CN115502999A

CN115502999A - Inspection robot for train

Info

Publication number: CN115502999A
Application number: CN202211359162.5A
Authority: CN
Inventors: 蒋邦亮; 徐声; 郭振海; 赵孝强; 王欣悦; 宁佐坚; 杨轩; 刘忠宇; 刘金刚
Original assignee: Zhongshu Zhike Hangzhou Technology Co ltd
Current assignee: Zhongshu Zhike Hangzhou Technology Co ltd
Priority date: 2022-11-02
Filing date: 2022-11-02
Publication date: 2022-12-23

Abstract

The invention discloses a train inspection robot, which comprises a chassis, wherein six mechanical arms are arranged at the top of the chassis, a color 3D camera is mounted on each six mechanical arm, four steering wheel groups are mounted at four corners of the bottom of the chassis, each steering wheel group consists of a driving structure, a rotating structure and a steering wheel, a battery box is mounted at the bottom end of the tail of the chassis, and a mounting bin box is fixed at one side of each steering wheel group; according to the invention, the scraping frame is rotatably arranged in the mounting bin box through the designed mounting bin box, the scraping frame and the spring, and then the mounting bin box is arranged on the corresponding steering wheel set, one end of the scraping frame is constantly kept to be mutually attached to the outer wall of the steering wheel set under the extrusion action of the spring, so that the scraping of attachments on the steering wheel is realized, and the phenomenon that the attachments are attached to the steering wheel to cause the deflection of the invention during shooting and cause the wrong shooting angle is avoided.

Description

Inspection robot for train

Technical Field

The invention belongs to the technical field of train inspection robots, and particularly relates to a train inspection robot.

Background

In recent years, urban rail transit networks in China grow rapidly, in the maintenance period of a large number of urban rail transit equipment and infrastructures, the pressure on line safety and detection is increased gradually, problems that routing inspection is not in place, detection points and details are easy to omit, hidden danger is not timely found, and the reliability of recorded data is limited are low are solved manually, so that a method for detecting faults by using a train routing inspection robot is provided, the labor cost is reduced, detection is free of dead corners and full coverage is realized, the real and reliable train routing inspection robot with the results is ensured to adopt a 3D laser radar navigation technology, a photoelectric positioning sensor and a wheel axle correction algorithm to complete positioning navigation, the train routing inspection robot automatically travels to a specified stop point to collect fault images, the collection process is completed by a vision module, the vision module comprises a 3D camera at the tail end of a mechanical arm, a 2D camera for looking up on a train body and a camera for looking back and forth, the collected images are uploaded to a background to be detected by an algorithm, and are uploaded to a platform to be manually rechecked, and the detection of train bottom faults is completed.

The robot is patrolled and examined to current train when using, adopt 3D laser radar navigation technique, photoelectric positioning sensor and shaft correction algorithm accomplish the location navigation, automatic advance to appointed stop and carry out trouble image acquisition, the process of gathering is accomplished by the vision module, the vision module includes the terminal 3D camera of arm, look 2D camera and automobile body front and back and look the camera on the automobile body, the image after the collection is uploaded to the backstage and is carried out the algorithm and detect, upload to the platform and carry out artifical rechecking, accomplish the detection of vehicle bottom trouble, but in actual patrolling and examining there is following defect:

(1) In the process of polling the bottom of a train, a polling robot shoots and images through a high-precision 3D camera at the end part of a six-axis mechanical arm, but in polling, attachments are attached to the surface of a steering wheel on a steering wheel group for driving the robot to advance, so that the surface of the steering wheel is uneven and cannot be removed in time, and the robot is inclined in shooting, and the problem of incorrect shooting angle is caused;

(2) In actual use, the chassis of the inspection robot is not strong enough, and in the inspection process, when the inspection robot enters and exits the station track, if the robot with low chassis capacity enters and exits the station track through the side direction, the lifting table and other modes need to be installed in the station track, so that the robot can enter and exit through the side surface in the lifting table and other modes, the civil engineering cost is high, and the train inspection robot is provided for the inspection robot.

Disclosure of Invention

The invention aims to provide a train inspection robot, which aims to solve the problems that the steering wheel of the inspection robot is stained with sundries, the wheel body is uneven, the shooting angle is not correct, the moving lining and the strength of the chassis of the inspection robot are insufficient, and civil engineering construction, installation of a lifting platform and other modes are needed to increase the civil engineering cost when entering and exiting a station track through the side surface.

In order to achieve the purpose, the invention provides the following technical scheme: robot is patrolled and examined to train, which comprises a base plate, the top on chassis is provided with six arms, install colored 3D camera on the six arms, four helm group are installed to four corners in the bottom on chassis, helm group comprises drive structure, revolution mechanic and helm, the battery box is installed to the afterbody bottom on chassis, one side of helm group is fixed with the installation storehouse box, the inside of installation storehouse box is rotated through the pivot and is connected with the frame of scraping, the one end of scraping the frame is laminated with the outer wall of helm each other, the one side of scraping the other end of frame is provided with the spring, and the spring is located the inside of installation storehouse box, scrape the surface of frame and seted up the bin outlet.

Preferably, a side frame is arranged on one side of a port of the discharge port, the side frame is fixed on the side wall of the scraping frame, and a symmetrical inclined table is fixed inside the side frame.

Preferably, a guide rod is arranged inside the spring, a guide cylinder is sleeved on the outer wall of the guide rod and fixed on the inner wall of the mounting bin box, and the guide rod is fixed on the side wall of the scraping frame.

Preferably, the longitudinal sections of the guide cylinder and the guide rod are both arc-shaped structures, and the central axes of the guide cylinder, the guide rod and the rotating shaft are mutually overlapped.

Preferably, monitoring cameras are installed at two ends of the chassis, a vehicle head positioning sensor is installed at the front end of the chassis, and a laser radar module is installed at one end of the top of the chassis.

Preferably, the end of the chassis is provided with a status light and a music alarm, and handles are mounted at four corners of the side of the chassis.

Preferably, the ultrasonic wave anticollision module is installed respectively and is touched the limit at the both ends on chassis, one side of ultrasonic wave anticollision module is provided with the dropproof sensor.

Compared with the prior art, the invention has the beneficial effects that:

(1) The scraping frame is rotatably arranged in the mounting bin box through the designed mounting bin box, the scraping frame and the spring, the mounting bin box is arranged on the corresponding steering wheel set, one end of the scraping frame is constantly attached to the outer wall of the steering wheel set under the extrusion action of the spring, so that the attachment on the steering wheel is scraped away, the phenomenon that the attachment adheres to the steering wheel and is inclined when the novel rubber wheel type rubber wheel is shot, the shooting angle is not correct, the attachment discharged through the discharge port falls into the side frame through the designed side frame and the designed symmetrical inclined platform, then the falling guide is realized under the action of the symmetrical inclined platform, the attachment is ensured to fall towards two sides, the attachment falls at the front end of the steering wheel set and adheres to the steering wheel again, the spring is guided through the designed guide rod and the guide cylinder, and the phenomenon that the spring is excessively bent and is ejected out of the mounting bin box is avoided.

(2) Through the designed rudder wheel set and chassis, the rudder wheel set is composed of a driving structure, a rotating structure and a rudder wheel, powerful power is provided for the rudder wheel through the driving structure, meanwhile, through the rotating structure, the free in-situ rotation of the rudder wheel is realized, the side length of an externally tangent square of the in-situ rotation of the chassis is 1m, the rotating diameter of the chassis is smaller than the distance between the stand columns of the station track, a robot cannot collide with the inner side in the rotation, the chassis has self-rotating capacity and small self-rotating radius, and the power is sufficient, so that the robot can build a ramp at the front and back of the station track or build a ramp at the side of the station track, and the robot can directly climb out from the side of the station track under the action of the rudder wheel set with the powerful power and the self-rotating capacity.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view taken at A in FIG. 1 according to the present invention;

FIG. 3 is a side view of the present invention;

FIG. 4 is a partial cross-sectional view of the structure of FIG. 3 at B in accordance with the present invention;

FIG. 5 is an assembled side sectional view of the scraping frame, side frame and symmetrical ramps of the present invention;

in the figure: 1. a chassis; 2. edge contact; 3. a color 3D camera; 4. a six-axis robot arm; 5. a laser radar module; 6. a handle; 7. a headstock positioning sensor; 8. a guide bar; 9. a spring; 10. a scraping frame; 11. a side frame; 12. a symmetrical sloping platform; 13. a rudder wheel group; 14. a steering wheel; 15. a guide cylinder; 16. a battery case; 17. a monitoring camera; 18. mounting a bin box; 19. a discharge outlet.

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.

Examples

Referring to fig. 1 to 5, the present invention provides a technical solution: a train inspection robot comprises a chassis 1, wherein a six-axis mechanical arm 4 is arranged at the top of the chassis 1, a color 3D camera 3 is arranged on the six-axis mechanical arm 4, four steering wheel sets 13 are arranged at four corners of the bottom of the chassis 1, each steering wheel set 13 consists of a driving structure, a rotating structure and a steering wheel 14, the chassis 1 and the steering wheel sets 13 are designed, the steering wheel sets 13 and the chassis 1 are designed to transmit power to the chassis, so that the power of the chassis is strong, the capability of the chassis is strong, the climbing capability of the chassis reaches 15 degrees, the obstacle crossing/wading capability of the chassis reaches 10cm, meanwhile, the steering wheel sets 13 have self-rotating capability and enough power, the chassis 1 is strong in power, the original place rotation of the chassis is reversed, the length of the circumscribed square side edge of the chassis 1 is 1m, the rotating diameter of the chassis is smaller than the distance between stand columns of a station track, no collision occurs during rotation, and the side surface of the chassis is ensured to pass in and out of the station track, the method is characterized in that ramps are only required to be built in the front and back of the station track or on the side face of the station track to enable the station track to directly climb out from the side face of the station track, compared with the traditional method of entering and exiting the station track from the side face by adopting a lifting platform mode, the requirement on civil engineering is low, the cost is low, a battery box 16 is installed at the bottom end of the tail portion of a chassis 1, an installation bin box 18 is fixed on one side of a steering wheel set 13, a scraping frame 10 is rotatably connected inside the installation bin box 18 through a rotating shaft, one end of the scraping frame 10 is mutually attached to the outer wall of a steering wheel 14, a spring 9 is arranged on one side of the other end of the scraping frame 10, the scraping frame 10 is rotatably installed in the installation bin box 18 through the installation bin box 18 and is installed on the corresponding steering wheel set 13 through the installation bin box 18, one end of the scraping frame 10 is constantly mutually attached to the outer wall of the steering wheel set 13 under the extrusion action of the spring 9, and attachments on the steering wheel are scraped away, the invention can avoid the deflection of the invention caused by the sticking on the steering wheel, which leads to the wrong shooting angle, and the spring 9 is positioned inside the mounting bin box 18, and the surface of the scraping frame 10 is provided with a discharge opening 19.

In this embodiment, preferably, a side frame 11 is disposed at one side of the port of the discharge port 19, the side frame 11 is fixed on the side wall of the scraping frame 10, a symmetrical ramp 12 is fixed inside the side frame 11, and through the designed side frame 11 and the symmetrical ramp 12, the attachments discharged through the discharge port 19 fall into the side frame 11, and then under the action of the symmetrical ramp 12, the material falling guide is realized, the attachments are ensured to fall to both sides, and the attachments are prevented from falling at the front end of the steering wheel set 13 and adhering to the steering wheel 14 again.

In this embodiment, preferably, the inside of spring 9 is provided with guide rod 8, the outer wall cover of guide rod 8 is equipped with guide cylinder 15, guide cylinder 15 is fixed on installation storehouse box 18 inner wall, guide rod 8 is fixed on the lateral wall of scraping frame 10, through guide rod 8 and guide cylinder 15 of design, the realization is led spring 9 extrusion, avoid it to take place to buckle excessively and pop out from installation storehouse box 18 in, the longitudinal section of guide cylinder 15 and guide rod 8 is the arc structure, and guide cylinder 15, guide rod 8 and pivot three's the central axis coincide each other.

In this embodiment, preferably, monitoring cameras 17 are installed at both ends of the chassis 1, the vehicle head positioning sensor 7 is installed at the front end of the chassis 1, the laser radar module 5 is installed at one end of the top of the chassis 1, and the vehicle body front-back vision monitoring cameras 17 can monitor the front and back conditions of the station track in real time through the designed monitoring cameras 17.

In the embodiment, preferably, the end part of the chassis 1 is provided with a status light and a music alarm, the four corners of the side part of the chassis 1 are respectively provided with a handle 6, the body of the invention can be conveniently moved through the designed status light and the music player through the designed handle 6, the robot is provided with the music alarm, the corresponding condition can be subjected to voice alarm, and a user can know the specific fault reason by hearing the voice alarm; the status light, automobile body front and back breathing lamp have the robot state display function, and different colours represent different states of robot.

In the embodiment, preferably, the two ends of the chassis 1 are respectively provided with the ultrasonic anti-collision module and the contact edge 2, and the ultrasonic anti-collision module enables the ultrasonic obstacle stopping distance of the robot to reach 5m through the designed ultrasonic anti-collision module and the designed contact edge 2; the protection level of the front and rear safe touch edges 2 reaches IP54, the use protection performance of the robot is improved, and one side of the ultrasonic anti-collision module is provided with an anti-falling sensor.

The working principle and the using process of the invention are as follows: in the process of polling, one end of the scraping frame 10 keeps mutually attached to the outer wall of the steering wheel group 13 constantly under the extrusion action of the spring 9, so that the scraping of attachments on the steering wheel is realized, the phenomenon that the scraping frame is attached to the steering wheel to cause deflection and cause wrong shooting angles in the process of shooting is avoided, wherein when the scraping frame 10 scrapes off attachments on the steering wheel group 13, the scraped attachments drop into the side frame 11 through the attachments discharged from the discharge port 19, then, under the action of the symmetrical sloping platforms 12, the falling material guiding is realized, the attachment is ensured to fall to two sides, and the attachment is prevented from falling to the front end of the steering wheel set 13 and being attached to the steering wheel 14 again, the invention transmits power to the chassis through the steering wheel set 13, so that the power is strong, the capability is strong, the climbing capability reaches 15 degrees, the obstacle crossing/wading capability reaches 10cm, meanwhile, the rudder wheel set 13 has self-rotating capability and enough power, and simultaneously, when the robot rotates, the side length of the circumscribed square which is rotated in situ by the chassis 1 is 1m, so that the rotating diameter is smaller than the distance between the stand columns of the track, the collision can not occur during the rotation, thereby leading the chassis 1 to have strong power and rotate and reverse in situ, ensuring that when the side surface of the chassis enters and exits from the station track, the ramp is built only in front of and behind the station track or on the side of the station track, so that the station track can be directly climbed out from the side of the station track, compared with the traditional method of entering and exiting the station track from the side by adopting a lifting platform, the invention has small requirement on civil engineering and low cost, and in the process of routing inspection, the routing inspection robot is protected and alarmed through the status lamp, the music alarm, the monitoring camera 17, the ultrasonic anti-collision module and the touch edge 2, the robot is provided with the music alarm and can carry out voice alarm on corresponding conditions, and a user can know the specific failure reason by hearing the voice alarm; the front and rear respiration state lamps of the vehicle body have a robot state display function, and different colors represent different states of the robot, so that the fault of the robot can be reflected through the colors; the ultrasonic wave anti-collision module has the advantages that the robot ultrasonic wave barrier stopping distance can reach 5m, the protection level of the front and rear safe touch edges 2 reaches IP54, the use protection performance of the robot is improved, and the front and rear view monitoring cameras 17 on the vehicle body can monitor the front and rear conditions of the station way in real time.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Robot is patrolled and examined to train, including chassis (1), the top on chassis (1) is provided with six arms (4), install colored 3D camera (3), its characterized in that on six arms (4): four helm group (13) are installed to four corners in the bottom on chassis (1), helm group (13) comprise drive structure, revolution mechanic and helm (14), battery box (16) are installed to the afterbody bottom on chassis (1), one side of helm group (13) is fixed with installation storehouse box (18), the inside of installation storehouse box (18) is rotated through the pivot and is connected with and scrapes frame (10), the outer wall of the one end of scraping frame (10) and helm (14) is laminated each other, the one side of the other end of scraping frame (10) is provided with spring (9), and spring (9) are located the inside of installation storehouse box (18), bin outlet (19) have been seted up on the surface of scraping frame (10).

2. The train inspection robot according to claim 1, wherein: a side frame (11) is arranged on one side of a port of the discharge port (19), the side frame (11) is fixed on the side wall of the scraping frame (10), and a symmetrical sloping platform (12) is fixed inside the side frame (11).

3. The train inspection robot according to claim 1, wherein: the novel scraper is characterized in that a guide rod (8) is arranged inside the spring (9), a guide cylinder (15) is sleeved on the outer wall of the guide rod (8), the guide cylinder (15) is fixed on the inner wall of the mounting bin box (18), and the guide rod (8) is fixed on the side wall of the scraper frame (10).

4. The train inspection robot according to claim 3, wherein: the longitudinal sections of the guide cylinder (15) and the guide rod (8) are arc-shaped structures, and the central axes of the guide cylinder (15), the guide rod (8) and the rotating shaft are superposed with each other.

5. The train inspection robot according to claim 1, wherein: monitoring cameras (17) are installed at two ends of the chassis (1), a vehicle head positioning sensor (7) is installed at the front end of the chassis (1), and a laser radar module (5) is installed at one end of the top of the chassis (1).

6. The train inspection robot according to claim 5, wherein: the end of the chassis (1) is provided with a status lamp and a music alarm, and handles (6) are arranged at four corners of the side of the chassis (1).

7. The train inspection robot according to claim 6, wherein: the ultrasonic anti-collision device is characterized in that the two ends of the chassis (1) are respectively provided with an ultrasonic anti-collision module and a contact edge (2), and one side of the ultrasonic anti-collision module is provided with a falling-proof sensor.