and controlling the bottom routing inspection mobile robot 40 to perform routing inspection information acquisition on the bottom of the rail transit vehicle;
in the inspection process, the bottom inspection mobile robot 40 sends the acquired information to the inspection data analysis and management platform, and the side inspection mobile robot 10 sends the acquired information to the inspection data analysis and management platform;
the inspection data analysis and management platform analyzes and processes the received information in real time and generates an inspection report;
and the patrol data analysis and management platform sends the patrol report to the handheld mobile terminal.
According to the rail transit vehicle bottom and side synchronous cooperative inspection method provided by the embodiment, the bottom inspection mobile robot 40 is controlled to finish bottom inspection of a rail transit vehicle, the two side inspection mobile robots 10 are controlled to finish two side inspection of the rail transit vehicle, the bottom inspection mobile robot 40 and the side inspection mobile robots 10 send collected information to the inspection data analysis and management platform, the inspection data analysis and management platform performs real-time analysis and processing on the received information and generates an inspection report, the inspection report is sent to the handheld mobile terminal, and an inspector can receive and process the inspection report at the handheld mobile terminal. Patrol and examine mobile robot 40 and side with the bottom and patrol and examine mobile robot 10 in coordination, accomplish the automation of patrolling and examining rail vehicle and patrol and examine, realized automatic patrolling and examining, improved and patrolled and examined efficiency and maintenance quality, avoided the manual work to patrol and examine that intensity of labour is big, there is the potential safety hazard etc..
Specifically, the method for synchronously and cooperatively inspecting the bottom and the side of the rail transit vehicle can be used for sequentially inspecting a plurality of rail transit vehicles.
Optionally, in this embodiment, the rail transit vehicle to be detected may be a rail transit vehicle such as a subway, a light rail, or a motor car. The rail transit vehicle comprises a plurality of carriages, wherein each carriage is provided with two carriage bogies, each carriage bogie is provided with four wheels, namely two wheel pairs, and the wheels are respectively positioned on two sides of the carriage.
Specifically, in the present embodiment, the side inspection mobile robot 10 includes a mobile chassis 16, and a first inspection robot arm 12, a first image capture module assembly 13, and a first sound capture module 14 that are disposed on the mobile chassis 16. Further, the mobile chassis 16 is further provided with a first vehicle-mounted computing platform 11, a first communication module 15, a first routing inspection positioning module 17 and a first obstacle detection module 18.
The first image acquisition module component 13 is used for acquiring side image information of the rail transit vehicle, and the first sound acquisition module 14 is used for acquiring side sound information of the rail transit vehicle. Specifically, the first image acquisition module assembly 13 is configured to acquire image information of a key part on a side surface of the rail transit vehicle, and the first sound acquisition module 14 is configured to acquire sound information of a key part on a side surface of the rail transit vehicle. The side key parts of the rail transit vehicle can be arranged according to requirements, and can be a bogie, for example.
Alternatively, the side inspection mobile robot 10 may employ a mobile cart with the first inspection robot arm 12 mounted on the mobile chassis 16.
Patrol and examine data analysis and management platform and first on-vehicle computing platform 11 communication connection, patrol and examine data analysis and management platform and can patrol and examine mobile robot 10 and the first arm 12 issue the task instruction through first communication module 15 to the side so that first image acquisition module subassembly 13 and first sound acquisition module 14 carry out information acquisition, and the information that first image acquisition module subassembly 13 and first sound acquisition module 14 gathered can be sent to patrolling and examining data analysis and management platform through first communication module 15, patrol and examine data analysis and management platform and can carry out analysis processes to received information and generate the side and patrol and examine the report.
And the handheld mobile terminal is in communication connection with the inspection data analysis and management platform and is used for confirming and processing the side inspection report.
Specifically, the patrol data analysis and management platform comprises a patrol data analysis and defect detection module and a patrol task tracking management module.
The information collected by the first image collection module assembly 13 and the first sound collection module 14 can be sent to the inspection data analysis and defect detection module through the first communication module 15, the inspection data analysis and defect detection module processes the collected information and generates an inspection report, and the inspection data analysis and defect detection module can send the generated inspection report to the handheld mobile terminal. The polling task tracking management module is used for performing task management and tracking the task progress of the side polling mobile robot 10.
Specifically, in this embodiment, the side inspection mobile robot 10 includes a mobile chassis motion control module, a side inspection station positioning module, and a side inspection station management module, and the mobile chassis motion control module includes an environment sensing sensor, and the environment sensing sensor can track the inspection path of the side inspection mobile robot 10.
Specifically, the side station inspection point management module comprises a side inspection station position table and a side inspection point position table, the side inspection station position table is compared with a positioning result of the side inspection station positioning module, and the side inspection station positioning is ensured to be accurate. The side patrol inspection point position table is compared with the positioning result of the side patrol inspection station positioning module, so that the position of the patrol inspection point is ensured to be accurate.
The side inspection station is a position where the side inspection mobile robot 10 performs a detection task, and may be, for example, a wheel. The side inspection station position table of the side inspection mobile robot 10 is preset before the side inspection mobile robot 10 inspects the side. The side patrol point position table of the side patrol mobile robot 10 is preset before the side patrol mobile robot 10 patrols.
The side patrol inspection station position table is obtained by the structures and parameters of all carriages and bogies corresponding to the types of the rail transit vehicles. And determining a side routing inspection station position table according to known structural parameters of each carriage, wherein the structural parameters of the carriage comprise the distance between the center point of the bogie and the two sides of the carriage, the distance between the center points of the two bogies, the distance between the center points of the two wheel pairs of the same bogie and the length of each carriage. And calculating the distance between each inspection station and the vehicle head, generating a side inspection station position table, and determining the end point position of the vehicle tail.
Through carriage structural parameters corresponding to the rail transit vehicle models, a side inspection station position table and a tail end position are obtained, the side inspection station can be adjusted in a self-adaptive mode according to different rail transit vehicle models, and the flexibility of side inspection of the mobile robot 10 is improved.
Further, the first image acquisition module assembly 13 comprises a first image acquisition module and a second image acquisition module, the first image acquisition module comprises a first linear array camera, a first area array camera, a first 3D camera and a first infrared camera, and the first image acquisition module is arranged on the mobile chassis 16 of the inspection mobile robot 10 and used for acquiring images of the side selected parts of the rail transit vehicle. Specifically, the selected side portion is a side key portion. The second image acquisition module includes second linear array camera, second area array camera, second 3D camera and the infrared camera of second, and the second image acquisition module is located the first end of patrolling and examining arm 12 for gather the image of bogie.
Specifically, first image acquisition module and second image acquisition module all are connected with first communication module 15 communication, and first communication module 15 can upload to patrolling and examining data analysis and management platform the image of the selected position in side and the image of bogie, examines data analysis and management platform and can carry out accurate target identification and defect detection.
And when the inspection data analysis and management platform receives the images of the side selected parts and the images of the bogie, the inspection data analysis and management platform processes the received images and generates an inspection report.
Optionally, in this embodiment, the first communication module 15 sends the information acquired by the first image acquisition module 13 and the first sound acquisition module 14 to the inspection data analysis and management platform through WiFi, liFi, 4G or 5G communication technologies, and the inspection data analysis and management platform can compare and analyze the standard template according to a set identification algorithm to generate the inspection report. After the inspection report is generated, the inspection data analysis and management platform sends the inspection report to the handheld mobile terminal, and the maintainer operates the handheld mobile terminal to manually recheck and confirm the inspection report.
Further preferably, a lifting platform can be arranged on the side edge inspection mobile robot 10, the first inspection mechanical arm 12 is arranged on the lifting platform, the lifting platform can drive the first inspection mechanical arm 12 to rotate in a three-dimensional space, and the inspection range of the rail transit vehicle side edge inspection robot system is further expanded.
Specifically, controlling the side patrol mobile robot 10 to patrol the side of the rail transit vehicle includes:
s1, the side inspection mobile robot 10 receives a detection instruction and automatically calls an operation scheme of a corresponding vehicle type according to information of a train to be detected;
specifically, in step S1, the service personnel approves the information of the train type, train set number, train position, etc. of the train to be detected, and after receiving the detection task, the side inspection mobile robot 10 automatically invokes the operation scheme of the train type and starts the detection operation.
S2, the side edge inspection mobile robot 10 collects ground yellow line information and/or rail upright post images and continues to move after moving to the head position of the rail transit vehicle, in the process that the side edge inspection mobile robot 10 moves from the head position of the rail transit vehicle to the tail position of the rail transit vehicle, the first image collection module assembly 13 collects side image information of the rail transit vehicle and uploads the side image information to the inspection data analysis and management platform, and the first sound collection module 14 collects side sound information of the rail transit vehicle and uploads the side sound information to the inspection data analysis and management platform;
optionally, a laser sensor is arranged on the side patrol mobile robot 10, and in step S2, the side patrol mobile robot 10 positions the head position of the rail transit vehicle in a horizontal distance measurement manner through the laser sensor; and positioning the specific position and the side inspection station of the carriage through the visual characteristics of the side surface of the vehicle body and the mileage calculation information. In step S2, a deviation between the ground yellow line position and/or the rail column position and the movement direction of the side inspection mobile robot 10 is calculated, and PI control is performed.
In the step S2, the first image acquisition module acquires side image information of the rail transit vehicle and uploads the side image information to the patrol data analysis and management platform. When the first image acquisition module detects wheels of the rail transit vehicle, the side movement inspection robot 10 is controlled to decelerate, so that the side movement inspection robot 10 continues to move at a low speed.
S3, the side edge inspection mobile robot 10 stops after running to the tail position of the rail transit vehicle, the side edge inspection mobile robot 10 is controlled to move from the tail position of the rail transit vehicle to the head position of the rail transit vehicle, in the moving process, the first inspection mechanical arm 12 sequentially collects bogie side edge images of the rail transit vehicle, the first image collection module assembly 13 needs to perform wheel pair detection alignment on the bogie before collecting each bogie side edge image, and the bogie side edge images are uploaded to an inspection data analysis and management platform;
specifically, in step S3, when the first inspection mechanical arm 12 collects the side image of the bogie of the rail transit vehicle, the first inspection mechanical arm 12 moves according to a predetermined pose, and the second image collection module sequentially collects images of each key position of the bogie. Meanwhile, a force sensor is installed on the first inspection mechanical arm 12, in the moving process of the first inspection mechanical arm 12, collision detection is carried out on obstacles in a working space range based on the force sensor of the first inspection mechanical arm 12, and when the first inspection mechanical arm 12 collides with detected equipment, the inspection mechanical arm 12 stops moving.
S4, analyzing the side image information, the side sound information and the bogie side image by the inspection data analysis and management platform to generate a side inspection report;
specifically, in step S4, the inspection data analysis and management platform 20 detects the critical part according to the specific defect detection algorithm and performs defect analysis, thereby generating a side inspection report.
And S5, the inspection data analysis and management platform sends the side inspection report to the handheld mobile terminal.
Specifically, in step S5, the service person holds the handheld mobile terminal, and performs manual review and confirmation on the inspection report on the handheld mobile terminal.
Specifically, the first image acquisition module is arranged on the movable chassis 16, and the second image acquisition module and the first sound acquisition module 14 are arranged at the tail end of the first inspection mechanical arm 12.
When the side patrol inspection mobile robot 10 advances, the side patrol inspection mobile robot 10 is judged in real time whether to reach the side patrol inspection station, and the side patrol inspection mobile robot 10 is judged whether to reach the side patrol inspection station and includes:
s10, when the first image acquisition module detects wheels of the rail transit vehicle, controlling the side edge inspection mobile robot 10 to decelerate to a first set movement speed, and then controlling the side edge inspection mobile robot 10 to continue to move at the first set movement speed;
s20, identifying wheels of the rail transit vehicle and calculating the center positions of the wheels by the second image acquisition module, and when the distance between the vertical center line of the image of the second image acquisition module and the center line of the wheels is within a first set error range, enabling the side edge inspection mobile robot 10 to reach a side edge inspection station and controlling the side edge inspection mobile robot 10 to stop moving;
s30, judging whether the deviation between the image acquired by the second image acquisition module and the first template image is within a second set error range, wherein the second set error range is within the first set error range;
if so, directly controlling the first inspection mechanical arm 12 to reach a side inspection point according to the planned motion track; if not, a first correction amount is added to the planned motion track of the first inspection mechanical arm 12, and the first inspection mechanical arm 12 is controlled to reach the side inspection point, so that the deviation between the side inspection point image acquired by the second image acquisition module and the first target image is within a third set error range.
That is, in step S30, when the deviation between the side inspection point image acquired by the second image acquisition module and the first target image is within the third set error range, the inspection mechanical arm 12 reaches the side inspection point, and the acquired information is valid information.
Specifically, in step S20, since the side movement inspection robot 10 has inertia when the side movement inspection robot 10 is controlled to stop moving, an error may occur between the side movement inspection robot 10 and the side inspection station, and an error may occur between the first inspection robot 12 and the side inspection point. Because the weight of the first inspection mechanical arm 12 is far less than the weight of the side edge moving inspection robot 10, the movement of the first inspection mechanical arm 12 is controlled to easily realize accurate adjustment, and the error of the side edge moving inspection robot 10 is compensated on the first inspection mechanical arm 12 by controlling the movement of the first inspection mechanical arm 12, so that the first inspection mechanical arm 12 reaches a side edge inspection point. Of course, it is also possible that the side edge moving inspection robot 10 stops at the side edge inspection station, and an error exists between the first inspection robot 12 and the side edge inspection point due to the posture problem of the first inspection robot 12 itself, and at this time, the inspection robot 12 is controlled to move to eliminate the error. Therefore, error elimination is required in step S30.
Specifically, the inspection data analysis and management platform 20 stores therein a first template image of each side inspection station and a first target image of each side inspection point.
Specifically, in the present embodiment, the bottom inspection mobile robot 40 includes a rail-type guided vehicle 46, and the rail-type guided vehicle 46 is mounted with a second inspection robot arm 42, a second image capturing module assembly 43, a second sound capturing module 44, a second on-board computing platform 41, a second communication module 45, a second inspection positioning module 47, and a second obstacle detecting module 48. The second patrol inspection positioning module 47 is used for patrol inspection positioning, the second obstacle detection module 48 is used for detecting obstacles, the second image acquisition module assembly 43 is used for acquiring bottom image information of the rail transit vehicle, and the second sound acquisition module 44 is used for acquiring bottom sound information of the rail transit vehicle. In particular, two second inspection robots 42 are mounted on the rail-guided vehicle 46 in order to be able to detect the two wheels of the wheel set respectively.
Specifically, the second image capturing module assembly 43 is configured to capture image information of a bottom key portion of the rail transit vehicle, and the second sound capturing module 44 is configured to capture sound information of the bottom key portion of the rail transit vehicle. The key parts of the bottom of the rail transit vehicle can be arranged according to requirements, such as the bottom of a bogie.
The inspection data analysis and management platform is in communication connection with the second vehicle-mounted computing platform 41, the inspection data analysis and management platform can issue task instructions to the bottom inspection mobile robot 40 and the second inspection mechanical arm 42 through the second communication module 45 so that the second image acquisition module assembly 43 and the second sound acquisition module 44 can acquire information, the information acquired by the second image acquisition module assembly 43 and the second sound acquisition module 44 can be sent to the inspection data analysis and management platform through the second communication module 45, and the inspection data analysis and management platform can analyze and process the received information and generate a bottom inspection report.
And the handheld mobile terminal is in communication connection with the inspection data analysis and management platform and is used for confirming and processing the bottom inspection report.
Specifically, mobile robot 40 is patrolled and examined to bottom includes RGV motion control module, bottom and patrols and examines station orientation module and bottom station and patrol and examine some management module, and RGV motion control module includes the odometer sensor, and the odometer sensor can be patrolled and examined the route and trail of mobile robot 40 to the bottom.
The bottom patrol mobile robot 40 is an RGV (Rail Guided Vehicle) cart, which is also called a Rail Guided shuttle cart, and the length of the cart passage can be set as required.
Further, the bottom inspection station positioning module comprises an infrared laser ranging sensor and a second image acquisition module assembly 43, and the infrared laser ranging sensor is used for positioning the bottom inspection station of the rail transit vehicle.
Further, the second image capturing module assembly 43 includes a third image capturing module and a fourth image capturing module. The third image acquisition module is arranged on the rail-mounted guiding vehicle 46 and used for acquiring images of the bogie, and comprises a third linear array camera, a third surface array camera, a third 3D camera and a third infrared camera.
The fourth image acquisition module is arranged at the tail end of the second inspection mechanical arm 42 and used for acquiring images of selected parts at the bottom of the bogie of the rail transit vehicle, and comprises a fourth array camera, a fourth 3D camera and a fourth infrared camera.
Specifically, the third image acquisition module and the fourth image acquisition module are in communication connection with the second communication module 45, the second communication module 45 can upload the image of the selected part at the bottom of the bogie and the image of the bogie to the inspection data analysis and management platform, and the inspection data analysis and management platform can perform accurate target identification and defect detection.
And when the inspection data analysis and management platform receives the images of the bottom selected part and the bogie, the received images are subjected to information processing to generate a bottom inspection report.
The bottom station inspection point management module comprises a bottom inspection station position table and a bottom inspection station position table, and the bottom inspection station position table is compared with a positioning result of the bottom inspection station positioning module, so that the inspection station is accurately positioned. The bottom patrol inspection point position table is compared with the positioning result of the bottom patrol inspection station positioning module, so that the accurate positioning of the patrol inspection point is ensured.
Specifically, the bottom inspection station is the location where the inspection robot system performs the inspection task, and may be a wheel, for example.
And a bottom inspection station position table of the bottom inspection mobile robot 40 is preset before the bottom inspection mobile robot 40 inspects.
The bottom patrol point position table of the bottom patrol inspection mobile robot 40 is preset before the bottom patrol inspection mobile robot 40 patrols. Specifically, each bottom inspection station is provided with a plurality of bottom inspection points.
The bottom inspection station position table is obtained by the structures and parameters of all carriages and bogies corresponding to the types of the rail transit vehicles.
And determining a bottom routing inspection station position table according to known structural parameters of each carriage, wherein the structural parameters of the carriage comprise the distance between the center point of the bogie and the two sides of the carriage, the distance between the center points of the two bogies, the distance between the center points of the two wheel pairs of the same bogie and the length of each carriage. And calculating the distance between each inspection station and the vehicle head, generating a bottom inspection station position table, and determining the end point position of the vehicle tail.
Through the carriage structural parameters corresponding to the rail transit vehicle models, the bottom inspection station position table and the tail end terminal position are obtained, the inspection stations can be adaptively adjusted according to different rail transit vehicle models, and the inspection flexibility of the bottom inspection mobile robot 40 is improved.
Further, the rail guided vehicle 46 includes infrared laser ranging sensors including wheel-set infrared ranging sensors and wheel-axle infrared ranging sensors. Wherein, the infrared distance measuring sensor of wheel pair includes first infrared laser distance measuring sensor and the infrared laser distance measuring sensor of second for the station is patrolled and examined to the bottom of locating to rail transit vehicle.
The bottom inspection mobile robot 40 further comprises a lifting module, the lifting module is arranged on the rail type guide vehicle 46, the second inspection mechanical arm 42 is arranged on the lifting module, and the lifting module can drive the second inspection mechanical arm 42 to move in a three-dimensional space.
The second inspection mechanical arm 42 is driven to move in the three-dimensional space by the lifting module, and then the second image acquisition module assembly 43 and the second sound acquisition module 44 are driven to move in the three-dimensional space, so that the second inspection mechanical arm 42 can perform inspection operation in different operation areas, and the inspection range is enlarged.
Optionally, in this embodiment, the second communication module 45 sends the information collected by the second image collection module assembly 43 and the second sound collection module 44 to the inspection data analysis and management platform through WiFi, liFi, 4G or 5G communication technologies, and the inspection data analysis and management platform can perform comparative analysis with the standard template according to a set identification algorithm to generate a bottom inspection report.
And after the bottom inspection report is generated, the inspection data analysis and management platform sends the bottom inspection report to the handheld mobile terminal, and the maintainer manually rechecks and confirms the bottom inspection report by operating the handheld mobile terminal.
Specifically, controlling the bottom patrol mobile robot 40 to patrol the bottom of the rail transit vehicle includes:
s01, the bottom inspection mobile robot 40 receives the detection instruction and automatically calls the operation scheme of the corresponding vehicle type according to the information of the train to be detected;
s02, the bottom inspection mobile robot 40 travels to the head position of the rail transit vehicle according to an inspection path and then continues to travel in a continuous motion mode, in the process that the bottom inspection mobile robot 40 moves from the head position of the rail transit vehicle to the tail position of the rail transit vehicle, the second image acquisition module assembly 43 of the bottom inspection mobile robot 40 acquires bottom image information of the rail transit vehicle and uploads the bottom image information to the inspection data analysis and management platform, and the second sound acquisition module 44 of the bottom inspection mobile robot 40 acquires bottom sound information of the rail transit vehicle and uploads the bottom sound information to the inspection data analysis and management platform;
s03, the bottom inspection mobile robot 10 stops after running to the tail position of the rail transit vehicle, the bottom inspection mobile robot 40 is controlled to move from the tail position of the rail transit vehicle to the head position of the rail transit vehicle, in the moving process, the second inspection mechanical arm 42 sequentially collects bogie bottom images of the rail transit vehicle, the second image collection module assembly 43 needs to perform wheel pair and wheel shaft detection alignment on a bogie before collecting each bogie bottom image, and the bogie bottom images are uploaded to an inspection data analysis and management platform;
s04, analyzing the bottom image information, the bottom sound information and the bogie bottom image by the inspection data analyzing and managing platform to generate a bottom inspection report;
and S05, the inspection data analysis and management platform sends the bottom inspection report to the handheld mobile terminal.
Specifically, the bottom inspection mobile robot 40 is provided with an infrared laser ranging sensor, and in step S02, the bottom inspection mobile robot 40 positions the head position of the rail transit vehicle through the infrared laser ranging sensor.
In step S03, in the process of controlling the bottom inspection mobile robot 40 to move from the tail position of the rail transit vehicle to the head position of the rail transit vehicle, the bottom inspection mobile robot 40 is in an intermittent movement mode, and the intermittent movement mode includes:
when the wheel axle of the wheel set is detected, the bottom inspection mobile robot 40 stops moving, the second image acquisition module assembly 43 and the second sound acquisition module 44 acquire information and send the acquired bogie bottom information to the inspection data analysis and management platform, after the information acquisition is finished, the inspection data analysis and management platform performs algorithm analysis on the received bogie bottom information, and the inspection data analysis and management platform can complete the algorithm analysis before the next wheel axle detection is started;
in the intermittent motion mode, the inspection data analysis and management platform of the bottom inspection mobile robot 40 can synchronously analyze the bottom image information and the bottom sound information collected in the continuous motion mode.
Specifically, the infrared laser ranging sensor comprises a wheel set infrared ranging sensor and a wheel axle infrared ranging sensor, and the wheel set infrared ranging sensor comprises a first wheel set infrared ranging sensor and a second wheel set infrared ranging sensor.
The second image capturing module assembly 43 includes a third image capturing module and a fourth image capturing module, the third image capturing module is disposed on the rail-type guiding vehicle 46, and the fourth image capturing module is disposed at the end of the second inspection robot 42.
The bottom inspection mobile robot 40 further comprises a lifting module, the lifting module is arranged on the rail type guide vehicle 46, the second inspection mechanical arm 42 is arranged on the lifting module, and the lifting module can drive the second inspection mechanical arm 42 to move in a three-dimensional space.
Whether the bottom patrol inspection mobile robot 40 arrives the bottom patrol inspection station is judged in real time when the bottom patrol inspection mobile robot 40 walks according to the patrol inspection path, and whether the bottom patrol inspection mobile robot 40 arrives the bottom patrol inspection station includes:
s010, when the first wheel pair infrared distance measuring sensor detects a wheel disc of a wheel pair of the rail transit vehicle, the bottom inspection mobile robot 40 is controlled to decelerate to a second set movement speed, and then the bottom inspection mobile robot 40 is controlled to continue to move at the second set movement speed;
s020, when the wheel disc and the wheel shaft of the rail transit vehicle are detected by the second wheel set infrared distance measuring sensor, the wheel shaft infrared distance measuring sensor detects the central line and/or the edge line of the wheel shaft, the third image collecting module of the second image collecting module component 43 collects the central line and/or the edge line of the wheel shaft, and when the distance between the image central point of the third image collecting module and the central line of the wheel shaft is within a fourth set error range, the bottom patrol mobile robot 40 reaches a bottom patrol station at the moment and the bottom patrol mobile robot 40 is controlled to stop moving;
s030, judging whether the deviation between the image acquired by the third image acquisition module of the second image acquisition module assembly 43 and the second template image is within a fifth set error range, wherein the fifth set error range is within a fourth set error range;
if yes, directly controlling the second inspection mechanical arm 42 to reach the bottom inspection point according to the planned motion track; if not, adding a second correction quantity to the lifting module, or adding a third correction quantity to the planned motion track of the second inspection mechanical arm 42, and controlling the second inspection mechanical arm 42 to reach the bottom inspection point, so that the deviation between the bottom inspection point image acquired by the fourth image acquisition module and the second target image is within a sixth set error range.
That is, in step S030, when the deviation between the bottom patrol inspection point image acquired by the fourth image acquisition module and the second target image is within the sixth set error range, at this time, the second patrol inspection mechanical arm 42 reaches the bottom patrol inspection point, and the acquired information is valid information.
Since the bottom inspection mobile robot 40 itself has inertia when the bottom inspection mobile robot 40 is controlled to stop moving in step S020, there is a possibility that there is a deviation from the bottom inspection station, which may cause an error between the second inspection robot 42 and the bottom inspection point, and therefore, it is necessary to determine whether the second inspection robot 42 reaches the bottom inspection point.
Meanwhile, even if the bottom inspection mobile robot 40 is accurately stopped at the inspection station, there may be an error between the second inspection robot 42 and the bottom inspection point due to a posture problem of the second inspection robot 42 itself. Therefore, it is necessary to further eliminate the error in step S030.
When the deviation between the image acquired by the fourth image information acquisition module of the second image acquisition module assembly 43 and the second template image is not within the fifth set error range, it indicates that an error exists between the second inspection mechanical arm 42 and the bottom inspection point. If the error is caused by the fact that the bottom inspection mobile robot 40 has inertia when the bottom inspection mobile robot 40 stops moving, the bottom inspection mobile robot 40 and the bottom inspection station generate deviation, the lifting module or the second inspection mechanical arm 42 is controlled to move, the deviation of the bottom inspection mobile robot 40 can be compensated to the lifting module or the second inspection mechanical arm 42, and finally the second inspection mechanical arm 42 reaches an inspection point. And because the weight of the bottom inspection mobile robot 40 is larger, the deviation of the bottom inspection mobile robot 40 is compensated to the motion of the lifting module or the second inspection mechanical arm 42, so that the adjustment is more accurate. If the error is caused by the posture problem of the second inspection mechanical arm 42, the error can be eliminated by controlling the movement of the lifting module or the movement of the second inspection mechanical arm 42, so that the accuracy of information acquisition of the fourth image information acquisition module is ensured.
Specifically, the inspection data analysis and management platform stores second template images of all bottom inspection stations and second target images of all bottom inspection points.
The foregoing embodiments are merely illustrative of the principles and features of this invention, which is not limited to the above-described embodiments, but rather is susceptible to various changes and modifications without departing from the spirit and scope of the invention, which changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (8)

1. The utility model provides a synchronous collaborative inspection method of rail transit vehicle bottom and side, its characterized in that includes:
controlling two side routing inspection mobile robots (10) to respectively perform routing inspection information acquisition on two sides of the rail transit vehicle, and controlling a bottom routing inspection mobile robot (40) to perform routing inspection information acquisition on the bottom of the rail transit vehicle;
in the inspection process, the bottom inspection mobile robot (40) sends the acquired information to an inspection data analysis and management platform, and the side inspection mobile robot (10) sends the acquired information to the inspection data analysis and management platform;
the inspection data analysis and management platform analyzes and processes the received information in real time and generates an inspection report;
the patrol data analysis and management platform sends the patrol report to the handheld mobile terminal;
the side inspection mobile robot (10) comprises a mobile chassis (16), and a first inspection mechanical arm (12), a first image acquisition module assembly (13) and a first sound acquisition module (14) which are arranged on the mobile chassis (16);
control the side is patrolled and examined mobile robot (10) and is in the information acquisition is patrolled and examined to the side of rail transit vehicle includes:
s1, the side inspection mobile robot (10) receives a detection instruction and automatically calls an operation scheme of a corresponding vehicle type according to information of a train to be detected;
s2, the side inspection mobile robot (10) acquires ground yellow line information and/or a rail upright post image and then continues to move to the head position of the rail transit vehicle, in the process that the side inspection mobile robot (10) moves from the head position of the rail transit vehicle to the tail position of the rail transit vehicle, the first image acquisition module assembly (13) acquires side image information of the rail transit vehicle and uploads the side image information to the inspection data analysis and management platform, and the first sound acquisition module (14) acquires side sound information of the rail transit vehicle and uploads the side sound information to the inspection data analysis and management platform;
s3, the side inspection mobile robot (10) stops after running to the tail position of the rail transit vehicle, the side inspection mobile robot (10) is controlled to move from the tail position of the rail transit vehicle to the head position of the rail transit vehicle, in the moving process, the first inspection mechanical arm (12) sequentially collects side images of the bogie of the rail transit vehicle, and the first image collection module assembly (13) needs to perform wheel pair detection alignment on the bogie before collecting each side image of the bogie and upload the side images of the bogie to the inspection data analysis and management platform;
s4, analyzing the side image information, the side sound information and the side image of the bogie by the inspection data analyzing and managing platform to generate a side inspection report;
s5, the inspection data analysis and management platform sends the side inspection report to the handheld mobile terminal;
the first image acquisition module assembly (13) comprises a first image acquisition module and a second image acquisition module, the first image acquisition module is arranged on the movable chassis (16), and the second image acquisition module and the first sound acquisition module (14) are both arranged at the tail end of the first inspection mechanical arm (12);
the side is patrolled and examined mobile robot (10) and is advanced the time real-time judgement mobile robot (10) are patrolled and examined to the side and whether reach the side and examine the station, judge whether mobile robot (10) are patrolled and examined to the side is patrolled and examined the station and is arrived include:
s10, when the first image acquisition module detects wheels of the rail transit vehicle, controlling the side edge inspection mobile robot (10) to decelerate to a first set movement speed, and then controlling the side edge inspection mobile robot (10) to continue to move at the first set movement speed;
s20, the second image acquisition module identifies wheels of the rail transit vehicle and calculates the center positions of the wheels, and when the distance between the vertical center line of the image of the second image acquisition module and the center line of the wheels is within a first set error range, the side edge inspection mobile robot (10) reaches the side edge inspection station at the moment, and the side edge inspection mobile robot (10) is controlled to stop moving;
s30, judging whether the deviation between the image acquired by the second image acquisition module and the first template image is within a second set error range, wherein the second set error range is within the first set error range;
if yes, directly controlling the first inspection mechanical arm (12) to reach a side inspection point according to a planned motion track; if not, adding a first correction quantity to the planned motion track of the first inspection mechanical arm (12), and controlling the first inspection mechanical arm (12) to reach the side inspection point, so that the deviation between the side inspection point image acquired by the second image acquisition module and the first target image is within a third set error range.
2. The rail transit vehicle bottom and side synchronous cooperative inspection method according to claim 1, wherein a laser sensor is arranged on the side inspection mobile robot (10), and in the step S2, the side inspection mobile robot (10) positions the head position of the rail transit vehicle through the laser sensor.
3. The rail transit vehicle bottom and side synchronous cooperative inspection method according to claim 1, wherein in the step S2, the deviation between the ground yellow line position and/or the rail upright position and the motion direction of the side inspection mobile robot (10) is calculated and PI control is performed.
4. The rail transit vehicle bottom and side synchronous collaborative inspection method according to claim 1, wherein the bottom inspection mobile robot (40) comprises a rail-type guided vehicle (46), and a second inspection robot arm (42), a second image acquisition module assembly (43) and a second sound acquisition module (44) are mounted on the rail-type guided vehicle (46);
control bottom is patrolled and examined mobile robot (40) and is patrolled and examined information acquisition in rail transit vehicle's bottom and include:
s01, the bottom inspection mobile robot (40) receives the detection instruction and automatically calls the operation scheme of the corresponding vehicle type according to the information of the train to be detected;
s02, the bottom inspection mobile robot (40) moves to the head position of the rail transit vehicle according to an inspection path and then continues to move in a continuous movement mode, in the process that the bottom inspection mobile robot (40) moves from the head position of the rail transit vehicle to the tail position of the rail transit vehicle, a second image acquisition module assembly (43) of the bottom inspection mobile robot (40) acquires bottom image information of the rail transit vehicle and uploads the bottom image information to the inspection data analysis and management platform, and a second sound acquisition module (44) of the bottom inspection mobile robot (40) acquires bottom sound information of the rail transit vehicle and uploads the bottom sound information to the inspection data analysis and management platform;
s03, the bottom inspection mobile robot (40) stops after running to the tail position of the rail transit vehicle, the bottom inspection mobile robot (40) is controlled to move from the tail position of the rail transit vehicle to the head position of the rail transit vehicle, a second inspection mechanical arm (42) sequentially collects images of the bottom of a bogie of the rail transit vehicle in the movement process, and a second image collection module assembly (43) needs to perform wheel pair and wheel axle detection alignment on the bogie before collecting each image of the bottom of the bogie and uploads the images of the bottom of the bogie to the inspection data analysis and management platform;
s04, analyzing the bottom image information, the bottom sound information and the bogie bottom image by the inspection data analysis and management platform to generate a bottom inspection report;
and S05, the inspection data analysis and management platform sends the bottom inspection report to the handheld mobile terminal.
5. The rail transit vehicle bottom and side synchronous cooperative inspection method according to claim 4, wherein an infrared laser ranging sensor is arranged on the bottom inspection mobile robot (40), and in the step S02, the bottom inspection mobile robot (40) positions the head position of the rail transit vehicle through the infrared laser ranging sensor.
6. The rail transit vehicle bottom and side synchronous cooperative inspection method according to claim 5, wherein in the step S03, the bottom inspection mobile robot (40) is controlled to be in an intermittent motion mode in the process that the bottom inspection mobile robot (40) moves from the tail position of the rail transit vehicle to the head position of the rail transit vehicle, and the intermittent motion mode comprises:
when the wheel set wheel axle is detected, the bottom inspection mobile robot (40) stops moving, the second image acquisition module assembly (43) and the second sound acquisition module (44) acquire information and send the acquired bogie bottom information to the inspection data analysis and management platform, after the information acquisition is finished, the inspection data analysis and management platform performs algorithm analysis on the received bogie bottom information, and the inspection data analysis and management platform can complete the algorithm analysis before next wheel set wheel axle detection is started;
the bottom patrol inspection mobile robot (40) is in the intermittent motion mode, and the patrol inspection data analysis and management platform can perform synchronous analysis on the bottom image information and the bottom sound information collected in the continuous motion mode.
7. The rail transit vehicle bottom and side synchronous collaborative inspection method according to claim 6, wherein the infrared laser ranging sensors include wheel set infrared ranging sensors and axle infrared ranging sensors, and the wheel set infrared ranging sensors include a first wheel set infrared ranging sensor and a second wheel set infrared ranging sensor;
the second image acquisition module assembly (43) comprises a third image acquisition module and a fourth image acquisition module, the third image acquisition module is arranged on the rail type guide vehicle (46), and the fourth image acquisition module is arranged at the tail end of the second inspection mechanical arm (42);
the bottom inspection mobile robot (40) further comprises a lifting module, the lifting module is arranged on the rail type guide vehicle (46), the second inspection mechanical arm (42) is arranged on the lifting module, and the lifting module can drive the second inspection mechanical arm (42) to move in a three-dimensional space;
the bottom is patrolled and examined mobile robot (40) and is followed when patrolling and examining the route walking real-time judgement the bottom is patrolled and examined mobile robot (40) and is reachd the bottom and patrolled and examined the station, judges whether the bottom is patrolled and examined mobile robot (40) and is reachd the bottom and is patrolled and examined the station and include:
s010, when the first wheel pair infrared distance measuring sensor detects a wheel disc of the wheel pair of the rail transit vehicle, the bottom inspection mobile robot (40) is controlled to decelerate to a second set movement speed, and then the bottom inspection mobile robot (40) is controlled to continue to move at the second set movement speed;
s020, when the wheel disc and the wheel shaft of the rail transit vehicle are detected by the second wheel pair infrared distance measuring sensor, the wheel shaft infrared distance measuring sensor detects the central line and/or the edge line of the wheel shaft, the third image acquisition module of the second image acquisition module assembly (43) acquires the central line and/or the edge line of the wheel shaft, and when the distance between the image central line of the third image acquisition module and the central line of the wheel shaft is within a fourth set error range, the bottom patrol inspection mobile robot (40) reaches the bottom patrol inspection station at the moment and is controlled to stop moving;
s030, judging whether the deviation between the image acquired by the third image acquisition module of the second image acquisition module assembly (43) and the second template image is within a fifth set error range, wherein the fifth set error range is within the fourth set error range;
if yes, directly controlling the second inspection mechanical arm (42) to reach a bottom inspection point according to a planned motion track; if not, adding a second correction quantity to the lifting module, or adding a third correction quantity to the planned motion track of the second inspection mechanical arm (42), and controlling the second inspection mechanical arm (42) to reach the bottom inspection point, so that the deviation between the bottom inspection point image acquired by the fourth image acquisition module and the second target image is within a sixth set error range.
8. The rail transit vehicle bottom and side synchronous cooperative inspection method according to any one of claims 1 to 7, wherein the side inspection mobile robot (10) comprises a first communication module (15), the bottom inspection mobile robot (40) comprises a second communication module (45), the inspection data analysis and management platform can issue a task instruction to the side inspection mobile robot (10) through the first communication module (15), and the inspection data analysis and management platform can issue a task instruction to the bottom inspection mobile robot (40) through the second communication module (45).
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