CN210162104U

CN210162104U - Rail transit rolling stock inspection device and system

Info

Publication number: CN210162104U
Application number: CN201920187825.7U
Authority: CN
Inventors: 罗阳; 关山; 黄雪峰; 庞龙
Original assignee: Beijing Xinliantie Group Ltd By Share Ltd
Current assignee: Beijing Xinliantie Group Ltd By Share Ltd; Beijing Sheenline Technology Co Ltd
Priority date: 2019-02-03
Filing date: 2019-02-03
Publication date: 2020-03-20
Anticipated expiration: 2029-02-03

Abstract

The application relates to a rail transit rolling stock inspection device and system. The rail transit rolling stock inspection device is used for detecting a vehicle to be detected, the vehicle to be detected is parked on a rail, the rail is arranged on an inspection platform, the inspection platform is arranged along the extending direction of the rail, an inspection groove is correspondingly formed in the extending direction of the rail, and the rail transit rolling stock inspection device comprises an inspection robot, a lifting equipment set and a control device. Wherein, the jacking equipment group includes at least one jacking equipment, jacking equipment set up in the side of track extending direction, jacking equipment is elevation structure, through going up and down jacking equipment can realize with patrol and examine the recess butt joint, and can realize with patrol and examine the keeping level on platform surface. The control device is in communication connection with the inspection robot and used for controlling the inspection robot to work. The application provides track traffic rolling stock inspection device is intelligent high.

Description

Rail transit rolling stock inspection device and system

Technical Field

The application relates to the field of rail transit rolling stock detection, in particular to a rail transit rolling stock inspection device and a rail transit rolling stock inspection system.

Background

With the development of transportation technology, rail transportation rolling stock represented by trains, motor cars, subways, high-speed rails and the like has become an important transportation tool for people to go out. The rail transit rolling stock needs to be overhauled regularly to ensure the safety of operation.

In the traditional technology, the overhaul of rail transit rolling stocks mainly takes manual detection as the main part. The detection is carried out by manual visual detection or handheld detection equipment. Such detection has problems of low efficiency, poor quality, low informatization level, and the like.

With the gradual development of artificial intelligence, rail transit rolling stock inspection devices gradually appear. The current rail transit rolling stock inspection device mainly inspects the rail transit rolling stock by an inspection robot carrying a detection probe. However, the intelligence of the rail transit rolling stock inspection device with the structure is required to be improved at present.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a rail transit rolling stock inspection device and system for solving the problem of poor intelligence.

The utility model provides a rail transit rolling stock inspection device, rail transit rolling stock inspection device is used for waiting to detect the vehicle and detects, it stops in the track to wait to detect the vehicle the track sets up in patrolling and examining the platform, just it follows to patrol and examine the platform the track extending direction corresponds to set up and patrols and examines the recess, rail transit rolling stock inspection device includes:

a patrol robot;

the lifting equipment group comprises at least one lifting equipment, the lifting equipment is arranged on the side surface of the extending direction of the track, the lifting equipment is of a lifting structure, and can be butted with the inspection groove and kept level with the surface of the inspection platform through lifting;

and the control device is in communication connection with the inspection robot and is used for controlling the inspection robot to work.

In one embodiment, the lifting device group comprises at least 2 lifting devices, wherein the at least 2 lifting devices are respectively arranged on two sides of the extending direction of the track, and the at least 2 lifting devices can be in butt joint communication with the inspection groove and form at least one passage.

In one embodiment, the number of the tracks is at least 2 groups, the number of the inspection grooves is at least 2, and the number of the lifting equipment groups is at least 2 groups;

each routing inspection groove is arranged corresponding to one group of tracks;

each group of lifting equipment groups is correspondingly arranged on each group of tracks;

at least 2 groups a plurality of the jacking equipment of jacking equipment group can with at least 2 patrol and examine recess butt joint intercommunication to form at least one and cross the track passageway.

In one embodiment, the rail transit rolling stock inspection device further comprises a field working condition detection device, which is arranged on the rail, the inspection platform and/or the inspection groove, is in communication connection with the control device, and is used for detecting the working condition of an inspection field.

In one embodiment, the field condition detection device comprises a liquid accumulation detection mechanism (710), at least one of an in-place detection component and an intrusion detection component of the vehicle to be detected;

the accumulated liquid detection mechanism is arranged in the inspection groove, is in communication connection with the control device and is used for detecting the accumulated liquid condition in the inspection groove;

the vehicle in-place detection assembly is arranged on the track, is in communication connection with the control device and is used for detecting whether the vehicle to be detected stops in place or not;

the intrusion detection subassembly set up in the track patrol and examine the platform and/or patrol and examine the recess, with controlling means communication connection for detect whether there is the invasion in the scene of patrolling and examining.

In one embodiment, the inspection robot includes:

the operation walking device comprises a vehicle body and wheels, wherein the wheels are arranged at the bottom of the vehicle body, and the vehicle body comprises an accommodating cavity;

the mechanical arm is arranged on the vehicle body and is in communication connection with the control device, the mechanical arm is of a foldable structure, and the mechanical arm can be accommodated in the accommodating cavity.

In one embodiment, the inspection robot further includes:

and the detection device is arranged at the tail end of the mechanical arm and is in communication connection with the control device.

In one embodiment, the inspection robot further includes:

and the butt joint device is arranged on the vehicle body and is used for realizing butt joint with other equipment.

In one embodiment, the inspection robot further includes:

and the auxiliary charging end is arranged on the vehicle body.

In one embodiment, the rail transit rolling stock inspection device further includes:

and the auxiliary charging device is arranged on the track, is matched with the auxiliary charging end and is used for providing power for the auxiliary charging end.

In one embodiment, the rail transit rolling stock inspection device further includes an inspection assisting device including:

an auxiliary walking device;

and the tool rack is arranged on the auxiliary walking device and used for placing the detection device to be replaced.

In one embodiment, the inspection assisting apparatus further includes:

and the mechanical emergency device is arranged on the auxiliary walking device, is structurally matched with the butt joint device and is used for realizing mechanical butt joint with the inspection robot.

In one embodiment, the detection device is connected to the tail end of the mechanical arm through a quick-change device;

the quick-change device comprises a mechanical arm end and a tool end, the mechanical arm end is connected with the mechanical arm, the tool end is connected with the detection device, and the mechanical arm end and the tool end can be plugged to realize electrical connection and mechanical connection;

patrol and examine auxiliary device the tool holder sets up treats replacement detection device, treat that replacement detection device's one end is connected with the instrument end, the instrument end be used for with the arm end is connected and is realized treat replacement detection device with the connection of arm.

the reference datum is arranged on one side of the track along the extending direction of the track;

the pose detection device is arranged on the inspection robot and used for detecting the distance information of the inspection robot relative to the reference datum;

and the processing device is in communication connection with the pose detection device and is used for calculating the pose offset of the inspection robot relative to the reference coordinate according to the distance information of the inspection robot relative to the reference datum.

In one embodiment, the processing device is in communication connection with the control device, and the control device is further configured to control the inspection robot to walk according to the pose offset of the inspection robot relative to the reference coordinate.

The rail transit rolling stock inspection device that this application embodiment provided at first passes through jacking equipment, automatic rising, realize with the butt joint of patrolling and examining the recess and with the butt joint and the intercommunication of patrolling and examining the platform have improved degree of automation. Secondly, through jacking equipment realize with patrol and examine the keeping level on platform surface for it is level and smooth to patrol and examine the platform, does not have the walking obstacle. Thirdly, the inspection robot enters and exits through the lifting equipment, manual intervention is not needed for the inspection groove, full-automatic walking can be achieved, the intelligence of the inspection robot is improved, and the intelligence of the rail transit rolling stock inspection device is improved.

A rail transit rolling stock inspection system, comprising:

the rail transit rolling stock inspection device as described above, wherein the number of the inspection robots is at least 2;

and the dispatching device is in communication connection with the inspection robot and is used for dispatching the inspection robot.

In one embodiment, at least 2 inspection robots are respectively provided with different detection devices, and the scheduling device is used for controlling each inspection robot to respectively complete one detection item for a plurality of vehicles to be detected.

The rail transit rolling stock system of patrolling and examining that this application embodiment provided, through the scheduling device control is a plurality of patrol and examine robot work, thereby can realize a plurality of patrol and examine the robot and patrol and examine the operation simultaneously, shortened greatly and patrolled and examined the activity duration, improved and patrolled and examined the operation efficiency.

Drawings

Fig. 1 is a schematic view of a rail transit rolling stock inspection device and an inspection site according to an embodiment of the present application;

fig. 2 is a schematic view of a rail transit rolling stock inspection device and an inspection site according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a lifting device according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a rail transit rolling stock inspection device according to an embodiment of the present application;

fig. 5 is a schematic front view of the inspection robot according to an embodiment of the present disclosure;

fig. 6 is a schematic perspective view of an inspection robot according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of an auxiliary charging terminal and an auxiliary charging device according to an embodiment of the present application;

fig. 8 is a schematic front view of the inspection robot and the inspection auxiliary device according to an embodiment of the present disclosure;

fig. 9 is a schematic perspective view of an inspection robot and an inspection auxiliary device according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a rail transit rolling stock inspection device according to an embodiment of the present application;

fig. 11 is a schematic diagram of reference coordinates in an inspection pose detection process according to an embodiment of the present application;

fig. 12 is a block diagram of a pose detection apparatus according to an embodiment of the present application;

FIG. 13 is a side view of a reference datum provided in accordance with an embodiment of the present application;

fig. 14 is a schematic diagram of a principle of a calculation method for obtaining an attitude offset of the inspection robot in the second direction relative to the second reference surface through the first detection distance and the second detection distance according to an embodiment of the present application (a side view of a vehicle body and a reference datum of the inspection robot is shown in the figure);

fig. 15 is a schematic diagram of a principle of a calculation method for obtaining a rotation angle of the inspection robot around the second direction through the first detection distance and the third detection distance according to an embodiment of the present application (a plan view of a vehicle body and a reference of the inspection robot is shown in the figure);

fig. 16 is a schematic flow chart illustrating steps of a method for detecting an inspection pose of a rail transit rolling stock according to an embodiment of the present application;

fig. 17 is a schematic flow chart illustrating a step of obtaining a pose offset of the inspection robot with respect to the reference coordinate to obtain a pose offset of the robot according to an embodiment of the present disclosure;

fig. 18 is a schematic flow chart illustrating a procedure of obtaining a pose offset of the inspection robot with respect to the reference coordinate to obtain a pose offset of the robot according to an embodiment of the present disclosure;

fig. 19 is a schematic flow chart illustrating a procedure of obtaining a pose offset of the inspection robot with respect to the reference coordinate to obtain a pose offset of the robot according to an embodiment of the present disclosure;

fig. 20 is a flowchart illustrating steps of obtaining a pose offset of a vehicle to be detected with respect to a reference coordinate to obtain a vehicle pose offset according to an embodiment of the present application;

FIG. 21 is a comparison graph of underbody height length curve information and standard height length curve information provided by an embodiment of the present application;

FIG. 22 is a schematic diagram of a rail transit rolling stock inspection device according to an embodiment of the present disclosure;

fig. 23 is a schematic diagram of an inspection site location arrangement of the rail transit rolling stock inspection device and system according to an embodiment of the present application.

Description of reference numerals:

track traffic rolling stock inspection system 1 track traffic rolling stock inspection device 10

Track 100 patrols and examines platform 200 and patrols and examines recess 300 and patrols and examines robot 400

Wheel 412 accommodating chamber 413 of vehicle body 411 of work traveling device 410

Mechanical arm end 433 of quick-change device 431 of mechanical arm 420 detection device 430

Auxiliary charging terminal 450 lifting device 460 of tool terminal 435 docking device 440

Lifting device group 500 lifting device 501 lifting platform board 510 driving device 520

Lifting control device 530 and distance sensor 540 control device 600

700 hydrops detection mechanism 710 of site operation condition detection device

Intrusion detection assembly 730 of in-place detection assembly 720 of vehicle to be detected

Auxiliary charging device 800 patrols and examines auxiliary device 900 auxiliary running gear 910

Tool rack 920 power supply 930 power supply 931 air supply 932

Emergency device 940 mechanical emergency device 941 electrical emergency device 942 dispatching device 20

Reference standard 310 reference scale 311 of inspection pose detection system 30

First distance detecting device 321 of reference slope 312 pose detecting device 320

Second distance detection device 322 third distance detection device 323 identification device 324

First processing means 325 second processing means 326 fourth distance detecting means 327

Processing device 330

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more clearly understood, the rail transit rolling stock inspection device and the rail transit rolling stock inspection system of the present application are further described in detail by the following embodiments and with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be considered as limiting the present application.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

The application provides a rail transit rolling stock inspection device 10. The rail transit rolling stock inspection device 10 is used for inspecting rail transit rolling stocks, such as motor cars, high-speed rails, trains, subways, and the like. The rail transit rolling stock to be detected is hereinafter referred to as the vehicle to be detected.

Referring to fig. 1, the rail transit rolling stock inspection device 10 detects the rolling stock to be inspected at an inspection site. The inspection site comprises an inspection platform 200, a rail 100 and an inspection groove 300. The rail 100 is disposed on the inspection platform 200. The vehicle to be detected is parked on the track 100. The inspection platform 200 is correspondingly provided with an inspection groove 300 along the extending direction of the track 100.

The inspection platform 200 can be a plane flush with the ground, or a plane higher or lower than the ground. The inspection platform 200 is used for setting an inspection device and walking equipment and workers. The track 100 comprises 2 parallel rails. The rails of the track 100 may be directly disposed on the inspection platform 200, or may be disposed on the inspection platform 200 through support columns or other devices disposed at intervals. The number of the tracks 100 may be 1 or more. Each group of the rails 100 is correspondingly provided with the inspection groove 300. Patrol and examine recess 300 for sunken in patrol and examine platform 200 and be the pit of groove structure. The inspection groove 300 is opened between the rails 100 and extends in the extending direction of the rails 100. The size and the sunken size of patrolling and examining recess 300 can set up according to actual need, and this application does not do specifically and restricts. The vehicle to be detected is parked on the track 100, the inspection platform 200 can detect the side of the vehicle to be detected, and the inspection groove 300 can detect the bottom of the vehicle to be detected.

In one embodiment, the rail transit rolling stock inspection device 10 includes an inspection robot 400, a lifting device group 500, and a control device 600.

The inspection robot 400 is the rail transit rolling stock inspection robot, and is hereinafter referred to as the inspection robot 400 for short. The inspection robot 400 is used to detect relevant parameters of the vehicle to be inspected, such as: appearance, size, position, attitude, temperature, air leakage, etc. The specific structure and function of the inspection robot 400 are not limited in the application, and can be selected according to actual requirements.

The set of lifting devices 500 comprises at least one lifting device 501. The lifting device 501 is disposed on a side surface of the track 100 in the extending direction. The lifting device 501 is a liftable structure, that is, the lifting device 501 can be lifted and lowered. Specifically, the track 100 side patrol and examine platform 200 and can set up a lift recess, jacking equipment 501 set up in the lift recess, and can realize rising and descending in the lift recess. Through going up and down, jacking equipment 501 can realize with patrol and examine recess 300 butt joint, and can realize with the surface of patrolling and examining platform 200 keeps the same level. The lifting device 501 may be a rail lift, a crank lift, a scissor lift, a chain lift, or others. The method can be selected according to actual needs, and the method is not limited in the application. The elevating device 501 may be, but is not limited to, used to lower the inspection robot 400 or the operator to the inspection groove 300, or to raise the inspection robot 400 or the operator to the inspection platform 200. The number of the lifting devices 501 may be one or more. The plurality of lifting devices 501 may be disposed at intervals along the rail 100 at one side of the rail 100, or may be distributed at two sides of the rail 100.

The control device 600 is in communication connection with the inspection robot 400 and is used for controlling the inspection robot 400 to work. The control device 600 may be used to control the inspection robot 400 to walk, perform inspection, and the like. The control device 600 may be, but is not limited to, a computer device, a PLC (Programmable Logic Controller), or other device including a processor. The present application does not limit the specific structure, model, etc. of the control device 600 as long as its functions can be realized.

The operation of the rail transit rolling stock inspection device 10 may include, but is not limited to, the following processes:

the control device 600 acquires an inspection task including the number of the vehicles to be detected, the positions of the vehicles to be detected, items to be detected, and the like. The control device 600 sends the inspection task to the inspection robot 400 and issues an inspection instruction. The inspection robot 400 receives the inspection instruction, autonomously walks to the position of the vehicle to be detected according to the inspection task, and detects the vehicle to be detected. When the items to be detected contained in the inspection task are located on the vehicle side of the vehicle to be detected, the inspection robot 400 walks and detects on the inspection platform 200 along the extending direction of the track 100. At this time, the lifting device 501 may be leveled with the surface of the inspection platform 200, so that the inspection robot 400 walks along the inspection platform 200 without being hindered. When the items to be detected contained in the inspection task are located at the bottom of the vehicle to be detected, the inspection robot 400 needs to walk into the inspection groove 300 for operation. The inspection robot 400 first travels to the lifting device 501 according to the inspection task. The lifting device 501 is controlled to descend, and after the inspection groove 300 is in butt joint with the inspection robot 400, the inspection robot walks to the inspection groove 300 and performs inspection operation. When patrolling and examining the completion back, it extremely to patrol and examine robot 400 the jacking 501, jacking 501 drives it rises to patrol and examine robot 400, withdraws from patrol and examine recess 300, get back to patrol and examine platform 200, accomplish the detection.

Compared with the method that a walking ladder or a slope is arranged on the inspection platform 200 on one side of the rail 100 and is in butt joint communication with the inspection groove 300 in the prior art, the rail transit rolling stock inspection device 10 provided by the embodiment of the application firstly automatically ascends and descends through the lifting device 501, the butt joint with the inspection groove 300 and the butt joint and communication with the inspection platform 200 are realized, and the automation degree is improved. Secondly, through jacking equipment 501 realize with patrol and examine the keeping level on platform 200 surface for patrol and examine platform 200 and level, no walking obstacle. Thirdly, the inspection robot 400 enters and exits through the lifting device 501, manual intervention is not needed, full-automatic walking can be achieved, the intelligence of the inspection robot 400 is improved, and the intelligence of the rail transit rolling stock inspection device 10 is improved.

Referring to fig. 2, in one embodiment, the lifting device group 500 includes at least 2 lifting devices 501. At least 2 lifting devices 501 are respectively arranged on two sides of the track 100. At least 2 lifting devices 501 can be in butt joint communication with the inspection groove 300 and form at least one passage.

Taking the example that the lifting device group 500 includes 2 lifting devices 501, the 2 lifting devices 501 are distributed on two sides of the rail 100. The connecting line of 2 lifting devices 501 is at an angle with the rail 100, for example, the connecting line of 2 lifting devices 501 is perpendicular to the rail 100. 2 lifting equipment 501 all descends to patrol and examine recess 300 after, with patrol and examine recess 300 butt joint intercommunication, form a route. The path is at an angle to the routing inspection groove 300.

In one embodiment, the number of tracks 100 is at least 2 groups. The number of the inspection grooves 300 is at least 2. The number of sets of lifting devices 500 is at least 2. Each of the inspection grooves 300 is provided corresponding to one of the plurality of rails 100. Each set of the rails 100 is correspondingly provided with a set of the lifting device 500, that is: at least 2 lifting devices 501 are arranged on two sides of each group of the rails 100. A plurality of the lifting devices 501 of at least 2 sets of the lifting device set 500 can be in butt communication with at least 2 of the inspection grooves 300 and form at least one cross-track passage. That is, the lifting devices 501 of two adjacent sets of the rails 100 can be communicated, so that the passages of each set of the rails 100 are communicated to form at least one cross-rail passage. The cross-track passage enables communication of the plurality of inspection grooves 300. Therefore, when there are a plurality of to-be-detected vehicles, the inspection robot 400 can realize cross-track detection and detect a plurality of to-be-detected vehicles at a time, thereby improving the detection efficiency.

The following describes the lifting device 501 in the present application:

referring to fig. 3, in one embodiment, the lifting apparatus 501 includes a lifting platform board 510, a driving device 520, and a lifting control device 530. The driving device 520 is in driving connection with the lifting platform plate 510, and is used for driving the lifting platform plate 510 to lift. The lifting control device 530 is electrically connected to the driving device 520. The lifting control device 530 is used for controlling the operation of the driving device 520.

The lifting platform plate 510 is disposed in the lifting groove of the side of the rail 100. When the lifting platform board 510 is in the ascending state, the lifting platform board 510 is flush with the plane where the inspection platform 100 is located. When the lifting platform board 510 is in a descending state, the lifting platform board 510 is flush with and communicated with the plane where the inspection groove 300 is located. The lifting platform board 510 may be an insulating board, and the material of the insulating board may be an inorganic insulating material, an organic insulating material, or a hybrid insulating material. The method can be selected according to actual needs, and the method is not limited in the application. The shape of the lifting platform plate 510 can be rectangular, trapezoidal or polygonal, and the like, and can be specifically selected according to actual needs, and the application is not specifically limited. When the maintenance site includes the multiunit track 100, every group track 100 sets up respectively during jacking equipment 501, adjacent two jacking platform board 510 contact setting of jacking equipment 501 makes jacking platform board 510 descend to when patrolling and examining recess 300, form cross the track passageway.

The driving means 520 may be disposed in the lifting groove at the side of the rail 100. The driving device 520 is in driving connection with the lifting platform plate 510, and is used for driving the lifting platform plate 510 to lift. The specific structure, installation position and installation manner of the driving device 520 may be selected according to actual needs, and the present application is not particularly limited. The number of the driving devices 520 can also be selected according to actual needs. The driving device 520 may be a hydraulic driving device, a pneumatic driving device, an electrical driving device, a chain driving device, or other driving devices, as long as the lifting platform plate 510 can be driven to lift. In one embodiment, the drive 520 is a hydraulic drive. The hydraulic driving device and the lifting platform plate 510 are combined to form a hydraulic scissor type lifting platform. The hydraulic scissor-type lifting platform is a fixed hydraulic scissor-type lifting platform. The fixed hydraulic scissors fork type lifting platform can be configured at will by means of rolling shafts, rolling balls, a turntable and other table surfaces, and actual use requirements are met. Therefore, in practical use, the fixed hydraulic scissor type lifting platform is more convenient for maintenance personnel or users to adjust according to actual needs, and the use of the lifting device 501 is facilitated.

The lifting control device 530 is electrically connected to the driving device 520, and is used for controlling the driving device 520 to start, close and operate. The lifting control device 530 obtains a lifting command, and controls the driving device 520 to start, close and operate according to the lifting command, thereby controlling the lifting platform plate 510 to ascend or descend.

The lifting command of the lifting device 501 may be manually input, may be obtained through the control device 600, or may be obtained through detection. In one embodiment, the lifting device 501 further comprises a distance sensor 540. The distance sensor 540 is in communication with the lift control device 530. The distance sensor 540 is used to detect the distance to the object in front, and thus determine whether there is a person or stop on the surface of the lift platform plate 510. If the distance detected by the distance sensor 540 meets a preset distance threshold, it indicates that people or objects stop on the surface of the lifting platform plate 510 and need to be lifted. For example, if the distance detected by the distance sensor is 1m when the lifting platform board 510 does not stop a person or an object, and the distance detected by the distance sensor 540 becomes less than 0.98m and greater than 0.05m, the lifting control device 530 determines that a person or a stop is on the lifting platform board, and the lifting control device 530 controls the driving device 520 to start. The distance sensor can be a capacitance type proximity sensor, a laser ranging sensor and an ultrasonic sensor, and can be selected according to actual needs, and the application is not limited. The number of the distance sensors 540 may be one or more. In this embodiment, the distance sensor 540 is matched with the lifting control device 530 to automatically lift the lifting platform board 510. The lifting device 501 provided by the embodiment has high intelligence, so that the intelligence of the rail transit rolling stock inspection device 10 is improved.

In one embodiment, the lifting device 501 further comprises a lifting safety alarm 550. The lifting safety alarm 550 is electrically connected to the lifting control device 530. The lifting alarm device 550 is used for alarming when the distance sensor 540 detects abnormal data or the lifting device 501 is in failure. The specific structure of the lifting safety alarm device 550 is not limited in the present application, and can be selected according to actual requirements. The safety and intelligence of the lifting device 501 can be improved by the lifting safety alarm device 550, and the safety and intelligence of the rail transit rolling stock inspection device 10 can be further improved.

Referring to fig. 4, in one embodiment, the rail transit rolling stock inspection device 10 further includes a field condition detection device 700. The field condition detection device 700 is disposed at the inspection field. Specifically, the on-site working condition detection device 700 may be disposed on the track 100, the inspection platform, and/or the inspection groove 300. The field condition detection device 700 is in communication connection with the control device 600. The field condition detection device 700 is used for detecting field conditions. Through setting up on-spot operating mode detection device 700 can be before patrolling and examining the beginning, and the in-process of patrolling and examining, in time understand the on-the-spot condition of patrolling and examining to according to condition control is right the control of patrolling and examining robot 400 improves the reliability, the security and the intellectuality of patrolling and examining work.

The field condition detection device 700 may have different structures according to different requirements and different conditions. The structure of the field condition detection device 700 is described below with reference to the embodiments.

In one embodiment, the in situ condition detection device 700 includes a effusion detection mechanism 710. Hydrops detection mechanism 710 set up in patrol and examine recess 300. The effusion detection mechanism 710 is communicatively coupled to the control device 600. Hydrops detects structure 710 is used for detecting the hydrops condition in patrolling and examining recess 300.

The effusion detection mechanism 710 may be a liquid detection sensor. The number of effusion detection mechanisms 710 is not limited. Effusion detection mechanism 710 is in the concrete position of setting up of patrolling and examining recess 300 is also unlimited, can set for according to actual conditions. For example, the effusion detection mechanism 710 may be disposed at a position where the depth of the inspection groove 300 is deep and effusion is easily generated. The effusion detection mechanism 710 detects the effusion condition at the current location and transmits to the control device 600. The control device 600 judges whether to start the polling operation according to the effusion condition. When the hydrops exceeds the preset hydrops threshold value, the operation condition is not satisfied, and the enabling signal is not sent to the inspection robot 400. In this embodiment, through hydrops detection mechanism 710 prevents to be in it still starts the condition of patrolling and examining the operation when recess 300 hydrops is more to patrol and examine, has improved rail transit rolling stock inspection device 10's security and intellectuality.

In one embodiment, the field condition detection device 700 includes a vehicle presence detection assembly 720 to be detected. The vehicle to be detected on-site detection assembly 720 is arranged on the track 100. The vehicle to be detected on-site detection assembly 720 is in communication connection with the control device 600. The vehicle in-place detection component 720 is used for detecting whether the vehicle to be detected is parked in place.

The vehicle in-place detection assembly 720 to be detected can be arranged on one side of the track 100, and can also be arranged on the supporting column supporting the track 100. The number of the vehicle presence detecting assemblies 720 to be detected can be one or more. The vehicle presence detection assembly 720 may include, but is not limited to, a speed sensor and a presence sensor. In a specific embodiment, a plurality of the presence sensors and a plurality of the speed sensors are sequentially disposed inside the rail in the extending direction of the track 100. When the vehicle to be detected drives in and stops along the track 100, the presence sensor detects that wheels and a vehicle body are present on the track 100, and the plurality of speed detection devices arranged in sequence detect that the speed of the vehicle body is gradually reduced to 0. The vehicle to be detected is illustrated as driving into the track 100 and stopping to the sensor setting position. The control device 600 judges whether to start the inspection operation according to the detection result of the vehicle to be detected on-site detection component 720, and controls the inspection robot 400 to start. In this embodiment, the intelligence and the automation of the rail transit rolling stock inspection device 10 are further improved by the in-place detection component 720 of the vehicle to be detected, and the inspection accuracy of the rail transit rolling stock inspection device 10 is improved.

In one embodiment, the field condition detection apparatus 700 includes an intrusion detection component 730. The intrusion detection assembly 730 is disposed in the inspection site. Specifically, the intrusion detection assembly 730 may be disposed on the track 100, the inspection platform 200 and/or the inspection groove 300. The intrusion detection device 730 is communicatively connected to the control device 600. The intrusion detection assembly 730 is used for detecting whether the inspection site has intrusion.

The intrusion detection assembly 730 may include an image acquisition device and an image processing device communicatively coupled thereto. The image acquisition device can be a camera, a video camera and the like. The image acquisition device acquires the image information of the inspection site and transmits the image information to the image processing device. The image processing apparatus may be a computer device or the like. The image processing device may be a module of the control device 600, processing software, or the like. And the image processing device processes the image information and judges whether the inspection site is invaded by a person or an object, so as to judge whether the inspection site meets the operation condition and whether the inspection operation is started. In this embodiment, through the intrusion detection assembly 730, the intelligence of the rail transit rolling stock inspection device is improved, and the safety of the operation of the rail transit rolling stock inspection device 10 is further improved.

In one embodiment, the field condition inspection device 700 may further include a component for detecting the condition of the inspection robot 400 hanging with the related equipment, so as to ensure the safety of the inspection robot 400 hanging.

It can be understood that the control device 600 includes corresponding modules for processing the data of the field condition detection device 700 in the above embodiments, so as to receive the relevant data transmitted by the field condition detection device 700, and perform processing and judgment to determine whether the current inspection field meets the inspection operation conditions, and further determine whether to send out the inspection enable signal.

The inspection robot 400 performs inspection work according to the inspection enabling signal. The inspection robot 400 is described below with reference to the embodiment.

Referring to fig. 5 and 6, in one embodiment, the inspection robot 400 includes a work traveler 410 and a robotic arm 420. The work traveling device 410 includes a vehicle body 411 and wheels 412. The wheels 412 are disposed at the bottom of the vehicle body 411. The vehicle body 411 includes a housing chamber 413. The robot arm 420 is provided to the vehicle body 411. The robotic arm 420 is of a collapsible construction. The robot arm 420 can be received in the receiving cavity 413.

The operation traveling device 410 may be an AGV (Automated Guided Vehicle) or other Vehicle capable of automatically performing a traveling function. The vehicle body 411 may have a cubic structure or a structure having another shape. Taking the vehicle body 411 with a cubic structure as an example, the vehicle body 411 has a cavity structure, and six faces surround to form the accommodating cavity 413. The robot arm 420 is mounted on the top of the vehicle body 411. Meanwhile, the vehicle body 411 is provided with an opening. The folded mechanical arm 420 is received in the accommodating cavity 413 through the opening. The work traveling apparatus 410 may be in communication with the control apparatus 600, and the control apparatus 600 is configured to issue a work instruction and a work traveling task to the work traveling apparatus 410. The operation traveling device 410 may include its own control system, and the traveling is controlled by its own control system, or may be controlled by an external control system. For example, the control device 600 may control the travel of the work traveling device 410.

The wheels 412 are mounted at the bottom of the vehicle body 411. The number of wheels 412 may be 4. The structure of the wheel 412 may be various, for example, the wheel 412 may be a universal wheel structure. In one particular embodiment, the wheels 412 are of a two-wheel differential drive type construction. The wheels 412 of the two-wheel differential drive type structure can effectively reduce the volume of the inspection robot 400. Meanwhile, the wheels 412 adopt a double-wheel differential driving type structure, so that the complex calculation performed when planning is performed by taking the wheel track middle point as a base point in the traditional method can be avoided, the control is simple, the track tracking effect is good, and the real-time performance of motion control is effectively improved.

The robotic arm 420 may include a plurality of movable joints. In a specific embodiment, the mechanical arm 420 comprises 6 movable joints, and each movable joint can rotate around an axis, so that flexible movement and positioning of the mechanical arm 420 along six axes can be realized. The robotic arm 420 is in signal communication with the control device 600. The control device 600 is used for controlling the movement, folding, etc. of the robot arm 420.

The robot arm 420 is disposed outside the vehicle body 411 during operation. When the mechanical arm 420 finishes working, the control device 600 controls the mechanical arm 420 to be folded and accommodated in the accommodating cavity 413, so that the dustproof, anti-collision and volume reduction effects are achieved.

In this embodiment, the inspection robot 400 includes the work traveling apparatus 410 and the robot arm 420. The vehicle body 411 of the work running device 410 includes the accommodation chamber 413. Arm 420 is beta structure, and can accomodate in hold chamber 413, consequently can reduce the volume of patrolling and examining robot 400, and can prevent dust, anticollision, be convenient for deposit.

In one embodiment, the folded shape and size of the robotic arm 420 matches the shape and size of the opening of the receiving cavity 413.

The body 411 may have an opening along the top and sides. The opening of the vehicle body 411 is an opening of the accommodating chamber 413. The shape and size of the opening are the same as the shape and size of the folded robotic arm 420, such that the folded robotic arm 420 seals at the opening. For example, the robotic arm 420 includes 6 of the joints, which remain 3 of the joints in length after folding. The shape, the length and the width of the opening are all consistent with the shape, the length and the width of the 3 movable joints. When the mechanical arm 420 is accommodated in the

accommodating cavity

413, 3 movable joints are accommodated in the accommodating cavity 413, and the other 3 movable joints are attached to the opening, so that the opening of the accommodating cavity 413 is sealed, and a dustproof effect is further achieved. And this can save the space inside the accommodating chamber 413 for placing other devices and apparatuses in the accommodating chamber 413. This embodiment has improved the practicality of inspection robot 400.

In one embodiment, the inspection robot 400 further includes a lifting device 460. The lifting device 460 is disposed in the accommodating chamber 413. The lift device 460 is mechanically coupled to the robotic arm 420. The lifting device 460 is used to raise and lower the robot arm 420.

The lifting device 460 may specifically include a lifting additional shaft. One end of the lifting additional shaft is disposed in the accommodating chamber 413, and the other end is mechanically connected to the bottom of the robot arm 420. The lifting additional shaft can be driven to lift in a hydraulic driving mode, a cylinder driving mode and the like, and the specific mode is not limited in the application and can be selected according to actual requirements. The driving of the lifting device 460 may be automatic or manual. In a specific embodiment, the lifting device 460 is communicatively connected to the control device 600, and the control device 600 is further configured to control the operation of the lifting device 460. The lifting device 460 can lift the robot arm 420, and not only can the robot arm 420 be lifted up and extended, but also the robot arm 420 can be lowered and stored. Meanwhile, when the robot arm 420 performs inspection detection, the lifting device 460 can further adjust the height of the robot arm 420, so as to compensate the position of the tail end of the robot arm 420. Therefore, this embodiment provides patrol and examine robot 400 practicality strong, and can increase the flexibility of the work of patrolling and examining, improve the accuracy of patrolling and examining.

In one embodiment, the inspection robot 400 includes a detection device 430. The detecting device 430 is disposed at the end of the robot arm 420. The detection device 430 is used for detecting the vehicle to be detected. The type of the detecting device 430 can be set according to actual requirements. The detection device 430 may be directly electrically connected to the end of the robotic arm 420, or may be indirectly connected to the end of the robotic arm 420 through other means. The mechanical arm 420 moves to drive the detection device 430 to move to the inspection item area of the device to be detected, so as to realize the inspection of the inspection item. The detection device 430 is in communication with the control device 600. The control device 600 controls the detection device 430 to perform detection, and processes and analyzes detection data collected by the detection device 430.

In one embodiment, the detection device 430 includes at least one of an image capture device, a gas leak detection device, a temperature detection device, and a size detection device. It will be appreciated that the detection device 430 may also include other detection devices in order to achieve other functions as desired. This is not limited in this application.

The image acquisition device may comprise a 2D image acquirer and/or a 3D image acquirer. In a specific embodiment, the 2D image collector mainly comprises an area-array camera. The area-array camera is used for acquiring a surface image of the workpiece to be detected. The method can be used for detecting the existence, the shape, the position and the posture, the appearance, the size and the like of the vehicle part to be detected. The 2D image collector may further include a light source. The light source is used for shading the workpiece to be detected so as to achieve a better image acquisition effect.

In a specific embodiment, the 3D image collector mainly includes a linear laser light source, a line camera, and a linear motion unit. When the 3D image collector works, the linear laser light source emits linear laser which is projected on the surface of a workpiece to be measured. The linear array camera acquires one image, and the linear array camera continuously acquires the images along with the movement of the linear motion unit to obtain a plurality of images. By splicing a plurality of images, a complete image containing depth information can be obtained. The 3D image collector can be used for bolt fastening detection, crack detection, wheel set tread quality detection and the like of the vehicle to be detected.

And the air leakage detection device is used for detecting the inspection of the underbody and/or the side air pipe of the vehicle to be detected. In a specific embodiment, the air-leak detection device comprises a microphone array. The microphone array is used for collecting and detecting air leakage sound data. The air leakage sound data acquired by the microphone array is transmitted to the control device 600. The control device 600 processes and judges the air leakage sound, so as to determine whether the air outlet pipe leaks air or not, and further determine the specific position of the air leakage. In one embodiment, the microphone array includes 3 cardioid directional microphones and 1 fully directional microphone. In another embodiment, the microphone array includes 1 cardioid directional microphone, and the robotic arm 420 has a plurality of cardioid directional microphones disposed thereon.

In one embodiment, the method for processing the air leakage sound data, determining whether the air outlet pipe is air leaked, and further determining the specific location of the air leakage by the control device 600 includes the following steps:

s1110, modeling a vehicle to be detected to form a vehicle model to be detected;

s1120, identifying the air leakage sound of the vehicle inspection item area to be detected;

s1130, determining the sound source position of the air leakage sound; and

s1140, judging whether the vehicle to be detected leaks air or not according to the sound source position and the vehicle model to be detected;

s1150, identifying the position of the sound source position in the vehicle model to be detected.

According to the method provided by the embodiment, the vehicle model to be detected is matched with the air leakage sound source position of the vehicle detection endpoint area to be detected, so that the possibility that air leakage sound around the endpoint to be detected is judged as air leakage of the vehicle to be detected can be effectively eliminated, the detection accuracy is improved, and a reliable basis is provided for overhauling and maintaining the vehicle. Meanwhile, the vehicle to be detected is modeled, and the air leakage sound is matched with the vehicle model to be detected, so that the vehicle air tightness detection process and the detection result are more visual.

The temperature detection device is used for detecting the temperature of the workpiece to be detected of the vehicle to be detected. The selection of the specific structure of the temperature detection device is not limited. In a particular embodiment, the temperature detection means comprises a thermal imager. The thermal imager is used for detecting the temperature distribution of the workpiece to be detected and forming a corresponding temperature distribution image. The temperature distribution image detected by the thermal imager is transmitted to the control device 600. The control means 600 further processes the temperature distribution image. In yet another embodiment, the temperature detection device further comprises a non-contact infrared temperature sensor. The non-contact infrared temperature sensor is used for detecting the surface temperature of the workpiece to be detected. Before the detection is performed, the control device 600 may choose to perform 3D modeling on the vehicle to be detected. And marking the positions of the item to be inspected and the point to be measured on the 3D model. Wherein one of the items to be inspected includes a plurality of the points to be measured. The mechanical arm 420 clamps the non-contact infrared temperature sensor to move to the item to be inspected, and directs the light of the non-contact infrared temperature sensor to the outer surface of the item to be inspected. The robot arm 420 changes the pose and sequentially adjusts and measures the temperature of the point to be measured. And completing the temperature measurement of the point to be measured. The data measured by the non-contact infrared temperature sensor is transmitted to the control device 600. The control device 600 may process the data by taking an intermediate value, taking an expected value, and the like, and match the data with the 3D model to obtain a model map reflecting the temperature of the item to be inspected.

It is understood that the determination of the point to be measured may be based on the result detected by the thermal imager, and the region or point of interest is set as the point to be measured for further detection, so as to obtain the specific temperature of the region of interest.

The size detection device is used for detecting distance information related to the quantity to be detected. The size detection means may comprise a rim and rim measurement tool and/or a wheel set spacing measurement tool. The wheel rim measuring tool is used for measuring the relevant dimensions of the wheel rim of the vehicle to be detected. The wheel set spacing measuring tool is used for measuring the wheel set spacing of the vehicle to be detected.

In one embodiment, the wheel-set spacing measuring tool comprises 2 laser distance sensors and a measuring rod. The distance information measured by the wheel-set distance measuring tool is transmitted to the control device 600. The control device 600 processes the distance information to obtain the wheel set size. Specific processes include, but are not limited to, the following steps:

s2210, modeling the standard outline dimension of the detection item point of the wheel set to be detected to form a wheel set model.

Firstly, the control device 600 establishes a wheel set coordinate system by using a wheel set symmetric center as an origin according to the dimensional position relationship of the rim and rim cross sections of the standard wheel set relative to the axis, and establishes a 3D model describing the wheel set appearance. Secondly, when the inspection robot 400 measures and samples, the relative position of the base coordinate system of the operation traveling device 410 of the inspection robot 400 relative to the wheel set center coordinate system and the relative position of the end sampling point of the mechanical arm 420 are determined correspondingly, and a measuring point 3D model database is established.

S2220, the position of the wheel pair to be detected and the position of the inspection robot 400 are accurately calibrated.

Before the inspection robot 400 detects, the inspection robot 400 is positioned through wheel axle visual characteristics or wheel set auxiliary positioning mark points to acquire the actual pose information of the inspection robot 400 in a wheel set coordinate system. The inspection robot 400 compensates the actual pose by adjusting the pose of the end of the arm 420 to conform to the measurement point 3D model database.

And S2230, the inspection robot 400 performs sampling measurement.

The tail end of the inspection robot 400 clamps the laser ranging sensor, the distance size of the outline shape of the inspection item is measured in a sampling point mode, and data are transmitted to the control device 600.

S2240, calculating a target size value

The physical dimension points that inspection robot 400 will gather combine inspection robot 400's orbit point position draws the actual appearance profile of wheel pair inspection item to actual appearance profile and the standard profile that will detect are compared, obtain the size value of actual wheel pair inspection item.

The detection devices 430 may be provided at the end of the robot 420 individually, or may be provided at the end of the robot 420 in combination. In one embodiment, the 2D image collector, the air leakage detection device, and the temperature detection device are combined and disposed at the end of the mechanical arm 420, so as to simultaneously detect multiple items, such as the presence detection, the shape detection, the pose detection, the air leakage detection, and the temperature detection, of the vehicle to be detected.

In yet another embodiment, the 3D image collector, the air leakage detection device, and the temperature detection device are combined and disposed at the end of the mechanical arm 420, so as to simultaneously detect a plurality of items, such as bolt fastening detection, crack detection, wheel set tread quality detection, air leakage detection, and temperature detection, of the vehicle to be detected.

In the above embodiment, the detection device 430 is disposed at the end of the mechanical arm 420, so as to inspect various items of the vehicle to be inspected, and the inspection robot 400 has multiple inspection functions, thereby increasing the comprehensiveness and intelligence of the inspection robot 400.

In one embodiment, the inspection robot 400 further includes a docking device 440. The docking device 440 is provided to the vehicle body 411. The docking device 440 is used for docking with other devices. The docking device 440 may be used to implement mechanical docking with other devices, and may also be used to implement electrical docking with other devices. The structure of the docking device 440 may have different designs according to the requirements. Take the docking device 440 for mechanical docking with rescue equipment or inspection auxiliary equipment as an example. The docking device 440 may be disposed at a head end and/or a tail end of the vehicle body 411. The docking device 440 may include a circular or square docking port, etc. to allow the rescue equipment or the inspection auxiliary device to be connected thereto to pull or drag the inspection robot 400. In this embodiment, the docking device 440 further improves the function of the inspection robot 400, and improves the practicability of the rail transit rolling stock inspection device 10.

In one embodiment, the inspection robot 400 further includes a quick-change device 431. The quick-change device 431 is connected between the end of the mechanical arm 420 and the detection device 430. That is, the detecting device 430 is connected to the end of the robot arm 420 through the quick-change device 431. The electrical and mechanical connection between the detection device 430 and the robot arm 420 is realized by the quick change device 431.

Referring to fig. 7, in one embodiment, the inspection robot 400 further includes an auxiliary charging terminal 450. The auxiliary charging terminal 450 is disposed on the vehicle body 411. The auxiliary charging terminal 450 may be a charging head or a charging base, or any device capable of realizing circuit conduction, such as a charging brush or a charging conductor rail. The auxiliary charging terminal 450 is connected to the power supply device of the inspection robot 400, and is used for charging the inspection robot 400 by being connected to an external charging device. In this embodiment, through supplementary charging end 450 can be right patrol and examine robot 400 and in time supply the electric energy, improved patrol and examine robot 400 patrol and examine the operating capability.

In one embodiment, the rail transit rolling stock inspection device 10 further includes an auxiliary charging device 800. The auxiliary charging device 800 is disposed on the track 100. The auxiliary charging device 100 is matched with the auxiliary charging terminal 450, and is configured to provide power to the auxiliary charging terminal 450, so as to charge the inspection robot 400. The specific form, structure, etc. of the auxiliary charging device 800 are not limited, as long as the auxiliary charging terminal can be matched with the auxiliary charging terminal to realize charging. Two embodiments of the auxiliary charging device 800 and the auxiliary charging terminal 450 are provided below.

In one embodiment, the auxiliary charging terminal 450 is a conductive brush. The auxiliary charging device 800 is a conductive rail. The conductive brush is in a brush structure. The conductive brush may be disposed at one side of the vehicle body 411 by an overhanging cantilever structure. The cantilever can be a corner contact structure. A spring or other elastic device can be arranged between the cantilever capable of extending outwards and the vehicle body 411 to improve the activity elasticity and flexibility of the conductive brush, and meanwhile, the conductive brush can be conveniently retracted and attached to the vehicle body 411 when not used, so that the space is saved. The number of the conductive brushes may be one, and the conductive brushes are disposed on one side of the

vehicle body

411, or 2 conductive brushes are disposed on two sides of the vehicle body 411, respectively. Of course, the number of the conductive brushes may be 2 or more, and the conductive brushes may be disposed at desired positions of the vehicle body 411.

The track 100 is close to one side of the patrol robot 400 walking, and the conductive rail is arranged on one side of the track. The conductive rail is in a strip shape. The conductor rails may be supplied with a safe voltage to ground. The conductor rail can adopt a PVC profile, an aluminum profile or a copper strip composite structure and the like. The number of the conductive rails may be plural. A plurality of the conductive rails are arranged at intervals along the rail 100. When the conductive brushes are disposed on both sides of the vehicle body 411, the conductive rails may be disposed on the inner sides of 2 rails of the track 100. For a plurality of said conductive tracks, their switching on and off can be controlled separately.

Because in the whole operation process of inspection robot 400, when berthing at the target location and detecting, arm 420 work load is big, and operating time is long, and consequently, power consumption is the biggest in the testing process. Therefore, it is often necessary to charge the inspection robot 400 during the inspection process. In this embodiment, when the inspection robot 400 walks and stops at a target position, that is, is to start to detect, the inspection robot 400 extends the conductive brush through the cantilever capable of extending outward and contacts the conductive rail. When the conductive rail is electrified, the inspection robot 400 can be charged through the conductive brush. When the inspection robot 400 is about to complete the detection task and is about to move to the next detection position, the power of the conductive rail is cut off, the conductive brush is stopped to be charged, the conductive brush is withdrawn through the cantilever capable of extending outwards, and the inspection robot 400 continues to walk to the next detection position.

In another embodiment, the auxiliary charging terminal 450 is a conductive brush, and the auxiliary charging device 800 is a conductive brush. The arrangement of the conductive brush and the conductive rail is just opposite to that of the previous embodiment. The implementation method, principle and arrangement mode are similar. And will not be described in detail herein.

In the two above embodiments, through electrically conductive brush with the cooperation of conductor rail, it is right to realize patrolling and examining robot 400's supplementary charging, ensured patrol and examine robot 400's working power volume, improved the reliability and the stability of rail transit rolling stock inspection device 10. Simultaneously, the conductor rail is rectangular form, consequently patrol and examine robot 400 or wait to detect under the condition that the vehicle berths positioning deviation, still can realize with the cooperation of conductive brush, the completion is right patrol and examine auxiliary device 900's charging has reduced the charging error.

Referring to fig. 8 and 9, in one embodiment, the quick-change device 431 includes two parts: a boom end 433 and a tool end 435. The arm end 433 is correspondingly matched with the tool end 435. The arm end 433 is electrically and mechanically coupled to the arm 420. The tool end 435 is electrically and mechanically coupled to the sensing device 430. The arm end 433 is plugged into the tool end 435 to electrically and mechanically connect the arm 420 to the detection device 430.

In the two embodiments, the electrical connection and the mechanical connection between the detecting device 430 and the end of the mechanical arm 420 are realized through the quick-change device 431, which is simple and convenient and has strong versatility.

In one embodiment, the rail transit rolling stock inspection device 10 further includes a rail transit rolling stock inspection auxiliary device. The auxiliary inspection device 900 is hereinafter referred to as an auxiliary inspection device for rail transit rolling stock. The inspection assisting device 900 is used to assist the inspection robot 400 in completing replacement of the inspection device 430, and performing energy supply, maintenance, and emergency rescue functions. The inspection assisting apparatus 900 will be further described with reference to the following embodiments.

In one embodiment, the inspection aid 900 includes a walker 910 and a tool rack 920. The tool rest 920 is disposed on the auxiliary walking device 910. The tool rack 920 is used for placing the detection device to be replaced.

In the inspection process of the inspection robot 400 of the rail transit rolling stock inspection device 10, sometimes the inspection device 430 at the end of the arm 420 needs to be replaced in order to complete different inspection items. For convenience of description, the replaced detection device is named as the to-be-replaced detection device. The replaced detection device is named as the original detection device.

The auxiliary walking device 910 is used for completing walking and driving the equipment arranged thereon to walk. The structure, implementation principle and control manner of the auxiliary traveling device 910 are similar to those of the working traveling device 410, and are not described herein again.

The tool rest 920 may be disposed on the top of the body of the auxiliary running gear 910. The specific structure of the tool rack 920 is not limited, and may be set according to the structure, size, etc. of the tools to be placed. The detection device to be replaced is placed in the tool rack 920. When the original detection device needs to be replaced, the auxiliary walking device 910 is controlled to walk beside the inspection robot 400. Replacing the original detection device with the to-be-replaced detection device on the tool rack 920. The alternative method may be automatic or manual, and the application is not limited.

In this embodiment, the rail transit rolling stock inspection device 10 includes the inspection assisting device 900. The inspection auxiliary device 900 is provided with the tool rack 920, so that the inspection device to be replaced can be transported to the inspection robot 400, and the inspection device 430 can be replaced. The inspection assisting device 900 provided in this embodiment improves the comprehensiveness of the functions of the rail transit rolling stock inspection device 10, and at the same time, improves the intelligence thereof.

In one embodiment, the tool rack 920 is shaped and sized to match the shape and size of the test device to be replaced. That is, the tool rack 920 simulates the shape design of the detection device to be replaced, so that the detection device to be replaced can be placed on the tool rack 920 more securely and more closely.

In one embodiment, the inspection aid 900 is provided with the to-be-replaced inspection device on the tool rack 920. One end of the to-be-replaced detection device is connected to the tool end 435. The to-be-replaced detection device is electrically and mechanically coupled to the tool end 435. The tool end 435 is used for connecting with the arm end 433 to connect the to-be-replaced detection device with the end of the arm 420. When the detection device 430 is replaced, the original detection device 430 and the tool end 435 connected with the detection device are removed. The tool end 435 of the device to be replaced is connected to the arm end 433 of the end of the robotic arm 420, thereby providing electrical and mechanical connection between the device to be replaced and the robotic arm 420. In this embodiment, the tool end 435 is disposed on the detection device to be replaced, so that the detection device can be quickly replaced, and the working efficiency is improved.

In one embodiment, the inspection aid 900 further includes an energy supply 930. The energy supply device 930 is disposed on the auxiliary walking device. The energy supply device is used for supplying energy to the rail transit rolling stock inspection equipment. The rail transit rolling stock inspection equipment includes, but is not limited to, the inspection robot 400. The power supply 930 may include a power supply 931, an air supply 932, or any other device that requires power for the inspection robot 400. In this instance, the energy supply device 930 may provide and supplement energy to the inspection robot 400, so that the energy supply of the inspection robot 400 is ensured, and the stability and reliability of the operation of the inspection robot 400 are improved, thereby improving the stability and reliability of the rail transit rolling stock inspection device 10.

In one embodiment, the energy supply 930 comprises a power supply 931. The power supply 931 includes a power source and a power source interface. The power source is disposed on the auxiliary walking device 910. The power interface is electrically connected with the power supply and is used for realizing the electrical connection between the power supply and the inspection robot 400. That is, the power supply supplies power to the inspection robot 400 through the power interface. The specific structure, installation mode and the like of the power supply and the power supply interface are not limited in the application as long as the functions of the power supply and the power supply interface can be realized. When the inspection robot 400 runs out of electric energy, the inspection auxiliary device 900 carries the power supply device to travel to the inspection robot 400 and supply power to the inspection robot. In this embodiment, through the power with power source interface, it is right to realize patrolling and examining robot 400's power supply function has increased patrolling and examining auxiliary device 900's function has improved the practicality.

In one embodiment, the inspection aid 900 further includes an emergency device 940. The emergency device 940 is disposed on the walking assisting device 910. The emergency device is used for providing emergency rescue for the inspection robot 400.

The inspection robot 400 may encounter sudden failures in the inspection process, which may cause emergencies such as incapability of walking the operation walking device 410, incapability of moving the mechanical arm 420, or blockage of the mechanical arm 420. At this time, the inspection auxiliary device 900 is controlled to travel to the vicinity of the inspection robot 400 together with the emergency device 940, and emergency rescue is provided for the inspection robot 400. In this embodiment, through emergency device 940 has further increased the function of patrolling and examining auxiliary device 900 has guaranteed the security and the stability of patrolling and examining robot 400.

In one embodiment, the emergency device 940 may include a mechanical emergency device 941. The mechanical emergency device 941 is disposed on the auxiliary walking device 910. The mechanical emergency device 941 is configured to mechanically interface with the inspection robot 400. The specific structure of the mechanical emergency device 941 is not limited as long as its function can be realized. In one embodiment, the structure of the mechanical emergency device 941 matches the structure of the docking device 440 to achieve mechanical docking with the inspection robot 400, and thus, dragging, moving, etc. of the inspection robot 400 by the inspection auxiliary device 900. The inspection auxiliary device 900 provided in this embodiment can drag the inspection robot 400 away from the inspection site when the inspection robot fails, thereby improving the automation degree and intelligence of the rail transit rolling stock inspection device 10.

In one embodiment, the emergency device 940 further includes an electrical emergency device 942. The electrical emergency device 942 is disposed on the walking assisting device 910. Specifically, the electrical emergency device 942 may be disposed at the mechanical emergency device 941. The electrical emergency device 942 is used for electrically interfacing with the inspection robot 400, and implementing electrical emergency rescue of the inspection robot 400. Further, the emergency device 940 may further include a communication emergency device. The communication emergency device is used for realizing communication emergency rescue of the inspection robot 400.

In one embodiment, the inspection aid 900 further includes a service device (not shown). The maintenance device is disposed on the auxiliary traveling device 910. The maintenance device is used for checking the fault information of the inspection robot 400 and maintaining the inspection robot. For example, when the robot arm 420 of the inspection robot 400 is not operated, the inspection device may connect an electrical communication control line of the inspection robot 400 to the inspection device. The maintenance device is right the inspection robot 400 is debugged, and further maintenance is performed according to the debugging result. In this embodiment, through the overhaul device has further perfected patrol and examine auxiliary device 900's function, improved patrol and examine robot 400's security and reliability.

When the rail transit rolling stock inspection device 10 is used for inspection work, the inspection robot 400 positions the rolling stock to be detected so as to realize accurate detection and measurement. When the inspection robot 400 determines the position of the vehicle to be detected, positioning deviation can be caused due to various errors. First, the inspection robot 400 cannot accurately reach a predetermined position due to errors in positioning itself caused by errors in a navigation system, unevenness in a walking ground, wheel slip, wheel abrasion, and the like. In addition, the vehicle to be detected can cause an error between the actual parking position and the preset parking position of the vehicle to be detected due to wheel wear, navigation errors and the like. Errors in the two aspects can cause errors in relative positions of the two, and finally the inspection robot 400 cannot accurately detect the vehicle to be detected when the inspection robot inspects the vehicle to be detected. Therefore, errors in the rail transit rolling stock inspection process need to be detected, so that further positioning correction can be carried out according to the errors.

Referring to fig. 10, in one embodiment, the rail transit rolling stock inspection device 10 further includes a rail transit rolling stock inspection pose detection system. The inspection pose detection system of the rail transit rolling stock is hereinafter referred to as an inspection pose detection system 30. The inspection pose detection system 30 is further described below with reference to the embodiments.

Referring to fig. 10, in one embodiment, the inspection pose detection system 30 includes a reference datum 310, a pose detection device 320, and a processing device 330.

The reference standard 310 is disposed at one side of the rail 100 along an extending direction of the rail 100 where the vehicle to be detected is parked. The length of the reference standard 310 is matched with the length of the walking working surface of the inspection robot 400. The reference standard 310 may be a reference made of a profile. The reference 310 includes absolute position information, reference plane information, and the like along the extending direction of the track 100. The reference 310 may embody the absolute position information, the reference plane information, and the like by scale information, image information, and the like.

The pose detection device 320 is used for detecting the distance information of the inspection robot 400 relative to the reference standard 310. The pose detection device 320 is disposed on the inspection robot 400, so that the distance information of the inspection robot 400 with respect to the reference standard 310 can be detected in real time along with the movement of the inspection robot 400, and the pose offset of the inspection robot 400 can be obtained. The pose detection device 320 may be set at different positions of the vehicle body 411 of the inspection robot 400 according to different demand detection parameters. The pose detection means 320 includes, but is not limited to, distance detection means.

The processing device 330 is communicatively coupled to the pose detection device 320. The distance information of the inspection robot 400 relative to the reference 310 detected by the pose detection device 320 is transmitted to the processing device 330. The processing device 330 calculates a pose offset amount of the inspection robot 400 with respect to the reference coordinates from the distance information of the inspection robot 400 with respect to the reference 310.

Referring to fig. 11, the reference coordinates may include one or more reference planes and reference directions in a coordinate system formed by a first coordinate axis, a second coordinate axis and a third coordinate axis. In one embodiment, the first coordinate axis is a y-axis shown in fig. 11, i.e., an axis perpendicular to the walking direction of the inspection robot 400 and parallel or approximately parallel to the walking ground of the inspection robot 400. The second coordinate axis is a z-axis shown in fig. 11, that is, an axis perpendicular to the traveling direction of the inspection robot 400 and the second coordinate axis. The third coordinate axis is an x-axis shown in fig. 11, i.e., an axis parallel to the traveling direction of the inspection robot 400.

In one embodiment, the reference coordinates used to calculate the pose offset amount include a first reference surface, a second reference surface, a third reference surface, a first direction, a second direction, and a third direction. The first reference plane is a plane parallel to a plane formed by the x-axis and the z-axis. The first direction is a direction parallel to the y-axis. The specific position of the first reference surface along the y-axis can be set according to actual requirements. For example, the first reference surface may be a symmetrical surface of the inspection groove 300 in a lateral direction, that is, the first reference surface is a surface parallel to a plane formed by x and z axes, and the first reference surface is located at a midpoint of the inspection groove 300 perpendicular to an extending direction of the rail 100. The second reference plane is a plane parallel to a plane formed by the x-axis and the y-axis. The second direction is a direction parallel to the z-axis. The specific position of the second reference surface along the z-axis can be set according to actual requirements. For example, assuming that the inspection robot 400 travels on the ground parallel to the plane formed by the x-axis and the y-axis, the second reference surface may be the inspection robot 400 travels on the ground. The third reference plane is a plane parallel to a plane formed by the y-axis and the z-axis. The third direction is a direction parallel to the x-axis. The specific position of the third reference surface along the x-axis can be set according to actual requirements. For example, the third reference surface may be located at a start position of the inspection groove 300 in the extending direction of the rail 100.

The amount of the posture offset of the inspection robot 400 with respect to the reference coordinates may include, but is not limited to, an amount of offset of the inspection robot 400 with respect to the first reference surface in the first direction, an amount of offset of the second reference surface in the second direction, an amount of offset of the third reference surface in the third direction, and a rotation angle about the first direction, a rotation angle about the second direction, and a rotation angle about the third direction.

In this embodiment, the reference base 310 is matched with the pose detection device 320 to detect the distance information of the inspection robot 400 relative to the reference base 310, and then the processing device 330 is used to detect the pose of the inspection robot 400. The reference standard 310 provides a stable and accurate reference standard for distance detection, so that the accuracy of pose detection is improved, and the accuracy of the subsequent positioning of the inspection robot 400 is improved.

Based on the above embodiments, please refer to fig. 12 and 13, in one embodiment, the reference coordinate includes the first reference plane and the first direction. The reference standard 310 includes a reference scale 311. The reference scale 311 is attached to the track 100 near the side where the inspection robot 400 travels in the extending direction of the track 100.

Referring also to fig. 14, the pose detection means 320 includes first distance detection means 321. The first distance detecting device 321 includes, but is not limited to, a laser range finder. The first distance detecting device 321 is provided at a first position of the inspection robot 400 at which the body 411 is close to the reference scale 311. The first position may be set according to actual requirements. The first distance detecting device 321 is configured to detect distance information of the first position relative to the reference scale 311 along the first direction, and obtain a first detected distance. The first distance detection device 321 is communicatively connected to the processing device 330. The first detection distance detected by the first distance detection device 321 is transmitted to the processing device 330.

The processing device 330 calculates a pose offset amount of the first position with respect to the first reference surface in the first direction from the first detected distance. There may be a plurality of methods for the processing device 330 to calculate the amount of the posture offset of the first position with respect to the first reference surface in the first direction. In one embodiment, the processing device 330 acquires the first detection distance, and acquires distance information of the reference scale 311 in the first direction with respect to the first reference surface, thereby calculating distance information of the inspection robot 400 in the first direction with respect to the first reference surface, and acquiring first distance information. The processing device 330 further obtains the first record information of the inspection robot 400, and calculates a pose offset of the inspection robot 400 relative to the first reference surface along the first direction according to the first record information and the first distance information. The first recorded information may be obtained by a position collecting module such as an encoder of the vehicle body 411 of the inspection robot 400.

In this embodiment, the distance information of the inspection robot 400 with respect to the reference scale 311 is obtained by the detection of the first distance detection device 321, and the processing device 330 calculates the amount of the positional deviation of the inspection robot 400 with respect to the first reference surface in the first direction. This embodiment has realized patrolling and examining robot 400 provides the basis along the detection of y axle offset for follow-up y axle direction's location and correction, and then eliminates patrolling and examining robot 400 realizes patrolling and examining's accurate positioning because of the y axle deviation that walking ground unevenness, wheel wearing and tearing, navigation system deviation etc. cause.

In one embodiment, the reference coordinates include the second reference plane and the second direction. The reference datum 310 also includes a datum ramp 312. The reference slope 312 is disposed at an end of the reference scale 311 away from the ground where the inspection robot 400 travels along the extending direction of the track 100. That is, the reference slope 312 is provided at the top of the reference scale 311. And the reference slope 312 is disposed obliquely with respect to the reference scale 311. The included angle between the reference inclined plane 312 and the reference scale 311 can be set as required. In a specific embodiment, the reference slope 312 forms an angle of 45 ° with the reference scale 311.

The pose detection means 320 further includes second distance detection means 322. The second distance detecting device 322 is provided at a second position of the body 411 of the inspection robot 400. The second position and the first position are located on the same surface of the vehicle body 411 of the inspection robot 400. That is, the second position is also provided on the side of the vehicle body 411 close to the reference scale. Second position the second distance detection device 322 includes, but is not limited to, a laser range finder. The second distance detecting device 322 is configured to detect distance information of the second position relative to the reference slope 312 along the first direction, so as to obtain a second detection distance. The specific setting of the second position can be adjusted and selected according to the setting position of the reference slope 312, so as to ensure that the second distance detection device 322 can detect the distance information of the second position relative to the reference slope 312 along the first direction. For example, the second position is located above the first position, and the second position is higher than the lowest point of the reference slope 312, so that the second distance detection device 322 can detect the distance information of the second position with respect to the reference slope.

The second distance detection device 322 is communicatively coupled to the processing device 330. The processing device 330 calculates a pose offset amount of the inspection robot 400 in the second direction with respect to the second reference surface from the first detected distance and the second detected distance.

Taking an included angle between the reference inclined plane 312 and the reference scale 311 as 45 degrees, the first detection distance is y1, and the second detection distance is y 2. Assuming that the inspection robot 400 has no offset in the second direction with respect to the second reference surface, and the second detection distance y2 is y1, the difference y1-y2 between the first detection distance and the second detection distance is the position offset of the inspection robot 400 in the z-axis direction with respect to the second reference surface.

The inspection pose detection system 30 according to this embodiment detects the second detection distance through the second distance detection device 322 and the reference inclined plane 312, and calculates a pose offset of the inspection robot 400 with respect to the second reference plane in the second direction. The system that this embodiment provided is simple effective, and can be accurate detect and calculate the offset of patrolling and examining robot 400 along the z axle direction to can eliminate because of the error in the z axle direction that patrolling and examining robot 400 wheel wear, walking ground unevenness etc. caused.

In one embodiment, the first position and the second position are located on a straight line perpendicular to the second reference plane. That is to say, the first position and the second position set up with on the straight line that the second direction is parallel, make first position and the second position be in the position difference of third direction is zero to when calculating the position appearance offset in the y axle direction, get rid of the influence that patrolling and examining robot 400 automobile body slope caused has improved the accuracy that position appearance offset detected and calculated in the z axle direction.

In one embodiment, the reference coordinate comprises the second direction. The pose detection means 320 further includes third distance detection means 323. The third distance detecting device 323 is disposed at a third position of the inspection robot. The third distance detection device 323 includes, but is not limited to, a laser range finder. The third distance detecting device 323 is configured to detect distance information of the third position relative to the reference scale 311 along the first direction, so as to obtain the third detected distance. The third position is located on the same plane as the first position and the second position. The third position and the first position are respectively disposed at different positions along the extending direction of the rail 100. That is, the coordinate values of the third position and the first position in the third coordinate axis are different. The first position and the third position are disposed in tandem on the side of the body 411 of the inspection robot 400.

The third distance detecting means 323 is communicatively connected to the processing means 330. The processing device 330 calculates a rotation angle of the inspection robot 400 about the second direction according to the first detection distance and the third detection distance. The rotation angle of the inspection robot 400 around the second direction, that is, the inclination angle of the body 411 of the inspection robot 400.

Referring to fig. 15, if the first detection distance is y1, the third detection distance is y3, and the distance between the first position and the third position is d, the degree of ∠ 1, which is the rotation angle of the inspection robot 400 around the second direction, can be calculated according to d and y3-y 1.

In this embodiment, the third detection distance is detected by the third distance detection device 323, and the rotation angle of the inspection robot 400 around the second direction is calculated according to the first detection distance and the third detection distance, so that the inclination of the vehicle body of the inspection robot 400 caused by uneven walking ground, wheel abrasion, wheel slip and the like can be eliminated, and the positioning accuracy is improved.

Referring to fig. 12, in an embodiment, the reference coordinate includes the third reference plane and the third direction. The reference standard 310 includes the reference scale 311. The reference scale 311 includes scale information. The pose detection means 320 further includes recognition means 324. The identification device is used for equipment of scale information of the reference scale, so that position information of the inspection robot relative to the third reference surface along the third direction is obtained. That is, the recognition device 324 recognizes the scale information of the reference scale 311, obtains the position information of the inspection robot 400 in the traveling direction, and further obtains the position information of the inspection robot 400 in the third direction with respect to the third reference surface. The system that this embodiment provided can further detect patrol and examine robot 400 because of wheel skids, navigation system deviation etc. cause the deviation that actual walking position in the third direction and target location produced to can improve the accuracy of follow-up location, improve the quality and the efficiency of patrolling and examining work.

The display form of the scale information on the reference scale 311 and the specific structure of the recognition device 324 are not limited as long as the two cooperate to obtain the position information. In one embodiment, the reference scale 311 is a two-dimensional code strip. The two-dimensional code strip contains y-axis information and x-axis information. The recognition device 324 is an image acquisition device. The image acquisition device includes but is not limited to a camera and the like. The image acquisition device set up in patrol and examine robot 400 the automobile body 411 for gather the information in two-dimensional code area obtains image information. The pose detection apparatus 320 further includes a first processing mechanism 325. The first processing mechanism 325 is in communication with the image capture device. The first processing mechanism 325 acquires the image information and obtains the position information of the inspection robot 400 in the first direction with respect to the first reference surface and the position information of the inspection robot 400 in the third direction with respect to the third reference surface from the image information. That is, the first processing unit 325 obtains the current position of the inspection robot 400 in the y-axis direction and the current position in the x-axis direction according to the information of the two-dimensional code strip obtained by the image capturing device 324. It can be understood that, when information is acquired through the two-dimensional code strip and the image acquisition device, the first distance detection device 321 may not be provided.

In this embodiment, through the two-dimensional code area with image acquisition device's cooperation realizes patrolling and examining robot 400 along the detection of x axle direction and along y axle direction position, thereby can obtain patrolling and examining robot 400 is at the ascending position appearance offset of x axle direction and y axle direction, and detection method is simple accurate.

In one embodiment, the reference scale 311 is a two-dimensional code strip or a barcode strip. The identification means 324 is a code reader. The code reader is used for identifying the information of the two-dimensional code band or the bar code band. The barcode strip includes x-axis information. The pose detection apparatus 320 further includes a second processing mechanism 326. The second processing means 326 is communicatively connected to the code reader. The second processing mechanism 326 is configured to obtain the position information of the inspection robot 400 along the third direction relative to the third reference surface according to the information of the two-dimensional code strip or the barcode strip. That is, the code reader reads the x-axis information of the two-dimensional code strip or the barcode strip to obtain the current position information of the inspection robot 400 in the x-axis direction.

In this embodiment, through the two-dimensional code strip or bar code strip with the cooperation of code reader, realize the detection of robot 400 along the x axle direction patrols and examines, thereby can obtain the pose offset of robot 400 in the x axle direction patrols and examines, detection method is simple accurate.

In one embodiment, the pose detection apparatus 320 further includes a fourth distance detection apparatus 327. The fourth distance detecting device 327 is disposed on the top of the inspection robot 400. The fourth distance detection device 327 includes, but is not limited to, a laser range finder. The fourth distance detection device 327 is configured to detect distance information of the bottom of the vehicle to be detected relative to the fourth distance detection device 327, so as to obtain a fourth detection distance. The fourth distance detection means 327 is communicatively connected to the processing means 330. The processing device 330 is configured to calculate a pose offset of the vehicle to be detected according to the fourth detection distance.

And the fourth detection distance is the height information of the bottom of the vehicle to be detected. The fourth distance detection device 327 continuously moves in the inspection groove 300, so as to collect a height information curve of the bottom of the vehicle to be detected. Meanwhile, when the inspection robot 400 moves, the identification device 324 can identify the information of the reference scale 311 to obtain the position information of the height information in the x-axis direction, so that the curve information of the vehicle bottom height length to be detected is obtained. The processing device 330 calculates the pose offset of the vehicle to be detected according to the height length curve information. The pose offset of the vehicle to be detected includes, but is not limited to, the pose offset of the vehicle to be detected relative to the second reference surface along the second direction, and the pose offset of the vehicle to be detected relative to the third reference surface along the third direction, that is: and the offset of the vehicle to be detected in the z-axis direction and the offset of the vehicle to be detected in the x-axis direction. The processing device 330 can process the calculation according to the following embodiments of the method.

In this embodiment, the fourth distance detection device 327 is used to detect the pose offset of the vehicle to be detected, so as to eliminate the parking deviation of the vehicle to be detected in the x-axis direction caused by navigation errors and the pose deviation in the z-axis direction caused by wheel wear of the vehicle to be detected, and further improve the positioning accuracy.

Referring to fig. 16, an embodiment of the present application provides a rail transit rolling stock inspection pose detection method, which can perform pose detection by using the inspection pose detection system 30 as described above. The execution subject of the method is computer equipment. The computer device may be the processing device 330 in the rail transit rolling stock inspection pose detection system 30, the control device 600, or any other computer device that includes a memory and a processor and is capable of processing a computer program.

The method comprises the following steps:

and S10, acquiring the pose offset of the vehicle to be detected relative to the reference coordinate to obtain the vehicle pose offset.

And S20, acquiring the pose offset of the inspection robot 400 relative to the reference coordinate to obtain the pose offset of the robot.

And S30, obtaining the rail transit rolling stock inspection work pose offset according to the vehicle pose offset and the robot pose offset.

The reference coordinates are defined as described in the above embodiments. The amount of the posture offset of the vehicle to be detected with respect to the reference coordinate may be detected by the fourth distance detection device 327 and the processing device 330, the recognition device 324, the first processing mechanism 325, and the second processing mechanism 326 as described above. The amount of the positional deviation of the inspection robot 400 from the reference coordinates can be detected by the first distance detecting device 321, the second distance detecting device 322, and/or the third distance detecting device 323, and the processing device 330, the identifying device 324, the first processing mechanism 325, and the second processing mechanism 326 as described above. The vehicle pose offset can be acquired after the vehicle to be detected is parked in place and stored in a memory of the computer device. The robot pose offset is acquired in real time during the inspection operation of the inspection robot 400.

And after the computer equipment respectively acquires the vehicle pose offset and the robot pose offset, calculating and processing the vehicle pose offset and the robot offset according to a preset method to obtain a total pose offset in the polling operation process, namely the rail transit rolling stock polling operation pose offset. The calculation method includes, but is not limited to, summation or weighted summation of the same coordinate axis pose offset and other related quantities. The specific calculation method can be set according to actual requirements.

The rail transit rolling stock inspection operation pose offset is transmitted to the control device 600. The control device 600 corrects and adjusts the traveling direction of the inspection robot 400 in real time according to the pose offset, so that the vehicle to be detected is accurately positioned and detected.

In the embodiment, the position and posture offset of the rail transit rolling stock in the inspection working process is obtained by acquiring the position and posture offset of the vehicle and the position and posture offset of the robot and according to the position and posture offset of the vehicle and the position and posture offset of the robot. The method provided by the embodiment considers the pose deviation of the inspection robot 400 in the rail transit rolling stock inspection operation process, also considers the pose deviation of the vehicle to be detected, eliminates positioning errors in multiple aspects, improves positioning accuracy and further improves inspection effect.

In one embodiment, the reference coordinates include a first reference plane and a first direction, and S20 includes:

s210, obtaining distance information of the first position of the inspection robot 400 relative to the first reference surface along the first direction, and obtaining first distance information.

The obtaining of the first distance information may include, but is not limited to, detecting the distance between the first position and the reference scale 311 by the first distance detecting device 321 in the above embodiments, and obtaining the first detected distance. And then the first distance information is obtained by calculating the distance of the reference scale 311 relative to the first reference surface along the first direction and the first detection distance. Of course, the first reference surface may be set as the reference scale, and the first distance information is the first detection distance.

The first distance information represents actual distance information of the first position of the inspection robot 400 in the first direction with respect to the first reference surface. The above embodiment is continued, that is, the first distance is distance information of the first position of the inspection robot 400 with respect to the first reference surface along the y-axis.

And S220, acquiring the recording information of the first position relative to the first reference surface along the first direction to obtain first recording information.

The first recorded information represents an ideal position or a target position of the first position of the inspection robot 400 in the first direction with respect to the first reference surface. The first recorded information may be acquired by a navigation module such as an encoder of the inspection robot 400.

And S230, calculating the pose offset of the first position relative to the first reference surface along the first direction according to the first distance information and the first record information. The calculation method includes but is not limited to subtraction of the two or addition of a scaling factor.

In this embodiment, the attitude offset of the first position of the inspection robot 400 relative to the first reference plane along the first direction is obtained by obtaining the first distance information and the first record information, and then the attitude offset of the inspection robot 400 along the x axis is obtained.

Referring to fig. 18, in one embodiment, the reference coordinate includes the second reference plane and the second direction, and S20 includes:

and S240, acquiring distance information of the second position of the inspection robot 400 relative to the reference inclined plane along the first direction to obtain second distance information. Wherein the reference slope is obliquely disposed with respect to the second reference plane, and the first position and the second position are located on the same plane of the inspection robot 400. And the first position and the second position are located on a straight line perpendicular to the second reference plane.

And S250, obtaining the pose offset of the inspection robot 400 relative to the second reference surface along the second direction according to the first distance information and the second distance information.

The acquisition of the second distance information, and the calculation and acquisition of the amount of positional deviation of the inspection robot 400 in the second direction with respect to the second reference surface are the same as those in the above-described embodiment and fig. 14. And will not be described in detail herein.

Referring to fig. 19, in one embodiment, the reference coordinate includes the second direction. S20 includes:

and S260, acquiring distance information of the third position of the inspection robot 400 relative to the first reference surface along the first direction to obtain third distance information. Wherein, the third position with the first position is located patrol and examine the same face of robot 400, just the first position with the third position set up respectively in patrol and examine robot 400 and follow track 100 extending direction's different positions.

And S270, obtaining the rotation angle of the inspection robot 400 around the second direction according to the first distance information and the third distance information.

The acquisition of the third distance information is similar to the acquisition of the first distance information. The calculation and acquisition of the rotation angle of the inspection robot 400 about the second direction are the same as those of the above-described embodiment and fig. 15. And will not be described in detail herein.

Referring to fig. 20, in an embodiment, the reference coordinates include the second reference plane, the third reference plane, the second direction and the third direction. S10 includes:

s110, obtaining distance information of each position of the vehicle bottom of the vehicle to be detected along the third direction relative to the second reference surface along the second direction, obtaining distance information of the vehicle bottom of the vehicle with the vehicle inspection relative to the third reference surface along the third direction, and obtaining vehicle bottom height length curve information.

And S120, acquiring the standard height length curve information of the vehicle bottom to be detected.

And S130, obtaining the attitude offset of the vehicle to be detected relative to the second reference surface along the second direction and the attitude offset of the vehicle to be detected along the third direction according to the vehicle bottom height length curve information and the standard height length curve information.

And the height length curve information represents the position of each component at the bottom of the vehicle on the z axis and the position corresponding relation between the z axis and the x axis when the vehicle to be detected stops at the actual parking position. And the standard height length curve information represents the position of each component at the bottom of the vehicle on the z axis and the corresponding relation between the z axis and the x axis when the vehicle to be detected is positioned at the accurate target parking position.

Please refer to fig. 21, wherein fig. 21(a) is a plot of vehicle bottom height length curve information; fig. 21(b) is a standard height length curve information chart. The inspection robot 400 bears the fourth distance detection device to move along the bottom of the vehicle to be detected, the information of the reference scale 311 is recognized by the recognition device 324 while the height information of the bottom of the vehicle to be detected is obtained, and the position information of each position of the bottom of the vehicle to be detected relative to the third reference surface along the third direction is obtained. Thereby obtaining the height length curve information.

According to the comparison between the curve information of the vehicle bottom height and the curve information of the standard height and the length, the deviation of the vehicle to be detected along the z axis and the parking deviation along the x axis can be quickly obtained.

For example, as can be seen from a comparison of fig. 21(a) and 21(b) in fig. 21, the z-axis deviation is z1a-z1b, and the x-axis deviation is x1a-0, which is x1 a.

According to the method provided by the embodiment, by acquiring the curve information of the vehicle bottom height and the length of the standard height, the attitude deviation of the vehicle to be detected along the z axis and the parking deviation in the x axis direction can be quickly and accurately acquired.

In one embodiment, S130 includes:

s131, according to the vehicle bottom height length curve information, obtaining distance information of the wheel set position of the vehicle to be detected relative to the first reference surface along the first direction, and obtaining wheel set position information.

S132, obtaining standard distance information of the wheel set position of the vehicle to be detected relative to the first reference surface along the first direction according to the standard height length curve information, and obtaining standard wheel set information.

And S133, obtaining the attitude offset of the vehicle with the inspection vehicle relative to the second reference surface along the second direction and the attitude offset of the vehicle to be detected relative to the third reference surface along the third direction according to the wheel set position information and the standard wheel set position information.

With continued reference to fig. 21, from fig. 21(a), it can be seen that the actual parking position of the wheel set is x-axis x1a point, and the height is z2 a. According to fig. 21(b), the ideal parking position of the wheel pair is x-axis x2b point and height z2 b. Therefore, the offset of the vehicle to be detected along the z axis is z2a-z2b, and the offset of the vehicle to be detected along the x axis is x2a-x2 b.

In this embodiment, by identifying the position of the wheel set, the attitude offset of the vehicle to be detected along the second direction relative to the second reference plane and the attitude offset of the vehicle to be detected along the third direction relative to the third reference plane can be quickly and accurately obtained, so that the calculation speed of the attitude offset is increased.

In one embodiment, the control device 600 of the rail transit rolling stock inspection device 10 is communicatively coupled to the processing device 330. The position and orientation offset of the inspection robot 400, the position and orientation offset of the vehicle to be detected and/or the rail transit rolling stock inspection operation posture offset, which are calculated by the processing device 330, relative to the reference coordinate are transmitted to the control device 600. The control device 600 controls the walking of the inspection robot 400 according to the offset, so that accurate positioning and accurate inspection are realized.

Referring to fig. 22, an embodiment of the present application provides a rail transit rolling stock inspection system 1. The rail transit rolling stock inspection system 1 includes the rail transit rolling stock inspection device 10 and the dispatching device 20 as described above. Wherein, the number of the inspection robots 400 is at least 2. The dispatching device 20 is in communication connection with the inspection robot 400. The scheduling device 20 is used for scheduling the inspection robot 400.

The rail transit rolling stock inspection system 1 includes a plurality of inspection robots 400. The control device 600 of each rail transit rolling stock device 10 may be separately configured to control the inspection robot 400, or may control a plurality of inspection robots through one control device 600.

Similarly, the scheduling device 20 may be a separately provided device, or may be a module of the control device 600. The dispatching device 20 is used for setting the operation sequence and the walking route of each inspection robot 400 according to the inspection operation content requirement and the state of the inspection robot 400. The dispatching device 20 may also be configured to control the lifting of the lifting device 501 according to the work requirement and the work state of the inspection robot 400. In addition, the dispatching device 20 may also control the operation of the inspection auxiliary device 900 according to the operation requirement and the operation state of the inspection robot 400.

In this embodiment, through scheduling device 20 controls a plurality ofly patrol and examine robot 400 work to can realize a plurality ofly patrol and examine robot 400 and patrol and examine the operation simultaneously, shorten greatly and patrol and examine the activity duration, improved and patrol and examine the operation efficiency.

There are various ways in which the dispatching device 20 controls the inspection robots 400, and in one embodiment, each inspection robot 400 may be provided with a plurality of different inspection devices 430 according to the requirements. The dispatching device 20 is configured to control each inspection robot 400 to complete a plurality of inspection items for one vehicle to be inspected. That is, the dispatching device 20 controls each inspection robot 400 to complete all inspection items required for one vehicle to be inspected. The inspection robots 400 simultaneously complete the inspection of the vehicles to be inspected. In this embodiment, it need not to stride the track detection, practices thrift to patrol and examine robot 400 walking time, improves detection efficiency.

In another embodiment, the inspection robots 400 are provided with different detection devices 430, respectively. The dispatching device 20 is configured to control each inspection robot 400 to respectively complete one detection item for a plurality of vehicles to be detected. That is, the inspection robots 400 are respectively provided with different inspection devices 430 to perform different inspection items. The inspection robots 400 perform inspection work simultaneously, and each inspection robot 400 performs inspection of a plurality of vehicles to be inspected across the track, thereby performing inspection of a plurality of vehicles to be inspected simultaneously. In this embodiment, each inspection robot 400 does not need to be replaced the detection device 430, so that the time and resources for replacing the device 400 to be detected by the inspection robot 400 are saved, and the inspection efficiency is improved.

The operation of the rail transit rolling stock inspection device 10 and the rail transit rolling stock inspection system 1 will be described with reference to the following embodiments.

Referring to fig. 23, the rail transit rolling stock inspection system 1 includes 6 inspection robots 400, M5(1) -M5(6), which are parked at positions P001-P006, respectively. The rail transit rolling stock inspection system 1 further comprises 2 inspection auxiliary devices 900 which are M6(1) and M6(2) and are respectively stopped at P007 and P008 positions. In the figure, Pxxx represents a position. J1-J6, indicated with dashed lines, are the different compartments of the vehicle to be inspected. M7(1) and M7(2) represent the lifting device 501. Assuming that the lifting device 501 is connected to the dispatching device 20 in communication, the lifting action of the lifting device 501 is controlled by the dispatching device 20.

The positions P001-P186 in the figure are explained as follows:

P001-P006: the inspection robots M5(1) -M5(6) arranged on the vehicle side L of the vehicle to be inspected stand by.

P007-P008: the patrol auxiliary devices M6(1) -M6(2) arranged on the vehicle side L of the vehicle to be inspected stand by.

P120: a point (a vehicle side L middle reference point) on the lifting platform of the lifting device M7(1) moves between the plane where the inspection platform 200 is located and the plane where the inspection groove 300 is located on the vehicle side L of the vehicle to be detected.

P110, P130: and reference points at two ends of the side L of the vehicle to be detected.

P114-P119, P121-P126: and typical vehicle side L detection stopping points corresponding to all the carriages of the vehicle to be detected.

P150: the middle reference point in the inspection groove 300.

P140, P160: the datum points at two ends in the inspection groove 300.

P144-P149, P151-P156: and typical vehicle bottom routing inspection groove detection stopping points corresponding to all sections of carriages of the vehicle to be detected.

P180: a point (a vehicle side R middle reference point) on the lifting platform of the lifting device M7(2) moves between the plane where the inspection platform 200 on the vehicle side of the vehicle to be detected is located and the plane where the inspection groove 300 is located.

P170, P190: and reference points at two ends of the vehicle side R of the vehicle to be detected.

P174-P179, P181-P186: and typical vehicle side R detection stopping points corresponding to all carriages of the vehicle to be detected.

In one embodiment, the rail transit rolling stock inspection system 1 includes 1 inspection robot 400, and the inspection operation process is as follows:

s101, all working modules of the rail transit rolling stock inspection device 10 are self-checked normally, and all functions are ready.

S102, the field working condition detection device 700 obtains working condition parameters of the inspection field.

Specifically, hydrops detection mechanism 710 detects patrol and examine the hydrops condition in the recess 300, intrusion detection subassembly 730 patrol and examine whether there is the invasion etc. at the scene. If the abnormality exists, the field working condition detection device 700 or the control device 600 gives an alarm.

Meanwhile, the vehicle in-place detection component 720 detects whether the vehicle to be detected is parked in place. If the vehicle is detected to be parked in place, the vehicle can be used as a starting enabling signal.

S103, the control device 600 confirms whether the work can be started or not according to the detection condition of the field working condition detection device 700, and if so, sends a starting signal.

S104 the dispatching device 20 acquires the information of the inspection robot 400 activated and standby, allocates an inspection task to the inspection robot M5(1), and issues a job control instruction. Assuming that the inspection task is: and finishing a certain polling item at P150 in the figure.

S105, the inspection robot M5(1) operates according to the following 4 steps:

1) the dispatching device 20 controls the inspection robot M5(1) to walk from P001 to P120, and after the inspection robot M5(1) feeds back the state to the dispatching device 20.

2) The dispatching device 20 sends a 'descending' command to the lifting device M7(1), and the lifting device M7(1) executes a descending action and feeds back the descending action to the dispatching device 20 after the descending action is completed.

3) The dispatching device 20 sends out a command 'P120- > P150' to the inspection robot M5(1), and when the inspection robot M5(1) walks to the P150, the inspection robot enters the inspection groove 300 and feeds the state back to the dispatching device 20.

4) The dispatching device 20 sends an ascending command to the lifting device M7(1), and the lifting device M7(1) executes the ascending action.

S106, the control device 600 sends a command of positioning and detecting the vehicle to be detected to the inspection robot M5(1), and the inspection robot M5(1) carries out walking measurement along the directions of J4- > J5- > J6- > J3- > J2- > J1, so that the parking deviation delta X of the vehicle to be detected and the height deviation delta Yn of the part are obtained.

S107, the control device 600 sends a command of 'detecting the bottom of the vehicle to be detected' to the inspection robot M5(1), and the inspection robot M5(1) walks along the directions of 'P140- > P150- > P160' to detect the bottom items of the vehicle to be detected.

S108, the detection operation of the vehicle bottom item to be detected comprises the following steps:

1) the inspection robot M5(1) stops at P144, and the control device 600 controls the end of the arm 420 of the inspection robot M5(1) to a predetermined detection position.

2) The inspection device 430 installed at the end of the robot arm 420 starts to operate, collects information related to an inspection item, and transmits the information to the control device 600.

3) The control device 600 processes the relevant information and checks whether there is a failure.

4) And the inspection robot M5(1) walks to the next detection parking position, and repeats the steps 1) -3) until the detection operation corresponding to all the detection required positions in the steps P140 to P160 is completed.

S109, after the inspection robot M5(1) finishes the vehicle bottom detection operation of the vehicle to be detected, the inspection robot returns to P150, and then the state is fed back to the control device 600.

S110 assuming that the inspection robot M5(1) is currently located at the position P150, the control device 600 sends an instruction "complete a certain item detection at P110" to the inspection robot M5(1), according to the following steps:

1) the dispatching device 20 sends a 'descending' command to the lifting device M7(1), the lifting device M7(1) executes a descending action, and after the command is in place, the dispatching device 20 is fed back.

2) The dispatching device 20 sends out a command 'P150- - > P120' to the inspection robot M5(1), and when the inspection robot M5(1) walks to the P120, the inspection robot goes out of the inspection groove 300 and feeds back the state to the control device 600.

3) The control device 600 sends a 'lifting' command to the lifting device M7(1), and the lifting device M7(1) executes a lifting action and feeds back the lifting action to the dispatching device 20 after the lifting action is completed.

4) The dispatching device 20 sends a command "P120- > P110" to the inspection robot M5(1), and when the inspection robot M5(1) walks to P110, the action is completed.

S111 the inspection robot M5(1) performs the detection operation on the vehicle side L of the vehicle to be detected from P110 to P130, and the process is similar to S108 and is not repeated herein. And after the inspection robot M5(1) finishes detection, the inspection robot reaches P130.

S112 the dispatching device 20 sends a command "execute P130- > P170 action" to the inspection robot M5(1), and the following steps are performed:

1) the dispatching device 20 controls the inspection robot M5(1) to walk from P130 to P120. After the inspection robot M5(1) is in place, the state is fed back to the dispatching device 20.

2) The dispatching device 20 sends a 'descending' command to the lifting devices M7(1) and M7(2), and the lifting devices M7(1) and M7(2) execute descending actions and feed back to the dispatching device 20 after being in place.

3) The dispatching device 20 sends a command 'P120- > P180' to the inspection robot M5(1), and when the inspection robot M5(1) walks to P180, the inspection robot goes out of the trench and feeds the state back to the dispatching device 20.

4) The dispatching device 20 sends 'ascending' commands to the lifting device M7(1) and the lifting device M7(2), and the lifting device M7(1) and the lifting device M7(2) execute ascending actions. When the elevator M7(1) and the elevator M7(2) are in place, the information is fed back to the dispatching device 20.

5) The dispatching device 20 sends a command 'P180- > P170' to the inspection robot M5(1), and when the inspection robot M5(1) walks to P170, the action is completed.

S113 the inspection robot M5(1) executes vehicle side R detection operation between P170 and P190, the process is similar to S108, and details are not repeated here.

In the process of the inspection work above S114, or after the inspection work is completed, the detection device 430 transmits the collected information to the control device 600 for processing. The control device 600 feeds the fault information back to the maintenance personnel through the client for confirmation. And confirming the component with the fault, and prompting a maintainer to carry out maintenance. If the cell cannot be confirmed, the cell can be confirmed again after recheck. The review process is similar to the process described above.

S115 after the manual overhaul is completed, the dispatching device 20 controls the inspection robot M5(1) to walk to the position to be overhauled, and the control device 600 controls the inspection robot M5(1) to carry out the collection and recording of the re-information of the inspection items after the inspection.

It is to be understood that, when the rail transit rolling stock inspection system 1 includes 1 inspection robot 400, the traveling route control, the inspection work control, and the like of the inspection robot 400 may be controlled by the control device 600. The control of the lifting device 501 may also be controlled by the control device 600.

In another embodiment, the dispatching device 20 dispatches 3 inspection robots 400 to perform inspection jobs simultaneously, and the inspection job process includes:

s201, inspection and task acquisition before inspection operation, specifically comprising the following steps:

s2011 the rail transit rolling stock inspection system 1 has the advantages that all working modules are normally self-checked, and all functions are ready.

S2012, the site working condition detection device 700 obtains the working condition parameters of the inspection site. Specifically, synchronization step S102.

S2013, the control device 600 determines whether the work can be started according to the detection condition of the field condition detection device 700, and if so, sends a start signal.

S2014 the dispatching device 20 acquires the information of the inspection robot 400 activated to standby, and allocates inspection tasks to the inspection robots M5(1), M5(2) and M5(3), and issues a job control instruction. Suppose the patrol task is allocated as follows: the inspection robot M5(1) completes a first inspection item at P150 in the figure; the inspection robot M5(2) completes the second inspection item at P110 in the figure; the inspection robot M5(3) completes the third inspection item at P170 in the figure.

S2015, the inspection robots M5(1), M5(2) and M5(3) respectively walk to P150, P110 and P170 according to the instructions of the scheduling device 20 and the control device 600.

S2016, the control device 600 sends a 'position detection on the vehicle to be detected' instruction to the inspection robot M5(1), M5(2) or M5(3), and the inspection robot M5(1), M5(2) or M5(3) conducts walking measurement along the directions of 'J4- > J5- > J6- > J3- > J2- > J1' to obtain the parking deviation delta X of the vehicle to be detected and the height deviation delta Yn of the component to be detected.

S202, after the inspection robots M5(1), M5(2) and M5(3) walk in place, information is fed back to the control device 600.

S203, the control device 600 sends a command of 'detecting the vehicle bottom of the vehicle to be detected' to the inspection robot M5(1), and the inspection robot M5(1) walks along the directions of 'P140- > P150- > P160' to detect vehicle bottom items.

S204, the control device 600 sends a command of detecting the vehicle side L of the vehicle to be detected to the inspection robot M5(2), and the inspection robot M5(2) walks along the directions of P110, P120 and P130 to detect the vehicle side L project.

S205 the control device 600 sends a command of detecting the vehicle side R of the vehicle to be detected to the inspection robot M5(3), and the inspection robot M5(3) walks along the directions of P170, P180, P190 to detect the vehicle side R project.

S206 is the same as steps S114 to S115.

In one embodiment, the dispatching device 20 dispatches 6 inspection robots M5 to simultaneously perform inspection work on the vehicle side L of the vehicle to be inspected, and the steps are as follows:

s211 synchronizes step S201.

S212, in the above S2014, the scheduling device 20 sends "P001- - > P110" to the inspection robot M5 (1); the dispatching device 20 sends P002 to P114 to the inspection robot M5 (2); the dispatching device 20 sends 'P003-P116' to the inspection robot M5 (3); the dispatching device 20 sends 'P004-P118' to the inspection robot M5 (4); the dispatching device 20 sends 'P005- > P123' to the inspection robot M5 (5); the dispatching device 20 sends 'P006- > P125' to the inspection robot M5 (6); the dispatching device 20 sends "P144- > P125" to the inspection robot M5 (6). The walking process of the inspection robot is similar to that of S110, and after the inspection robot is in place, information is fed back to the control device 600.

S213, the control device 600 sends a 'vehicle side L-J1 detection' instruction to the inspection robot M5(2), and the inspection robot M5(2) walks in the direction of 'P114 to P115' of the vehicle to be detected to detect the vehicle side L-J1 project.

S214, the control device 600 sends a command of detecting the vehicle side L-J2 of the vehicle to be detected to the inspection robot M5(3), and the inspection robot M5(3) runs along the directions of 'P116- > P117' to detect the vehicle side L-J2 project.

S215 the control device 600 sends a command of detecting the vehicle side L-J3 of the vehicle to be detected to the inspection robot M5(4), and the inspection robot M5(4) runs along the directions of 'P118- > P119' to detect the vehicle side L-J3 project.

S216, the control device 600 sends a command of detecting the vehicle side L-J4 of the vehicle to be detected to the inspection robot M5(1), and the inspection robot M5(1) runs along the directions of P121 to P122 to detect the vehicle side L-J4 project.

S217, the control device 600 sends a command of detecting the vehicle side L-J5 of the vehicle to be detected to the inspection robot M5(5), and the inspection robot M5(5) runs along the directions of 'P123 to > P124' to detect the vehicle side L-J5 project.

S218, the control device 600 sends a command of detecting the vehicle side L-J6 of the vehicle to be detected to the inspection robot M5(6), and the inspection robot M5(6) runs along the directions of 'P125-P126' to detect the vehicle side L-J6 project.

S219 corresponds to steps S114 to S115.

In one embodiment, the process of docking the inspection robots M5(1) and M5(2) through the docking device 440 and performing cooperative work at the P122 and P123 positions is as follows:

s301, the inspection robot M5(1) reaches a detection point P123.

S302, the inspection robot M5(2) arrives at a detection point P122 and is mechanically connected with the inspection robot M5(1) through a real-time docking device 440.

S303, the inspection robots M5(1) and M5(2) cooperate to work under the condition that the relative positions are kept static according to the process requirements.

S304, after the work of the inspection robots M5(1) and M5(2) is completed, the docking device 440 is disconnected.

In one embodiment, the inspection assisting device M6(1) performs an auxiliary work process on the inspection robot M5(1) as follows:

s401 during the detection operation in the above step S108 (assuming that the stop position is P121), the inspection robot M5(1) controls the end of the arm 420 to a predetermined detection position. The detecting means 430 starts the detecting operation. After the acquisition and detection are completed, the detection device 430 needs to be replaced to perform another detection.

S402 the dispatching device 20 issues a command "position P121 replaces the robot end detecting device" to the inspection assisting device M6(1). The inspection auxiliary device M6(1) executes a motion of "P007- > P121", and travels from P007 to the P121 position. After the inspection robot is in place, the inspection robot M5(1) is in butt joint through the butt joint device 440, and mechanical connection is achieved. After completion, the state is fed back to the control device 600.

S403, the control device 600 sends a replacement detection device instruction, and the inspection robot M5(1) replaces the detection device at the tail end of the mechanical arm 420 with the detection device on the tool rack 920 of the inspection auxiliary device M6(1). After the inspection, the inspection robot M5(1) is separated from the inspection auxiliary device M6(1), and the inspection auxiliary device M6(1) returns.

In one embodiment, the inspection auxiliary device M6(1) performs auxiliary emergency rescue on the inspection robot M5(1) by the following steps:

s501, in the process of the inspection operation of the inspection robot M5(1), the inspection robot cannot work normally when a fault is encountered at the position P121. After acquiring the abnormal information, the dispatching device 20 sends a command "rescue at position P121" to the inspection robot M6(1).

S502 the inspection robot M6(1) walks to P121 and is in butt joint with the inspection robot M5(1) which breaks down, so that mechanical and electrical connection is realized.

S503, the inspection robot M5(1) is diagnosed through the inspection auxiliary device M6(1), and if the inspection robot M5(1) is in a software fault state, the inspection robot M5(1) is repaired and restarted through software. And then determines whether the fault condition is still present.

S504, if the software repair is unsuccessful, the inspection robot M5(1) is checked for electrical connection through the inspection auxiliary device M6(1), and if the inspection robot M5(1) is in electrical failure, the inspection robot M5(1) is tried to be switched to a running gear drive control mode. The inspection robot M5(1) can automatically travel to a maintenance area.

S505, if the inspection robot M5(1) is unsuccessfully switched in the drive control mode, directly pushing the inspection robot M5(1) to a maintenance area.

S506, the inspection auxiliary device M6(1) is separated from the docking device 440 of the inspection robot M5(1), and the inspection auxiliary device M6(1) returns.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides a rail transit rolling stock inspection device, its characterized in that, rail transit rolling stock inspection device is used for detecting the vehicle that waits to detect, it parks in track (100) to detect the vehicle, the track sets up in patrolling and examining platform (200), just it follows to patrol and examine platform (200) track (100) extending direction corresponds sets up and patrols and examines recess (300), rail transit rolling stock inspection device includes:

a patrol robot (400);

the lifting equipment set (500) comprises at least one lifting equipment (501), the lifting equipment (501) is arranged on the side face of the extending direction of the track (100), the lifting equipment (501) is of a lifting structure, and by lifting, the lifting equipment (501) can be butted with the inspection groove (300) and can be leveled with the surface of the inspection platform (200);

and the control device (600) is in communication connection with the inspection robot (400) and is used for controlling the inspection robot (400) to work.

2. The rail transit rolling stock inspection device according to claim 1, wherein the lifting equipment set (500) includes at least 2 lifting equipment (501), the at least 2 lifting equipment (501) are respectively disposed at both sides of the extending direction of the rail (100), and the at least 2 lifting equipment (501) can be in butt-joint communication with the inspection groove (300) and form at least one passage.

3. The rail transit rolling stock inspection device according to claim 2, wherein the number of the rails (100) is at least 2 groups, the number of the inspection groove (300) is at least 2, and the number of the lifting equipment groups (500) is at least 2 groups;

each routing inspection groove (300) is arranged corresponding to one group of tracks (100);

each group of lifting equipment group (500) is correspondingly arranged on each group of tracks (100);

a plurality of the lifting devices (501) of at least 2 groups of the lifting device group (500) can be in butt communication with at least 2 inspection grooves (300) and form at least one cross-track passage.

4. The rail transit rolling stock inspection device according to claim 1, further comprising a field condition detection device (700) disposed on the rail (100), the inspection platform (200) and/or the inspection groove (300) and communicatively connected to the control device (600) for detecting the conditions of an inspection field.

5. The rail transit rolling stock inspection device according to claim 4, wherein the field condition detection device (700) includes at least one of a liquid accumulation detection mechanism (710), a vehicle to be detected in-situ detection component (720) and an intrusion detection component (730);

the accumulated liquid detection mechanism (710) is arranged in the inspection groove (300), is in communication connection with the control device (600), and is used for detecting the accumulated liquid condition in the inspection groove (300);

the vehicle in-place detection assembly (720) to be detected is arranged on the track (100), is in communication connection with the control device (600), and is used for detecting whether the vehicle to be detected is parked in place;

invasion detection subassembly (730) set up in track (100) patrol and examine platform (200) and/or patrol and examine recess (300), with controlling means (600) communication connection is used for detecting whether there is the invasion in the scene of patrolling and examining.

6. The rail transit rolling stock inspection device according to claim 1, wherein the inspection robot (400) includes:

the work walking device (410) comprises a vehicle body (411) and wheels (412), wherein the wheels (412) are arranged at the bottom of the vehicle body (411), and the vehicle body (411) comprises an accommodating cavity (413);

the mechanical arm (420) is arranged on the vehicle body (411) and is in communication connection with the control device (600), the mechanical arm (420) is of a foldable structure, and the mechanical arm (420) can be contained in the containing cavity (413).

7. The rail transit rolling stock inspection device according to claim 6, wherein the inspection robot (400) further includes:

the detection device (430) is arranged at the tail end of the mechanical arm (420), and is in communication connection with the control device (600).

8. The rail transit rolling stock inspection device according to claim 7, wherein the inspection robot (400) further includes:

and the docking device (440) is arranged on the vehicle body (411) and is used for realizing docking with other equipment.

9. The rail transit rolling stock inspection device according to claim 6, wherein the inspection robot (400) further includes:

and an auxiliary charging terminal (450) provided to the vehicle body (411).

10. The rail transit rolling stock inspection device according to claim 9, further comprising:

and the auxiliary charging device (800) is arranged on the track (100), is matched with the auxiliary charging terminal (450) and is used for supplying power to the auxiliary charging terminal (450).

11. The rail transit rolling stock inspection device according to claim 8, further including an inspection auxiliary device (900), the inspection auxiliary device (900) including:

a walking aid (910);

and the tool rack (920) is arranged on the auxiliary walking device (910) and is used for placing the detection device to be replaced.

12. The rail transit rolling stock inspection device according to claim 11, wherein the inspection assistant device (900) further includes:

mechanical emergency device (941), set up in auxiliary walking device (910), with interfacing apparatus (440) structure matches, be used for the realization with the mechanical butt joint of patrolling and examining robot (400).

13. The rail transit rolling stock inspection device according to claim 12, wherein the inspection unit (430) is coupled to a distal end of the manipulator (420) by a quick-change device (431);

the quick-change device (431) comprises a mechanical arm end (433) and a tool end (435), the mechanical arm end (433) is connected with the mechanical arm (420), the tool end (435) is connected with the detection device (430), and the mechanical arm end (433) and the tool end (435) can be plugged to realize electrical connection and mechanical connection;

patrol and examine auxiliary device (900) tool rest (920) sets up and treat the replacement detection device, the one end of treating the replacement detection device is connected with tool end (435), tool end (435) be used for with manipulator end (433) are connected and are realized treat the replacement detection device with the connection of manipulator (420).

14. The rail transit rolling stock inspection device according to claim 1, further comprising:

a reference datum (310) provided on one side of the rail (100) in the extending direction of the rail (100);

a pose detection device (320) arranged on the inspection robot (400) and used for detecting the distance information of the inspection robot (400) relative to the reference datum (310);

and the processing device (330) is in communication connection with the pose detection device (320) and is used for calculating the pose offset of the inspection robot (400) relative to the reference coordinate according to the distance information of the inspection robot (400) relative to the reference datum (310).

15. The rail transit locomotive inspection device according to claim 14, wherein the processing device (330) is communicatively coupled to the control device (600), the control device (600) further configured to control the inspection robot (400) to travel based on a pose offset of the inspection robot (400) relative to the reference coordinates.

16. The utility model provides a rail transit rolling stock system of patrolling and examining which characterized in that includes:

the rail transit rolling stock inspection device (10) according to any one of claims 1-15, wherein the number of inspection robots (400) is at least 2;

and the dispatching device (20) is in communication connection with the inspection robot (400) and is used for dispatching the inspection robot (400).

17. The rail transit rolling stock inspection system according to claim 16, wherein at least 2 inspection robots (400) are respectively provided with different detection devices (430), and the dispatching device (20) is used for controlling each inspection robot (400) to respectively complete one detection item of a plurality of vehicles to be detected.