JP7253064B2 - Rail transit locomotive patrol device and system - Google Patents

Description

This application was filed on February 3, 2019 and has application number 201910108765. X claims priority to a Chinese patent application entitled "Rail Transit Vehicle Patrol Apparatus and System". The entirety of which is incorporated herein by reference.

The present invention relates to the technical field of rail transit detection, and more particularly to rail transit patrolling devices and systems.

2. Description of the Related Art Due to the development of transportation technology, rail transportation vehicles such as trains, high-speed trains, subways, and high-speed railways have become an important means of transportation for people to go out. Rail transit vehicles need to be inspected regularly to ensure their safety.

In the prior art, inspection of rail transit vehicles is primarily based on manual detection. Detection has been by human visual detection or hand-held detection devices. Such detection suffers from low efficiency, poor quality, and a low level of informationization.

With the progress of artificial intelligence, rail transit locomotive patrol equipment has been gradually developed. Current rail transit vehicle patrols primarily use patrol robots equipped with sensing probes to inspect rail transit vehicles. However, the current rail transit locomotive patrolling device with such a structure needs to be improved in intelligence.

Based on this, there is a need to provide a rail transit locomotive patrol device and system to address the problem of low intelligence.

In a rail transportation locomotive patrol device that detects a vehicle to be detected,
The vehicle to be detected is parked on a track, the track is arranged on a patrol platform, the patrol platform is correspondingly formed with a patrol groove along the extension direction of the track,
The rail transportation locomotive patrol device
patrol robot,
A lifting device group including at least one lifting device, wherein the lifting device has a structure that is arranged on the side of the track and can be raised and lowered, and is lifted and lowered to dock with the circuit groove; a lifting device group capable of achieving flush with the surface of the patrol platform;
a control device communicatively connected to the patrol robot and controlling work of the patrol robot.

In one embodiment, the lifting device group includes at least two lifting devices, and the at least two lifting devices are respectively arranged on both sides of the track and docked and communicated with the circuit groove, At least one passageway can be formed.

In one embodiment, there are at least two groups of said tracks, at least two groups of said circuit grooves, and at least two groups of said elevator groups,
each of the circular grooves is arranged corresponding to one group of the tracks,
each group of said tracks is associated with a group of said elevator groups;
A plurality of said elevators of at least two said elevators groups are capable of docking and communicating with at least two said circuit channels to form at least one transverse track passage.

In one embodiment, a site operation status detection device is further provided, and the site operation status detection device is installed on the track, the patrol platform and/or the patrol groove, is communicatively connected to the control device, and is connected to the patrol site. Tracked transportation locomotive patrolling equipment that detects operating conditions.

In one embodiment, the on-site operating status detection device includes at least one of an accumulated liquid detection mechanism, a detection target vehicle occupancy detection component, and an intrusion detection component,
The retained liquid detection mechanism is disposed in the circulation groove, is communicably connected to the control device, and detects a state of liquid retention in the circulation groove,
The detection target vehicle presence detection component is arranged on the track, is communicatively connected to the control device, and detects whether the detection target vehicle is parked at a predetermined position,
The intrusion detection component is disposed on the track, the patrol platform and/or the patrol channel, and is communicatively connected to the control device to detect the presence or absence of intrusion at the patrol site.

In one embodiment, the patrol robot:
a work vehicle comprising a vehicle body and wheels, wherein the wheels are disposed on the bottom of the vehicle body and the vehicle body includes a receiving cavity;
a robotic arm disposed on the vehicle body, communicatively connected to the controller, having a foldable structure and retractable within the receiving cavity.

In one embodiment, the patrol robot further comprises a detection device located at an end of the robot arm and communicatively connected to the controller.

In one embodiment, the patrol robot further comprises a docking device arranged on the vehicle body and configured to dock with another device.

In one embodiment, the patrol robot further includes an auxiliary charging terminal provided on the vehicle body.

In one embodiment, further comprising: an auxiliary charging device (800) arranged on the track and supplying power to the auxiliary charging terminal together with the auxiliary charging terminal.

In one embodiment, further comprising a circulating auxiliary device,
The circulatory auxiliary device,
an auxiliary running device;
and a tool rack arranged on the auxiliary traveling device and on which a replacement target detection device is installed.

In one embodiment, the patrolling auxiliary device further includes a mechanical emergency device (941) disposed on the auxiliary traveling device, which realizes mechanical docking with the patrolling robot in conjunction with the structure of the docking device. Tracked locomotive patrol equipment.

In one embodiment, the detection device is connected to the end of the robotic arm by a quick change device,
The speed change device includes a robot arm end and a tool end, the robot arm end is connected to the robot arm, the tool end is connected to the detection device, the robot arm end and the tool end. With the tool end, electrical and mechanical connections can be realized by plug-in connection,
A detection device to be replaced is provided on the tool rack of the auxiliary patrol device, another tool end is connected to one end of the detection device to be replaced, and the other tool end is connected to the end of the robot arm. A track transportation locomotive patrol device that, when connected, realizes a connection between the detection device to be replaced and the robot arm.

In one embodiment, a reference datum located on one side of the track along the direction of extension of the track;
a posture detection device provided in a patrol robot for detecting distance information of the patrol robot with respect to the reference standard;
a processing device that is communicably connected to the attitude detection device and that calculates an attitude offset of the patrol robot with respect to the reference coordinates based on distance information of the patrol robot with respect to the reference standard. .

In one embodiment, the processing device is communicably connected to the control device, and the control device further controls traveling of the patrol robot according to a posture offset of the patrol robot with respect to the reference coordinates. Do track locomotive patrols.

In the rail transportation locomotive patrol device according to the embodiment of the present invention, first, the lifting device automatically raises and lowers, and the degree of automation is increased by realizing docking with the patrol groove and docking with and communicating with the patrol platform. improves. Next, by making the lifting device flush with the surface of the patrol platform, the patrol platform is flattened without hindrance to travel. Furthermore, the lifting device allows the patrol robot to enter and exit the patrol groove without human power, thereby realizing fully automatic traveling and improving the intelligence of the patrol robot. . This improves the intelligence of the rail transportation locomotive patrol device.

comprising the above rail transit locomotive patrol device, wherein the patrol robots are at least two;
A rail transit locomotive patrol system, comprising a scheduling device communicatively connected to the patrol robot and scheduling the patrol robot.

In one embodiment, at least two patrol robots are provided with different detection devices, and the scheduling device controls each patrol robot to detect one item for each of the plurality of detection target vehicles. A rail transit locomotive patrol system.

In the rail transportation locomotive patrol system according to the embodiment of the present invention, the work of a plurality of patrol robots can be controlled by the scheduling device. can be shortened to improve the cyclic efficiency.

FIG. 1 is a schematic diagram of a rail transportation locomotive patrol device and patrol sites according to an embodiment of the present invention. FIG. 2 is a schematic diagram of a rail transportation locomotive patrol device and a patrol site according to an embodiment of the present invention. FIG. 3 is a structural schematic diagram of a lifting device according to an embodiment of the present application. FIG. 4 is a structural schematic diagram of a rail transportation locomotive patrol device according to an embodiment of the present application. FIG. 5 is a schematic front structural view of a patrol robot according to an embodiment of the present invention. FIG. 6 is a perspective structural schematic diagram of a patrol robot according to an embodiment of the present invention. FIG. 7 is a structural schematic 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 structural view of a patrol robot and patrol assisting device according to an embodiment of the present application. FIG. 9 is a perspective structural schematic diagram of a patrol robot and patrol assisting device according to an embodiment of the present application. FIG. 10 is a structural schematic diagram of a rail transportation locomotive patrol device according to an embodiment of the present application. FIG. 11 is a schematic diagram of reference coordinates in the process of detecting a cyclic pose according to an embodiment of the present invention. FIG. 12 is a configuration block diagram of a posture detection device according to an embodiment of the present application. FIG. 13 is a side view of a reference standard according to one embodiment of the present application. FIG. 14 is a schematic diagram showing the principle of a calculation method for determining the attitude offset along the second direction with respect to the second reference plane of the patrol robot using the first detection distance and the second detection distance, according to an embodiment of the present application; (Illustration is a side view of the patrol robot body and reference standard). FIG. 15 is a schematic diagram showing the principle of a calculation method for obtaining the rotation angle of the patrol robot about the second direction from the first detection distance and the third detection distance (the figure shows the patrol robot body), according to an embodiment of the present application. and a plan view of the reference standard). FIG. 16 is a schematic diagram of a flow chart of a method for detecting a patrol position of a rail transit vehicle according to an embodiment of the present application. FIG. 17 is a schematic diagram of a flow chart of a process of obtaining an attitude offset with respect to the reference coordinates of the patrol robot according to an embodiment of the present application and obtaining the robot attitude offset. FIG. 18 is a schematic diagram of a flow chart of a process of obtaining an attitude offset with respect to the reference coordinates of the patrol robot according to an embodiment of the present application and obtaining the robot attitude offset. FIG. 19 is a schematic diagram of a flow chart of a process of obtaining an attitude offset with respect to the reference coordinates of the patrol robot according to an embodiment of the present application and obtaining the robot attitude offset. FIG. 20 is a schematic diagram of a flow chart of processing for obtaining an attitude offset of a vehicle to be detected from reference coordinates and obtaining a vehicle attitude offset according to an embodiment of the present application. FIG. 21 is a comparison diagram of the curve information of the vehicle bottom height and length and the curve information of the standard height and length according to one embodiment of the present application. FIG. 22 is a structural schematic diagram of a rail transportation locomotive patrol device according to an embodiment of the present application. FIG. 23 is a schematic diagram of an arrangement at a patrol site of a rail transportation locomotive patrol device and a rail transportation locomotive patrol system according to an embodiment of the present application.

In order to make the objectives, technical solutions and advantages of the present application clearer, the rail transit vehicle patrolling device and rail transit vehicle patrolling system of the present application will be described in more detail from the following embodiments together with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to describe the present application and are not used to limit the present application.

The numbers assigned to terms such as "first" and "second" herein are only used to identify the object being described and have no procedural or technical meaning. References herein to "connection" and "coupling" include both direct and indirect connections (coupling) unless otherwise specified. In the description of this application, the terms "top", "bottom", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", " Any orientations or relationships indicated by terms such as "out", "clockwise", "counterclockwise", etc., are based on the orientations or relationships shown in the drawings and are merely to facilitate and clarify the description of the present application. are intended for simplicity and are not intended to indicate or imply that any device or element should have a particular orientation, or be constructed and operated in a particular orientation, and as a limitation of this application. It must be understood that it cannot be interpreted.

In this application, unless expressly specified or limited, a reference to a first feature being above or below a second feature means that the first feature is in direct contact with the second feature, or that the first feature is in between. can mean indirect contact with the second feature. Also, that a first feature is "above", "above", or "above" a second feature means that the first feature is directly above or diagonally above the second feature, or simply above the first feature. It can mean that the horizontal elevation is higher than the horizontal elevation of the second feature. A first feature being "below", "below" and "below" a second feature means that the first feature is directly below or diagonally below the second feature, or simply that the horizontal elevation of the first feature is It can mean less than the horizontal height of the second feature.

The present application provides a rail transit locomotive patrol device 10 . The rail transportation locomotive patrol device 10 is for detecting rail transportation locomotives such as high-speed trains, high-speed railways, trains, and subways. Hereinafter, the rail transit locomotive to be detected is referred to as a detection target vehicle.

Referring to FIG. 1, a rail transportation locomotive patrol device 10 detects a detection target vehicle at a patrol site. The patrol site includes a patrol platform 200 , a track 100 and a patrol trench 300 . The track 100 is arranged on a cyclic platform 200 . A vehicle to be detected is parked on the track 100 . The circulation platform 200 is provided with a circulation groove 300 along the extending direction of the track 100 .

The patrol platform 200 may be a plane flush with the ground, or a plane higher or lower than the ground. The patrol platform 200 is used for installing equipment necessary for patrol and for traveling with the equipment and patrol staff. Track 100 includes two parallel rails. The rails of the track 100 may be positioned directly on the circuit platform 200 or may be positioned on the circuit platform 200 by spaced stanchions or other devices. Tracks 100 may provide one group or multiple groups. Circulating grooves 300 are provided corresponding to the tracks 100 of each group. The circulation groove 300 is a groove-structured pit recessed from the circulation platform 200 . The circulation groove 300 is arranged between two rails of the track 100 and extends in the extending direction of the track 100 . The size of the circulation groove 300 and the size of the recess can be set according to actual needs, and are not particularly limited in the present invention. A vehicle to be detected is parked on the track 100 . The patrol platform 200 can detect the side of the vehicle to be detected. The circulation groove 300 can detect the bottom of the vehicle to be detected.

In one embodiment, the rail transit vehicle patrol apparatus 10 includes a patrol robot 400 , an elevator group 500 and a controller 600 .

The patrol robot 400 is, in other words, a patrol robot of a railway transportation locomotive, and is hereinafter simply referred to as the patrol robot 400 . Patrol robot 400 is used to detect relevant parameters such as appearance, size, attitude, temperature, air leakage, etc. of the vehicle to be detected. The specific structure and function of the patrol robot 400 are not limited to this application, and can be determined according to actual needs.

Elevator group 500 includes at least one elevator 501 . The lifting device 501 is arranged on the side of the track 100 . The lifting device 501 has a structure that can be lifted. That is, the lifting device 501 can be moved up and down. Specifically, an elevating groove can be provided in the circulating platform 200 on the side of the track 100, and the elevating device 501 is disposed in the elevating groove and can be elevated in the elevating groove. The lifting device 501 can be lifted to dock with the circulation groove 300 and be flush with the surface of the circulation platform 200 . The lifting device 501 may be a guide rail elevator, a crank arm elevator, a scissor elevator, a chain elevator, etc., which can be specifically determined according to actual needs and is not limited in the present application. The lifting device 501 can be used to lower the patrol robot 400 or the worker to the patrol groove 300 or lift the patrol robot 400 or the worker to the patrol platform 200, but is not limited thereto. The number of lifting devices 501 may be one or plural. The plurality of lifting devices 501 may be arranged on one side of the track 100 at intervals along the track 100 or may be distributed on both sides of the track 100 .

Control device 600 is communicably connected to patrol robot 400 and controls the operation of patrol robot 400 . The control device 600 may control the traveling of the patrol robot 400 to perform detection and the like. Controller 600 may be a computer device, programmable logic controller (PLC), or other device including, but not limited to, a processor. The specific configuration, model, etc. of the control device 600 are not limited in the present invention as long as the functions can be realized.

The work process of the rail transit locomotive patrol device 10 includes, but is not limited to, the following steps.

The controller 600 acquires a patrol task. The patrol task includes the number of detection target vehicles, the positions of detection target vehicles, detection target items, and the like. The control device 600 transmits a patrol task to the patrol robot 400 and issues a patrol instruction. The patrol robot 400 receives a patrol instruction, autonomously travels to the position of the detection target vehicle according to the patrol task, and detects the detection target vehicle. The patrol robot 400 travels on the patrol platform 200 along the extension direction of the track 100 to perform detection when the detection target item included in the patrol task is on the side of the detection target vehicle. In this case, the lifting device 501 may be flush with the surface of the patrol platform 200 so that the patrol robot 400 can run along the patrol platform 200 without any trouble. If the detection target item included in the patrol task is located in the vehicle bottom to be detected, the patrol robot 400 needs to enter the patrol groove 300 to work. The patrol robot 400 first travels to the lifting device 501 according to the patrol task. After controlling the lifting device 501 so that the lifting device 501 descends and docks with the circulation groove 300, the patrol robot 400 travels to the circulation groove 300 and performs patrol work. When the patrol is completed, the patrol robot 400 travels to the lifting device 501 , and the lifting device 501 takes the patrol robot 400 out of the patrol groove 300 and returns to the patrol platform 200 . The detection is then complete.

Compared to the conventional method of installing a step or a slope that communicates with the circulation groove 300 by docking on the circulation platform 200 on one side of the track 100, the rail transportation locomotive circulation device 10 according to the embodiment of the present invention First, it is automatically lifted and lowered by the lifting device 501 to achieve docking with the circulation groove 300 and docking and communication with the circulation platform 200, thereby improving the degree of automation. Next, by making the lifting device 501 flush with the surface of the patrol platform 200, the patrol platform 200 is flattened without hindrance to travel. Furthermore, the lifting device 501 allows the patrol robot 400 to enter and exit the patrol groove 300 without human power, thereby realizing fully automatic traveling and enhancing the intelligence of the patrol robot 400. can be improved. This improves the intelligence of the rail transportation locomotive patrol device 10 .

Referring to FIG. 2, in one embodiment, elevator group 500 includes at least two elevators 501 . At least two lifting devices 501 are arranged on each side of the track 100 . At least two lifting devices 501 can be docked and communicated with the circuit groove 300 to form at least one passageway.

An example is that the elevator group 500 includes two elevators 501 , which are distributed on both sides of the track 100 . The connecting line of the two lifting devices 501 forms an angle with the track 100 . For example, the connecting line of the two elevators 501 is perpendicular to the track 100 . After each of the two lifting devices 501 descends to the circulation groove 300, they dock with the circulation groove 300 to form one passage. Said passageway is at an angle to the circuit groove 300 .

In one embodiment, there are at least two groups of tracks 100 . There are at least two circulation grooves 300 . There are at least two groups of elevators 500 . Each of the circulation grooves 300 is arranged corresponding to one group of tracks 100 . For each group of tracks 100 there is a corresponding elevator group 500 . That is, each group of tracks 100 is provided with at least two lifting devices 501 on each side. A plurality of elevators 501 of at least two elevator groups 500 can dock and communicate with at least two circuit grooves 300 to form at least one transverse track passage. That is, since the elevators 501 of two adjacent groups of tracks 100 can communicate with each other, the passages of each group of tracks 100 can be communicated to form at least one transverse track passage. In the transverse track passage, communication of multiple circuit grooves 300 can be achieved. Therefore, when there are a plurality of detection target vehicles, the patrol robot 400 can realize crossing track detection and detect the plurality of detection target vehicles at once, thereby improving the detection efficiency.

The lifting device 501 of the present application will be described below.

Referring to FIG. 3 , in one embodiment, elevator 501 includes elevator platen 510 , drive 520 , and elevator controller 530 . A drive 520 is drivingly connected to the lift platen 510 to drive the lift platen 510 up and down. The lift control device 530 is electrically connected to the drive device 520 . Elevation control device 530 controls the operation of drive device 520 .

A lift platen 510 is placed in a lift groove on the side of the track 100 . When the lift platen 510 is in the raised state, the lift platen 510 is flush with the plane on which the tour platform 100 is located. When the lift platen 510 is in the lowered state, the lift platen 510 is flush with and communicates with the plane on which the circulation groove 300 is located. Elevating platen 510 may be an insulating plate. The insulating plate may be inorganic insulating material, organic insulating material, or mixed insulating material determined according to actual needs, but is not limited thereto. The shape of the lifting platen 510 may be rectangular, trapezoidal, polygonal, etc., and can be specifically determined according to actual needs, and is not particularly limited in the present application. When the inspection site includes a plurality of groups of tracks 100 and each track 100 of each group is provided with a lifting device 501, the lifting platens 510 of two adjacent lifting devices 501 are brought into contact with each other. , so that when the lift platen 510 is lowered into the circuit groove 300, a transverse track path will be formed.

The drive 520 may be located in a lift groove on the side of the track 100 . A drive 520 is drivingly connected to the lift platen 510 to drive the lift platen 510 up and down. The specific structure, mounting position, and mounting method of the driving device 520 can be determined according to actual needs, and are not particularly limited in the present invention. The number of driving devices 520 can also be determined according to actual needs. The drive device 520 may be a hydraulic drive device, a pneumatic drive device, an electric drive device, a chain drive device, or any other type of drive device as long as it can drive the elevation platen 510 up and down. . In one specific embodiment, drive 520 is a hydraulic drive. The hydraulic drive and lift platen 510 combine to form a hydraulic scissor lift. The hydraulic scissor platform is a fixed hydraulic scissor platform. Tables such as rollers, balls, turntables, etc. of the fixed hydraulic scissor type lifting platform can be arbitrarily configured according to actual use needs. Therefore, in actual use, the fixed hydraulic scissor platform is convenient for inspectors and users to adjust according to their actual needs, and the use of the lifting device 501 is facilitated.

The lift controller 530 is electrically connected to the drive 520 and is used to activate, turn off, and control the working modes of the drive 520 . The elevation control device 530 acquires the elevation instruction, and controls the elevation of the elevation platen 510 by controlling the activation, turning off, and work mode of the driving device 520 according to the elevation instruction.

The lifting instruction for the lifting device 501 may be manually input, obtained by the control device 600, or obtained by detection. In one embodiment, elevator 501 further includes a distance sensor 540 . Distance sensor 540 is communicably connected to elevation control device 530 . Distance sensor 540 detects the distance to an object in front and determines whether or not there is a person or a stationary object on the surface of elevation platen 510 . If the distance detected by distance sensor 540 satisfies a preset distance threshold, a person or object has stopped on the surface of elevation platen 510, indicating that elevation is necessary. For example, when no person or object is stopped on the elevation platen 510, the distance detected by the distance sensor is 1M. When the distance detected by the distance sensor 540 changes from 0.05 m to 0.98 m, the elevation control device 530 determines that there is a person or object on the elevation platen, and controls the driving device 520 to start. The distance sensor may be a capacitive proximity sensor, a laser ranging sensor, or an ultrasonic sensor, which can be specifically determined according to actual needs and is not limited to this application. The number of distance sensors 540 may be one or plural. In this embodiment, the distance sensor 540 and the elevation control device 530 cooperate to realize automatic elevation of the elevation platen 510 . Since the lifting device 501 according to the present embodiment has high intelligence, it is possible to improve the intelligence of the patrol device 10 of the rail transit locomotive.

In one embodiment, the lift device 501 further includes a lift safety alarm device 550 . The lift safety alarm device 550 is electrically connected to the lift control device 530 . The elevation alarm device 550 issues an alarm when the distance sensor 540 detects abnormal data or when the elevation device 501 breaks down. The specific structure of the elevator safety alarm device 550 is not limited in the present application and can be determined according to actual needs. The elevator safety alarm device 550 can improve the safety and intelligence of the elevator device 501 , thereby improving the safety and intelligence of the rail transit locomotive patrol device 10 .

In one embodiment, referring to FIG. 4 , the rail transit locomotive patrol device 10 further includes a site operation status detection device 700 . The on-site operation status detection device 700 is installed at the patrol site. Specifically, the field operational status detectors 700 may be located on the track 100 , the patrol platform and/or the patrol trench 300 . The site operation status detection device 700 is communicably connected to the control device 600 . The site operation status detection device 700 is for detecting the site operation status. By providing the on-site operation status detection device 700, it is possible to immediately know the status of the patrol site before and during the patrol, control the patrol robot 400 according to the situation, and improve the reliability, safety, and reliability of the patrol work. You can improve your intelligence.

The on-site operating status detection device 700 can be configured with different structures depending on needs and operating status. The configuration of the on-site operation status detection device 700 will be described below together with an embodiment.

In one embodiment, the on-site operating status detection device 700 includes an accumulated liquid detection mechanism 710 . The retained liquid detection mechanism 710 is arranged in the circulation groove 300 . Retained liquid detection mechanism 710 is communicably connected to control device 600 . The retained liquid detection structure 710 is for detecting the state of liquid retention in the circulation groove 300 .

The retained liquid detection mechanism 710 may be a liquid detection sensor. The number of retained liquid detection mechanisms 710 is not limited. The specific position of the retained liquid detection mechanism 710 in the circulation groove 300 is not limited, and can be provided according to the actual situation. For example, the retained liquid detection mechanism 710 may be provided at a position deep in the circulation groove 300 where the liquid is likely to be retained. Retained liquid detection mechanism 710 detects the state of liquid retention at the current position and transmits it to control device 600 . Control device 600 determines whether or not to start patrol work based on the liquid storage status. If the reservoir liquid exceeds the preset reservoir liquid threshold, no enable signal is sent to the patrol robot 400 because the working condition is not met. In this embodiment, the stored liquid detection mechanism 710 prevents the patrol work from being started even though the amount of the stored liquid in the circulation groove 300 is large, so that the safety and intelligence of the rail transportation locomotive patrol device 10 are improved. can be made

In an embodiment, the site operation detection device 700 includes a detection target vehicle occupancy detection component 720 . A detection target vehicle presence detection component 720 is arranged on the track 100 . The detection target vehicle presence detection component 720 is communicably connected to the control device 600 . The detection target vehicle presence detection component 720 detects whether the detection target vehicle is parked at a specified position.

The detected vehicle occupancy detection component 720 may be located on one side of the track 100 or may be located on a support column that supports the track 100 . The number of detection target vehicle presence detection components 720 may be one or plural. The detected vehicle occupancy detection component 720 may include, but is not limited to, speed sensors and presence sensors. In one specific embodiment, a plurality of presence sensors and a plurality of velocity sensors are arranged sequentially inside the rail in the direction of extension of the track 100 . When the vehicle to be detected enters and stops along the track 100, the presence sensor detects the presence of the wheels and the vehicle body on the track 100, and the speed of the vehicle body is gradually reduced by a plurality of sequentially arranged speed detectors. It is detected that it has become zero, which indicates that the vehicle to be detected has entered the track 100 and stopped at the position where the sensor is installed. The control device 600 determines whether or not to start patrol work based on the detection result of the detection target vehicle presence detection component 720 , and controls activation of the patrol robot 400 . In this embodiment, the detection target vehicle presence detection component 720 further improves the intelligence and automaticity of the rail transportation vehicle patrol device 10 and improves the patrol accuracy of the rail transportation vehicle patrol device 10 .

In one embodiment, field operation detector 700 includes an intrusion detection component 730 . An intrusion detection component 730 is located at the patrol site. Specifically, the intrusion detection component 730 may be located on the track 100 , the patrol platform 200 and/or the patrol groove 300 . Intrusion detection component 730 is communicatively connected to controller 600 . Intrusion detection component 730 is used to detect the presence or absence of intrusions at the patrol site.

Intrusion detection component 730 may include an image capture device and an image processing device communicatively coupled to the image capture device. The image capture device may be a camera, video camera, or the like. The image acquisition device acquires image information of the patrol site and transmits it to the image processing device. The image processing device may be a computer device or the like. The image processor may be a module of controller 600 or processing software. The image processing device processes the image information, determines whether or not a person or object has entered the patrol site, further determines whether or not the work conditions are satisfied, and whether or not to start the patrol work. . In this embodiment, the intrusion detection component 730 enhances the intelligence of the rail transit patroller and further enhances the operational safety of the rail transit patroller 10 .

In one embodiment, the site operation status detection device 700 may further include a component for detecting the connection state between the patrol robot 400 and related devices in order to ensure the connection safety of the patrol robot 400 .

The control device 600 includes a corresponding module for processing the data of the on-site operation status detection device 700 in the above embodiment, so that the relevant data transmitted by the on-site operation status detection device 700 is received, processed and determined. , to determine whether the current patrol site meets the patrol work conditions, and further to determine whether to transmit the patrol enable signal.

The patrol robot 400 performs patrol work according to the patrol enable signal. The patrol robot 400 will be described with reference to the following embodiments.
5 and 6, in one embodiment, a patrol robot 400 includes a work travel device 410 and a robot arm 420. As shown in FIG. The work traveling device 410 includes a vehicle body 411 and wheels 412 . The wheels 412 are arranged on the bottom of the vehicle body 411 . Body 411 includes a receiving cavity 413 . The robot arm 420 is provided on the vehicle body 411 . Robot arm 420 has a foldable structure. A robotic arm 420 is houseable within the housing cavity 413 .

The work traveling device 410 may specifically be an automatic guided vehicle (AGV), or may be another small vehicle capable of automatically traveling. The vehicle body 411 may have a cubic structure, or may have another shape structure. Taking a car body 411 with a cubic structure as an example, the car body 411 has a hollow structure, and six sides of the car body 411 surround to form a receiving cavity 413 . A robot arm 420 is attached to the top of the vehicle body 411 . An opening is formed in the vehicle body 411 . After being folded, the robot arm 420 is received within the receiving cavity 413 through the opening. The work traveling device 410 may be communicably connected to the control device 600 . The control device 600 transmits work instructions and work travel tasks to the work travel device 410 . The work vehicle 410 may include its own control system and be travel controlled by its own control system or an external control system. For example, the controller 600 can control the travel of the work travel device 410 .

The wheels 412 are attached to the bottom of the vehicle body 411 . The number of wheels 412 may be four. Wheels 412 can have a variety of constructions. For example, wheels 412 may be swivel wheel construction. In one specific embodiment, wheels 412 have a two-wheel differential drive configuration. The wheels 412 with two-wheel differential drive structure can effectively reduce the volume of the patrol robot 400 . In addition, since the wheels 412 adopt a two-wheel differential drive structure, it is possible to avoid complicated calculations when planning with the center point of the wheel tread as a reference point in the conventional method. The effect is good, and the real-time motion control is effectively improved.

The robotic arm 420 can include multiple movable joints. In one specific embodiment, the robotic arm 420 includes six movable joints, and each movable joint is rotatable about its axis so that the robotic arm 420 can flexibly move along the six axes. and can be positioned. Robot arm 420 is communicatively connected to controller 600 . The control device 600 controls movement, folding, etc. of the robot arm 420 .

The robot arm 420 is positioned outside the vehicle body 411 during work. When the robot arm 420 finishes its work, the controller 600 controls the robot arm 420 to be folded and housed in the housing cavity 413, thereby fulfilling the role of dust prevention, anti-collision, and volume reduction.

In this embodiment, the patrol robot 400 includes a work travel device 410 and a robot arm 420 . A vehicle body 411 of the work travel device 410 includes a receiving cavity 413 . Since the robot arm 420 has a foldable structure and can be accommodated in the accommodation cavity 413, the volume of the patrol robot 400 can be reduced, and it is dust-proof, anti-collision, and easy to accommodate.

In one embodiment, the shape and size of the folded robotic arm 420 corresponds to the shape and size of the opening of the containment cavity 413 .

The body 411 can be provided with openings along the top and sides. The opening of the vehicle body 411 is thus the opening of the receiving cavity 413 . The shape and size of the opening are the same as the shape and size of the folded robot arm 420, so the robot arm 420 is sealed at the opening after being folded. For example, the robotic arm 420 may include six movable joints and maintain a length of three movable joints after being folded. The shape, length, and width of the openings all match the shape, length, and width of the three movable joints. When the robot arm 420 is housed in the housing cavity 413, three movable joints are housed in the housing cavity 413, and the other three movable joints are affixed to the openings of the housing cavity 413 so as to seal the openings. , dust is further prevented. This saves space within the housing cavity 413 and allows other equipment or devices to be placed within the housing cavity 413 . In this embodiment, the utility of the patrol robot 400 is improved.

In one embodiment, patrol robot 400 further includes an elevator 460 . A lifting device 460 is positioned within the receiving cavity 413 . Lifting device 460 is mechanically connected to robot arm 420 . The lifting device 460 realizes lifting and lowering of the robot arm 420 .

Elevator 460 may specifically include a lift adder axis. One end of the lift-add shaft is located within the containment cavity 413 and the other end is mechanically connected to the bottom of the robot arm 420 . The lifting and lowering driven by the lift additional shaft is realized by hydraulic drive, cylinder drive, etc., but is not limited to this, and is not particularly limited in the present application, and is determined according to actual needs. can do. The lifting device 460 may be driven automatically or manually. In one specific embodiment, elevator device 460 is communicatively connected to controller 600 , which also controls the operation of elevator device 460 . The lifting device 460 can raise and lower the robot arm 420 , not only can raise and extend the robot arm 420 , but also lower and store the robot arm 420 . In addition, when the robotic arm 420 performs cyclic detection, the lifting device 460 can further adjust the height of the robotic arm 420 to achieve compensation for the end position of the robotic arm 420 . Therefore, the patrol robot 400 according to the present embodiment is highly practical, can increase the degree of freedom of patrol work, and can improve patrol accuracy.

In one embodiment, patrol robot 400 includes detection device 430 . A detection device 430 is located at the end of the robot arm 420 . Detecting device 430 is used to detect a vehicle to be detected. The type of detection device 430 can be determined according to actual needs. The sensing device 430 may be directly electrically connected to the end of the robotic arm 420 or indirectly connected to the end of the robotic arm 420 by other devices. By the movement of the robot arm 420, the detection device 430 is taken and moved to the detection item area of the detection target device, and the detection item is detected. The detection device 430 is communicably connected to the control device 600 . The control device 600 controls the detection device 430 to perform detection, and processes and analyzes the detection data acquired by the detection device 430 .

In one embodiment, detection device 430 includes at least one of an image capture device, an air leak detection device, a temperature detection device, and a size detection device. It is understood that the detection device 430 may also include other detection devices to achieve other required functions and is not limited in this application.

The image capture device may include a 2D image capture device and/or a 3D image capture device. In one specific embodiment, the 2D image acquisition device mainly includes an area camera. The area camera is used to acquire a surface image of a detection target work, and can be used for presence detection, shape detection, position/orientation detection, appearance detection, size detection, and the like for parts of the detection target vehicle. A 2D image acquisition device may further include a light source. The light source is used to illuminate the workpiece to be detected to achieve better image acquisition effect.

In one specific embodiment, the 3D image acquisition device mainly includes a linear laser light source, a line camera and a linear motion unit. When the 3D image acquisition device is operating, the linear laser light source emits linear laser light to irradiate the surface of the workpiece to be detected. A line camera acquires a single image. Along with the movement of the linear motion unit, the line camera continuously takes images and acquires a plurality of images. By stitching multiple images together, a complete image with depth information can be obtained. This 3D image acquisition device can be used for bolt tightening detection, crack detection, and wheel set tread quality detection of a vehicle to be detected.

This air leak detection device is used to detect the bottom of the vehicle to be detected and/or the air ducts on the sides of the vehicle to be detected. In one specific embodiment, the air leak detection device includes a microphone array. A microphone array is used to acquire the detected air leak data. Air leakage sound data acquired by the microphone array is transmitted to the control device 600 . Control device 600 determines whether or not the air duct is leaking by processing and determining the air leak sound, and further determines the location of the air leak. In one embodiment, the microphone array includes three cardioid microphones and one omnidirectional microphone. In another embodiment, the microphone array includes one cardioid microphone and multiple cardioid microphones are positioned on robotic arm 420 .

In one embodiment, a method for the controller 600 to process the air leak sound data, determine whether there is an air leak in the air duct, and determine the location of the air leak includes the following steps S1110-S1150.

In S1110, a detection target vehicle model is created by modeling the detection target vehicle.
At S1120, the air leakage sound in the detection item area of the detection target vehicle is identified.
In S1130, the sound source position of the air leakage sound is specified.
In S1140, it is determined whether or not the detection target vehicle has an air leak based on the sound source position and the detection target vehicle model.
In S1150, the position of the sound source position in the vehicle model to be detected is marked.

According to the method according to the present embodiment, by matching the detection target vehicle model with the sound source position of the air leakage sound in the detection item area of the detection target vehicle, the air leakage sound around the detection target item of the detection target vehicle can be detected. It is possible to effectively eliminate the possibility of being judged as an air leak, improve detection accuracy, and provide highly reliable grounds for vehicle inspection and maintenance. In addition, by modeling the vehicle to be detected and comparing the air leakage sound with the model of the vehicle to be detected, the airtightness detection process and detection result of the vehicle can be made more intuitive.

The temperature detection device detects the temperature of the detection target work of the detection target vehicle. There is no limit to the selection of the specific configuration of the temperature detection device. In one specific embodiment, the temperature sensing device includes a thermography. Thermography is used to detect the temperature distribution of a workpiece to be detected and form a corresponding temperature distribution image. A temperature distribution image detected by thermography is transmitted to control device 600 . Controller 600 further processes the temperature distribution image. In another embodiment, the temperature sensing device further includes a non-contact infrared temperature sensor. A non-contact infrared temperature sensor is used to detect the surface temperature of a workpiece to be detected. The controller 600 may perform 3D modeling on the vehicle to be detected prior to detection. The positions of detection target items and measurement target points are marked on the 3D model. One detection target item includes a plurality of measurement target points. The robot arm 420 grips the non-contact infrared temperature sensor and moves to the item to be detected, and directs the light of the non-contact infrared temperature sensor toward the outer surface of the item to be detected. The robot arm 420 changes its posture to sequentially adjust and measure the temperatures of the measurement target points, completing the temperature measurement of the measurement target points. Data measured by the non-contact infrared temperature sensor is transmitted to control device 600 . The control device 600 can process the data using methods such as taking the median value and taking the expected value and comparing it with the 3D model to obtain a model diagram reflecting the temperature of the detection target item.

Determining the measurement target point can further detect an area or point of interest as a measurement target point based on the detection result of thermography to obtain a specific temperature of the area of interest.

The size detection device of the present invention is used to detect distance information regarding the quantity to be detected. The size detection device may include a wheel flange and wheel rim measurement device and/or a wheelset spacing measurement device. Wheel flange and wheel rim measuring tools are used to measure the relevant sizes of wheel flanges and wheel rims of a vehicle to be detected. A wheelset clearance measuring tool is used to measure the wheelset clearance of a vehicle to be measured.

In one embodiment, the wheelset spacing measurement device includes two laser distance sensors and one measuring rod. Distance information measured by the wheelset distance measuring device is transmitted to the control device 600 . Controller 600 processes this distance information to obtain the wheelset size. A specific process includes, but is not limited to, steps S2210 to S2240 below.

At S2210, a wheelset model is created by modeling the standard contour size of the detection item of the wheelset to be detected.

First, the controller 600 builds a wheelset coordinate system with the center of symmetry of the wheelset as the origin and plots the contour of the wheelset according to the cross-sectional size and positional relationship of the standard wheelset flange and wheel rim with respect to the axial center. build a 3D model. Next, the relative position of the base coordinate system of the work traveling device 410 of the patrol robot 400 with respect to the wheel set center coordinate system when the patrol robot 400 is measuring and sampling, and the relative position of the sampling point at the end of the robot arm 420 Positions are determined and a 3D model database of measurement points is constructed.

At S2220, the position of the wheel set to be detected and the position of the patrol robot 400 are calibrated accurately.

The patrol robot 400 is positioned by wheel axis visual features or wheelset auxiliary positioning mark points before detection to obtain the actual pose information of the patrol robot 400 in the wheelset coordinate system. Patrol robot 400 adjusts the pose of the end of robot arm 420 to compensate for the actual pose to match the 3D model database of the measurement point.

At S2230, the patrol robot 400 samples and measures.

The end of the patrol robot 400 nips the laser ranging sensor to sample and measure the distance and size of the contour of the wheelset detection item and transmit the data to the controller 600 .

At S2240, a target size value is calculated.

The patrol robot 400 combines the acquired contour size points with the positions of the travel trajectory points of the patrol robot 400 to draw the actual outer contour of the wheelset detection item, and then combines the detected actual contour and the standard contour. Compare to get the size value of the real wheelset detection item.

Such detection devices 430 may be arranged individually at the end of the robot arm 420 or may be arranged at the end of the robot arm 420 in combination. In one embodiment, a 2D image acquisition device, an air leak detection device, and a temperature detection device are combined and placed at the end of the robot arm 420 to detect the presence, shape, attitude, and air leak detection of the vehicle to be detected. , and simultaneous detection of multiple terms such as temperature detection.

In another embodiment, a combination of a 3D image acquisition device, an air leak detection device, and a temperature detection device is arranged at the end of the robot arm 420 to detect tightening of bolts, cracks, and wheels of a vehicle to be detected. Realize simultaneous detection of multiple items such as set tread quality detection, air leak detection and temperature detection.

In the above-described embodiment, the detection device 430 is arranged at the end of the robot arm 420, and various items are detected for the vehicle to be detected so that the patrol robot 400 has a plurality of patrol functions. The functional comprehensiveness and intelligence of the patrol robot 400 can be enhanced.

In an embodiment, patrol robot 400 further includes a docking device 440 . The docking device 440 is provided on the vehicle body 411 . Docking device 440 is used to dock with other devices. Docking device 440 can be used to provide mechanical docking with other devices, and can also be used to provide electrical docking with other devices. The structure of the docking device 440 can have different designs according to different needs. As an example, the docking device 440 is used to provide mechanical docking with a rescue device or patrol aid. The docking device 440 may be arranged at the leading end and/or the trailing end of the vehicle body 411 . The docking device 440 may include an annular or square docking port or the like for connecting with a rescue device or patrol assist device to provide a pull or drag for the patrol robot 400 . In this embodiment, the function of the patrol robot 400 is further improved by the docking device 440, and the utility of the rail transportation locomotive patrol device 10 is improved.

In one embodiment, patrol robot 400 further includes speed changer 431 . A speed change device 431 is connected between the end of the robot arm 420 and the detection device 430 . That is, the detection device 430 is connected to the end of the robot arm 420 by a speed change device 431 . Electrical and mechanical connections between the detection device 430 and the robot arm 420 are realized by the speed change device 431 .

Referring to FIG. 7, in one embodiment, patrolling robot 400 further includes an auxiliary charging terminal 450 . Auxiliary charging terminal 450 is provided on vehicle body 411 . The auxiliary charging terminal 450 may be a charging head, a charging base, or a device capable of realizing circuit continuity, such as a charging brush or a conductive rail for charging. Auxiliary charging terminal 450 is connected to the power supply device of patrol robot 400 and charges patrol robot 400 by communicating with an external charging device. In this embodiment, the auxiliary charging terminal 450 can immediately supply power to the patrol robot 400 in order to improve patrol work performance of the patrol robot 400 .

In one embodiment, the rail transit vehicle patrol system 10 further includes an auxiliary charging system 800 . Auxiliary charging device 800 is arranged on track 100 . The auxiliary charging device 800 supplies power to the auxiliary charging terminal 450 together with the auxiliary charging terminal 450 to charge the patrol robot 400 . The specific form, structure, etc. of the auxiliary charging device 800 are not limited as long as it can be charged in accordance with the auxiliary charging terminal. Two embodiments of the auxiliary charging device 800 and the auxiliary charging terminal 450 are shown below.

In one embodiment, auxiliary charging terminal 450 is a conductive rail . Auxiliary charging device 800 is a conductive brush . The conductive brush has a fur brush structure. The conductive brush may be arranged on one side of the vehicle body 411 by a stretchable cantilever structure. The extendable cantilever can have a corner contact structure. In order to improve the moving elasticity and flexibility of the conductive brush and to facilitate the return and attachment of the conductive brush to the body 411 when not in use, a space-saving structure is provided between the extendable cantilever and the body 411. A spring or other resilient device can be placed in the The conductive brush may be one disposed on one side of the vehicle body 411 or two conductive brushes disposed on both sides of the vehicle body 411 . Of course, a plurality of conductive brushes may be provided at desired positions on the vehicle body 411 .

The conductive rails are arranged close to the sides of the track 100 on which the patrol robot 400 travels. The conductive rail is elongated. The conductive rails can be powered with a ground-safe voltage. Conductive rails can adopt PVC profiles, aluminum profiles, or copper tape composite structures, and the like. A plurality of conductive rails may be provided. A plurality of conductive rails are spaced along the track 100 . If the conductive brushes are arranged on both sides of the vehicle body 411 , a plurality of conductive rails may be arranged inside each of the two rails of the track 100 . It is possible to individually control the on/off for multiple conductive rails.

In the entire work process of the patrol robot 400, the robot arm 420 has a large amount of work and a long work time when it stops and detects after reaching the target position. Therefore, it is often necessary to recharge the patrol robot 400 during the detection process. In this embodiment, when the patrolling robot 400 runs, stops at the target position, and is about to start detection, the patrolling robot 400 extends the conductive brush by the extendable cantilever and contacts the conductive rail. By energizing the conductive rails, the patrolling robot 400 can be charged by the conductive brushes. Just before the patrol robot 400 completes the detection task and is about to move to the next detection position, de-energize the conductive rail, stop charging the conductive brush, and let the retractable cantilever return the conductive brush, The patrol robot 400 continues traveling to the next detection position.

In another embodiment, auxiliary charging terminal 450 is a conductive brush and auxiliary charging device 800 is a conductive brush. The arrangement of conductive brushes and conductive rails is just the opposite of the previous embodiment. Their realization method, principle and arrangement method are similar to the previous embodiments. The description will not be repeated here.

In the above two embodiments, the cooperation of the conductive brushes and the conductive rails realizes the auxiliary charging of the patrol robot 400, guarantees the operating power of the patrol robot 400, and ensures the reliability and stability of the rail transit locomotive patrol device 10. improving sexuality. Also, the conductive rail is elongated. Therefore, even if the patrol robot 400 or the vehicle to be detected is parked or positioned incorrectly, cooperation with the conductive brush can be achieved, and charging of the patrol auxiliary device 900 can be completed, thereby reducing charging errors. be able to.

8 and 9, in one embodiment, quick change device 431 includes two parts, robot arm end 433 and tool end 435 . A robot arm end 433 mates with a corresponding tool end 435 . Robot arm end 433 is electrically and mechanically connected to robot arm 420 . Tool end 435 is electrically and mechanically connected to sensing device 430 . A plug-in connection between the robot arm end 433 and the tool end 435 can provide electrical and mechanical connections, thereby providing electrical connections between the robot arm 420 and the sensing device 430. and mechanical connection can be realized.

In the above two embodiments, the quick change device 431 realizes the electrical and mechanical connections between the detection device 430 and the end of the robot arm 420, which is simple, convenient and versatile. .

In one embodiment, the rail transit vehicle patrol device 10 further includes a rail transit vehicle patrol auxiliary device. Hereinafter, the track transportation locomotive patrol assistance device will be abbreviated as patrol assistance device 900 . The patrol assistance device 900 assists the patrol robot 400 to realize functions such as replacement of the detection device 430, energy supply, inspection, and emergency rescue. The following will further describe the circulation auxiliary device 900 by combining the embodiments.

In one embodiment, the traversing auxiliary device 900 includes an auxiliary travel device 910 and a tool rack 920 . A tool rack 920 is arranged on the auxiliary travel device 910 . A replacement target detection device is mounted on the tool rack 920 .

In the patrolling process of the patrolling robot 400 of the rail transit patrolling system 10, the detection device 430 at the end of the robot arm 420 needs to be replaced in order to complete different detection items. For convenience of explanation, the replaced detection device will be referred to as a replacement target detection device. A detection device intended to be replaced by another is referred to as the original detection device.

The auxiliary running device 910 is used to realize running and carry the device placed thereon along. The structure, implementation principle and control method of the auxiliary traveling device 910 are similar to the working traveling device 410 and will not be repeated here.

The tool rack 920 may be located on top of the vehicle body of the auxiliary running gear 910 . The specific structure of the tool rack 920 is not limited, and it can be provided according to the structure and size of the tools to be placed. The detection device to be replaced is placed on the tool rack 920 . If the original detection device needs to be replaced, the auxiliary traveling device 910 is controlled to travel toward the patrol robot 400 side. Replace the original detection device with the replacement detection device on the tool rack 920 . Such replacement can be done automatically or manually and is not limited in this application.

In this embodiment, the rail transportation locomotive patrol device 10 includes a patrol auxiliary device 900 . Since the patrol auxiliary device 900 includes the tool rack 920 , the detecting device to be replaced can be transported to the patrol robot 400 to replace the detecting device 430 . The patrol auxiliary device 900 according to the present embodiment improves the overall function of the rail transportation locomotive patrol device 10 and improves its intelligence.

In one embodiment, the shape and size of the tool rack 920 matches the shape and size of the sensing device being replaced. That is, by designing the tool rack 920 following the shape of the detection device to be replaced, the detection device to be replaced can be arranged more securely and in close contact with the tool rack 920 .

In one embodiment, the tool rack 920 of the circulating auxiliary device 900 is provided with a detection device to be replaced. The other tool end 435 is connected to one end of the detection device to be replaced. The detection device to be replaced is electrically and mechanically connected to the other tool end 435 . Tool end 435 is connected to robot arm end 433 to provide a connection between the sensing device to be replaced and the end of robot arm 420 . When replacing the detection device 430, the original detection device 430 and the tool end 435 connected thereto are removed. By connecting the other tool end 435 of the detection device to be replaced to the robot arm end 433 at the end of the robot arm 420, electrical and mechanical connections between the detection device to be replaced and the robot arm 420 are established. come true. In this embodiment, by arranging the other tool end portion 435 on the detection device to be replaced, the detection device can be quickly replaced, improving work efficiency.

In one embodiment, the circulatory assistance device 900 further includes an energy delivery device 930 . The energy supply device 930 is arranged in the auxiliary running gear. The energy supply device is used to supply energy to the rail transit locomotive patrolling system. The rail transit locomotive patrol device includes a patrol robot 400, but is not limited to this. The energy supply 930 may include a power supply 931 , a gas supply 932 , or any other device that provides the energy needed by the patrol robot 400 . In this example, the energy supply device 930 can supply and replenish energy to the patrol robot 400 to ensure the energy supply to the patrol robot 400 and improve the work stability and reliability of the patrol robot 400. can. Therefore, the stability and reliability of the rail transportation locomotive patrol device 10 are improved.

In one embodiment, energy delivery device 930 includes power delivery device 931 . The power supply device 931 includes a power supply and a power interface. A power source is provided for the auxiliary traveling device 910 . The power interface is electrically connected to the power supply to realize electrical connection between the power supply and the patrol robot 400 . That is, the power supply supplies power to the patrol robot 400 through the power supply interface. In the present invention, the specific structure and mounting method of the power supply and power supply interface are not limited as long as the functions can be realized. When the patrol robot 400 runs out of power, the patrol auxiliary device 900 transports the power supply device to travel to the patrol robot 400 to supply power. In this embodiment, the function of supplying power to the patrol robot 400 is realized by the power supply and the power interface, thereby increasing the functions of the patrol assisting device 900 and improving its practicality.

In one embodiment, the patrol assistance device 900 further includes an emergency device 940 . The emergency device 940 is provided on the auxiliary traveling device 910 . Emergency equipment is used to provide patrol robot 400 with emergency rescue.

During the patrol work, the patrol robot 400 may encounter sudden obstacles, leading to emergencies such as the work travel device 410 being unable to travel, the robot arm 420 being unable to move, or the robot arm 420 being stuck. In these cases, the patrol auxiliary device 900 is controlled to transport the emergency device 940 and run near the patrol robot 400 to provide emergency rescue. In this embodiment, the functions of the patrol auxiliary device 900 are further increased by the emergency device 940 to ensure the safety and stability of the patrol robot 400.

In one embodiment, emergency device 940 may include mechanical emergency device 941 . A mechanical emergency device 941 is provided on the auxiliary traveling device 910 . A mechanical emergency device 941 is used to achieve mechanical docking with the patrol robot 400 . A specific structure of the mechanical emergency device 941 is not limited as long as it can realize its function. In one embodiment, the structure of the mechanical emergency device 941 provides mechanical docking with the patrol robot 400 and also allows the docking device 440 to be dragged or moved from the patrol robot 900 to the patrol robot 400 . match the structure of According to the patrol assisting device 900 according to the present embodiment, when the patrol robot 400 breaks down, the patrol robot 400 can be pulled away from the patrol site. can be improved.

In one embodiment, emergency equipment 940 further includes electrical emergency equipment 942 . An electrical emergency device 942 is arranged on the auxiliary running device 910 . Specifically, mechanical emergency device 941 may be provided with electrical emergency device 942 . The electric emergency device 942 is used to realize electric docking with the patrol robot 400 and realize electric emergency rescue to the patrol robot 400 . In addition, emergency equipment 940 may further include communication emergency equipment. The communication emergency device is used to realize communication emergency rescue to patrol robot 400 .

In one embodiment, the patrol assistance device 900 further includes an inspection device (not shown). The inspection device is provided on the auxiliary travel device 910 . The inspection device detects failure information of the patrol robot 400 and performs maintenance. For example, when the robot arm 420 of the patrol robot 400 cannot move, the inspection device may connect the electrical communication control line of the patrol robot 400 to the patrol device. The inspection device debugs the patrol robot 400 and performs further maintenance according to the debug result. In this embodiment, the patrol device further enhances the function of the patrol auxiliary device 900 and improves the safety and reliability of the patrol robot 400 .

When the rail transportation locomotive patrol apparatus 10 is used for patrol work, the patrol robot 400 needs to be positioned with respect to the vehicle to be detected in order to achieve accurate detection and measurement. However, due to various errors, the patrol robot 400 may cause misalignment when identifying the position of the vehicle to be detected. First, the patrol robot 400 cannot accurately reach a predetermined position due to its own positioning error caused by its own navigation system error, uneven running ground, wheel slip, wheel wear, and so on. In the detection target vehicle, an error may occur between the actual parking position of the detection target vehicle and the preset parking position due to wheel wear, navigation errors, and the like. Both errors can lead to errors in their relative positions. Ultimately, when the patrol robot 400 patrols the vehicle to be detected, accurate detection cannot be performed. For this reason, it is necessary to detect errors in the rail transit locomotive patrolling process, on the basis of which errors the positioning can be further calibrated.

Referring to FIG. 10, in one embodiment, the rail transit vehicle patrol apparatus 10 further includes a rail transit vehicle patrol attitude detection system. The system for detecting the patrol posture of the rail transportation locomotive is hereinafter abbreviated as the patrol posture detection system 30 . The cyclic attitude detection system 30 will be further described in combination with the following embodiments.

In one embodiment, referring to FIG. 10 , a traveling pose detection system 30 includes a reference datum 310 , an pose detection device 320 and a processing device 330 .

The reference standard 310 is arranged on one side of the track 100 along the extending direction of the track 100 on which the vehicle to be detected is parked. The length of the reference standard 310 is matched with the length of the traveling work surface of the patrol robot 400 . Reference standard 310 may be a reference made up of profiles. The reference standard 310 includes absolute position information and reference plane information along the extending direction of the trajectory 100 . The reference standard 310 may reflect absolute position information, reference plane information, and the like with scale information, image information, and the like.

The posture detection device 320 detects distance information of the patrol robot 400 with respect to the reference standard 310 . Since the posture detection device 320 is provided in the patrol robot 400, it can detect the distance information of the patrol robot 400 with respect to the reference standard 310 in real time as the patrol robot 400 moves, and the posture offset of the patrol robot 400 can be detected. can be asked for. The posture detection device 320 may be placed at different positions on the body 411 of the patrol robot 400 according to different detection parameters as required. Attitude detection device 320 includes, but is not limited to, a distance detection device.

The processing device 330 is communicably connected to the posture detection device 320 . Distance information of patrol robot 400 relative to reference standard 310 detected by attitude detection device 320 is sent to processing device 330 . Based on the distance information of the patrol robot 400 with respect to the reference standard 310, the processing unit 330 calculates the pose offset of the patrol robot 400 with respect to the reference coordinates.

Referring to FIG. 11, the reference coordinates can include one or more reference planes and reference directions in a coordinate system consisting of first, second and third coordinate axes. In one embodiment, the first coordinate axis is the y-axis shown in FIG. 11, that is, the axis orthogonal to the traveling direction of patrol robot 400 and parallel or substantially parallel to the ground on which patrol robot 400 travels. The second coordinate axis is the z-axis shown in FIG. 11, that is, the axis perpendicular to the traveling direction of patrol robot 400 and the first coordinate axis. The third coordinate axis is the x-axis shown in FIG. 11, that is, the axis parallel to the travel direction of the patrol robot 400 .

In one embodiment, the reference coordinates used to calculate the pose offset include a first reference plane, a second reference plane, a third reference plane, a first direction, a second direction, and a third direction. The first reference plane is a plane parallel to the 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 plane along the y-axis can be set according to actual needs. For example, the first reference plane may be the lateral plane of symmetry of the circular groove 300 . That is, the first reference plane is a plane parallel to the plane formed by the x-axis and the z-axis, and the first reference plane is the midpoint of the circulating groove 300 in the direction perpendicular to the extending direction of the track 100. Located in The second reference plane is a plane parallel to the plane formed by the x-axis and the y-axis. The second direction is the direction parallel to the z-axis. The specific position of the second reference plane along the z-axis can be set according to actual needs. For example, if the ground on which the patrol robot 400 travels is parallel to the plane defined by the x-axis and the y-axis, the second reference plane may be the ground on which the patrol robot 400 travels. The third reference plane is a plane parallel to the plane formed by the y-axis and z-axis. The third direction is a direction parallel to the x-axis. The specific position of the third reference plane along the x-axis can be set according to actual needs. For example, the third reference plane may be at the starting position of the circular groove 300 in the extending direction of the track 100 .

The posture offset of the patrol robot 400 with respect to the reference coordinates is the offset in the first direction with respect to the first reference plane of the patrol robot 400 , the offset in the second direction with respect to the second reference plane of the patrol robot 400 , and the offset in the second direction with respect to the second reference plane of the patrol robot 400 . The offset in the third direction with respect to the three reference planes, the rotation angle of the patrol robot 400 around the first direction, the rotation angle of the patrol robot 400 around the second direction, and the rotation angle of the patrol robot 400 around the third direction. can include, but is not limited to,

In this embodiment, the reference standard 310 and the attitude detection device 320 cooperate to detect the distance information of the patrol robot 400 with respect to the reference standard 310 , and then the processing device 330 detects the attitude of the patrol robot 400 . The reference datum 310 provides a stable and accurate reference datum for distance detection, thus improving the accuracy of pose detection and the subsequent positioning of the patrol robot 400 .

Based on the above embodiments and referring to FIGS. 12 and 13, in one embodiment the reference coordinates include a first reference plane and a first direction. Reference standard 310 includes reference scale 311 . A reference scale 311 is attached along the extending direction of the track 100 on one side of the track 100 on which the patrol robot 400 travels.

Also referring to FIG. 14 , the posture detection device 320 includes a first distance detection device 321 . The first distance detection device 321 includes, but is not limited to, a laser ranging device. The first distance detection device 321 is arranged at a first position on the side closer to the reference scale 311 of the vehicle body 411 of the patrol robot 400 . The first position can be set according to actual needs. The first distance detection device 321 detects distance information in the first direction of the first position with respect to the reference scale 311, and obtains the first detection distance. The first distance detection device 321 is communicably 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 an orientation offset of the first position in the first direction with respect to the first reference plane according to the first detected distance. There are various ways in which the processor 330 can calculate the pose offset of the first position in the first direction with respect to the first reference plane. In one embodiment, the processing unit 330 acquires the first detected distance and determines the distance information in the first direction of the reference scale 311 with respect to the first reference plane, thereby determining the first direction of the patrol robot 400 with respect to the first reference plane. to obtain the first distance information. Further, the processing device 330 acquires the first recorded information of the patrol robot 400, and acquires the posture offset of the patrol robot 400 in the first direction with respect to the first reference plane based on the first recorded information and the first distance information. do. The first recorded information may be acquired by a position acquisition module such as an encoder of the vehicle body 411 of the patrol robot 400 .

In this embodiment, after the distance information of the patrol robot 400 with respect to the reference scale 311 is detected by the first distance detection device 321, the processing device 330 calculates the attitude offset of the patrol robot 400 in the first direction with respect to the first reference plane. . In this embodiment, it is realized to detect the y-axis offset of the patrol robot 400, providing a basis for the subsequent y-axis positioning and calibration, which can be used to reduce uneven ground, wheel wear, navigation system It is possible to eliminate the displacement of the patrol robot 400 in the y-axis direction due to the displacement of the patrolling robot 400 and achieve accurate positioning for patrol.

In one embodiment, the reference coordinates include a second reference plane and a second direction. The reference datum 310 further includes a reference ramp 312 . The reference slope 312 is provided at the end of the reference scale 311 away from the ground on which the patrol robot 400 travels along the extending direction of the track 100 . That is, the reference slope 312 is arranged on the top of the reference scale 311 . Also, the reference slope 312 is arranged to be inclined with respect to the reference scale 311 . The angle between the reference slope 312 and the reference scale 311 can be set as required. In one specific embodiment, the angle between reference slope 312 and reference scale 311 is 45°.

Attitude detection device 320 further includes a second distance detection device 322 . The second distance detection device 322 is arranged at a second position on the vehicle body 411 of the patrol robot 400 . The second position and the first position are located on the same plane of the vehicle body 411 of the patrol robot 400 . That is, the second position is also arranged on the side closer to the reference scale of the vehicle body 411 . The second distance detection device 322 includes, but is not limited to, a laser ranging device. The second distance detection device 322 detects distance information in the first direction of the second position with respect to the reference slope 312, and obtains the second detection distance. The specific installation of the second position is adjusted according to the placement 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 in the first direction with respect to the reference slope 312. and can be determined. For example, the second position is located above the first position and 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 312 . made higher than

The second distance detection device 322 is communicably connected to the processing device 330 . The processing device 330 calculates the attitude offset of the patrol robot 400 in the second direction with respect to the second reference plane based on the first detected distance and the second detected distance.

As an example, assume that the angle between the reference slope 312 and the reference scale 311 is 45°, the first detection distance is y1, and the second detection distance is y2. When the patrol robot 400 is not displaced in the second direction with respect to the second reference plane, the second detection distance y2=y1, and the difference y1-y2 between the first detection distance and the second detection distance is the second reference plane. It is the pose offset in the z-axis direction of the patrol robot 400 with respect to the surface.

The patrol posture detection system 30 according to the present embodiment detects the second detection distance by the second distance detection device 322 and the reference slope 312, thereby calculating the posture offset in the second direction of the patrol robot 400 with respect to the second reference plane. can do. The system according to this embodiment is simple and effective, and can accurately detect and calculate the offset of the patrol robot 400 in the z-axis direction. 400 z-axis errors can be eliminated.

In one embodiment, the first position and the second position are located on a straight line perpendicular to the second reference plane. That is, since the first position and the second position are arranged on a straight line parallel to the second direction, the positional difference between the first position and the second position in the third direction is zero. Therefore, when calculating the posture offset in the y-axis direction, there is no influence due to the inclination of the vehicle body of the patrol robot 400, and the accuracy of detection and calculation of the posture offset in the z-axis direction is improved.

In one embodiment, the reference coordinates include the second direction. Attitude detection device 320 further includes a third distance detection device 323 . A third distance detection device 323 is arranged at a third position of the patrol robot. The third distance detection device 323 includes, but is not limited to, a laser ranging device. The third distance detection device 323 detects distance information in the first direction of the third position with respect to the reference scale 311, and obtains the third detection distance. The third position is coplanar with the first and second positions. The third position and the first position are arranged at different positions along the extending direction of the track 100 . That is, the third position and the first position have different coordinate values on the third coordinate axis. The first position and the third position are arranged on the vehicle body 411 side of the patrol robot 400 so as to be in front and behind each other.

The third distance detection device 323 is communicably connected to the processing device 330 . The processing device 330 calculates the rotation angle of the patrol robot 400 about the second direction based on the first detected distance and the third detected distance. The rotation angle of the patrol robot 400 about the second direction is the tilt angle of the vehicle body 411 of the patrol robot 400 .

Referring to FIG. 15, 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. Then, based on (d, y3-y1), the angle of corner 1, which is the rotation angle of the patrol robot 400 around the second direction, can be calculated.

In this embodiment, the third distance detection device 323 detects the third detection distance, and the rotation angle of the patrol robot 400 about the second direction is calculated based on the first detection distance and the third detection distance. As a result, tilting of the vehicle body of the patrol robot 400 caused by unevenness of the traveling ground, wear of the wheels, slippage of the wheels, etc. can be eliminated, and the positioning accuracy can be improved.

Referring to FIG. 12, in one embodiment, the reference coordinates include a third reference plane and a third direction. Reference standard 310 includes reference scale 311 . Reference scale 311 contains scale information. Pose detection device 320 further includes identification device 324 . The identification device is used to obtain position information of the patrol robot in the third direction with respect to the third reference plane by identifying the scale information of the reference scale. That is, the identification device 324 identifies the scale information of the reference scale 311 to obtain the position information of the patrol robot 400 in the traveling direction, and then acquires the position information of the patrol robot 400 in the third direction with respect to the third reference plane. be able to. According to the system according to the present embodiment, it is possible to further detect the deviation between the actual running position and the target position in the third direction due to wheel slip of the patrol robot 400, deviation of the navigation system, etc. The later positioning accuracy can be improved, and the quality and efficiency of patrol work can be improved.

As long as the reference scale 311 and the identification device 324 cooperate to acquire the position information, the display form of the scale information of the reference scale 311 and the specific structure of the identification device 324 are not limited. In one embodiment, reference scale 311 is a two-dimensional code tape. A two-dimensional code tape includes y-axis information and x-axis information. Identification device 324 is an image capture device. Image acquisition devices include, but are not limited to, cameras and the like. The image acquisition device is provided on the vehicle body 411 of the patrol robot 400 and acquires image information by acquiring information on the two-dimensional code tape. Attitude detection device 320 further includes a first processing mechanism 325 . The first processing mechanism 325 is communicatively connected to the image acquisition device. The first processing mechanism 325 obtains the image information, and based on the image information, positional information of the patrol robot 400 in the first direction with respect to the first reference plane and positional information of the patrol robot 400 in the third direction with respect to the third reference plane. Get information and That is, the first processing mechanism 325 acquires the current positions of the patrol robot 400 in the y-axis direction and the x-axis direction based on the information of the two-dimensional code tape acquired by the image acquisition device 324 . It is understood that the first distance detection device 321 may not be provided if information is obtained by means of a two-dimensional code tape and an image acquisition device.

In this embodiment, the position of the patrol robot 400 in the x-axis direction and the y-axis direction can be detected by cooperation between the two-dimensional code tape and the image acquisition device. A directional pose offset can be determined. Such detection methods are simple and accurate.

In one embodiment, reference scale 311 is a two-dimensional code tape or barcode tape. Identification device 324 is a code reader. A code reader is used to identify information on a two-dimensional code tape or bar code tape. The barcode tape contains the x-axis information. Attitude detection device 320 further includes a second processing mechanism 326 . A second processing mechanism 326 is communicatively connected to the code reader. The second processing mechanism 326 is used to obtain position information of the patrol robot 400 in the third direction with respect to the third reference plane based on the information of the two-dimensional code tape or barcode tape. That is, the x-axis information on the two-dimensional code tape or bar code tape is read by a code reader to obtain the current position information of the patrol robot 400 in the x-axis direction.

In this embodiment, the two-dimensional code tape or bar code tape cooperates with the code reader to detect the patrol robot 400 in the x-axis direction. can be done. Such detection methods are simple and accurate.

In one embodiment, pose detection device 320 further includes a fourth distance detection device 327 . A fourth distance detection device 327 is arranged at the top of the patrol robot 400 . The fourth distance detection device 327 includes, but is not limited to, a laser ranging device. Using the fourth distance detection device 327, the distance information of the bottom of the detection target vehicle with respect to the fourth distance detection device 327 is detected to obtain the fourth detection distance. The fourth distance detection device 327 is communicably connected to the processing device 330 . The processing device 330 calculates the attitude offset of the detection target vehicle based on the fourth detection distance.

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 within the circulation groove 300 to acquire the height information curve of the bottom of the vehicle to be detected. In addition, while the patrol robot 400 is moving, the identification device 324 identifies the information of the reference scale 311 and acquires the position information in the x-axis direction corresponding to the height information, thereby determining the height and height of the bottom of the vehicle to be detected. Length curve information can be obtained. The processor 330 calculates the attitude offset of the detected vehicle based on the height and length curve information. The attitude offset of the detection target vehicle includes the attitude offset of the detection target vehicle in the second direction with respect to the second reference plane and the attitude offset of the detection target vehicle in the third direction with respect to the third reference plane, that is, the z-axis direction and the x-axis direction. and the offset of the vehicle to be detected in, but not limited to. The processing and computational processes by the processor 330 are illustrated in the following method embodiments.

In this embodiment, since the posture offset of the detection target vehicle can be detected by the fourth distance detection device 327, it is possible to detect parking deviation of the detection target vehicle in the x-axis direction due to navigation errors, etc. The posture deviation in the z-axis direction due to wear can be eliminated, and the positioning accuracy can be improved.

An embodiment of the present application provides a rail transit vehicle patrol attitude detection method with reference to FIG. The cyclic attitude detection system 30 can be used for attitude detection. The method is performed by a computing device. The computer device may be the processing device 330 or the control device 600 in the rail transportation locomotive patrol posture detection system 30, or may be another computer device that includes a memory and a processor and is capable of executing a computer program. may

The method includes steps S10-S30.

In S10, the attitude offset of the vehicle to be detected with respect to the reference coordinates is obtained to obtain the vehicle attitude offset.

In S20, the attitude offset of the patrol robot 400 with respect to the reference coordinates is obtained, and the robot attitude offset is obtained.

At S30, based on the vehicle attitude offset and the robot attitude offset, the attitude offset of the patrol work of the rail transit locomotive is obtained.

The definition of the reference coordinates is as described in the above embodiment. Thus, the fourth distance detection device 327, the processing device 330, the identification device 324, the first processing mechanism 325, and the second processing mechanism 326 can detect the posture offset of the detection target vehicle with respect to the reference coordinates. Thus, the first distance detection device 321, the second distance detection device 322 and/or the third distance detection device 323, the processing device 330, the identification device 324, the first processing mechanism 325 and the second processing mechanism 326, A posture offset of the patrol robot 400 relative to the reference coordinates can be detected. The vehicle attitude offset may be determined after the vehicle to be detected is parked at a defined position and stored in the memory of the computer device. The robot posture offset is obtained in real time during patrol work of the patrol robot 400 .

After obtaining the vehicle attitude offset and the robot attitude offset respectively, the computer device calculates and processes the vehicle attitude offset and the robot attitude offset according to a preset method to obtain an overall attitude offset during patrol work. , that is, the offset of the patrol work posture of the rail transportation locomotive is obtained. Calculation methods include, but are not limited to summation or weighted summation of co-axis pose offsets and other related quantities. The specific calculation method can be set according to actual needs.

The rail transportation locomotive patrol work posture offset is transmitted to the control device 600 . The control device 600 calibrates and adjusts the traveling direction of the patrol robot 400 in real time according to the attitude offset, thereby accurately aligning the vehicle to be detected and accurately detecting it.

In this embodiment, a vehicle attitude offset and a robot attitude offset are obtained, and based on the vehicle attitude offset and the robot attitude offset, the attitude offset during patrol work of the rail transportation locomotive is obtained. The method according to the present embodiment takes into account not only the attitude offset of the patrol robot 400 during the patrol operation of the rail transit vehicle, but also the attitude offset of the vehicle to be detected, thereby reducing the alignment error in many aspects. , improve the alignment accuracy, and improve the cyclic effect.

In one embodiment, the reference coordinates include a first reference plane and a first direction, and S20 includes steps S210-S230.

In S210, the distance information in the first direction of the first position of the patrol robot 400 with respect to the first reference plane is obtained, and the first distance information is obtained.

Acquisition of the first distance information includes obtaining the first detected distance by detecting the distance between the first position and the reference scale 311 by the first distance detection device 321 in the above embodiment, but is not limited to this. . Furthermore, the first distance information is calculated based on the distance in the first direction of the reference scale 311 with respect to the first reference plane and the first detection distance. Of course, the first reference plane may be set as the reference scale, and in this case the first distance information becomes the first detection distance.

The first distance information represents the actual distance information of the first position of patrol robot 400 in the first direction with respect to the first reference plane. Following the above embodiment, the first distance is the distance information along the y-axis of the first position of the patrol robot 400 with respect to the first reference plane.

In S220, the recording information in the first direction at the first position with respect to the first reference plane is obtained, and the first recording information is obtained.

The first recorded information represents an ideal or target position of the first position of patrol robot 400 in the first direction with respect to the first reference plane. The first recorded information can be obtained by a navigation module, such as an encoder, of patrol robot 400 .

In S230, the attitude offset of the first position in the first direction with respect to the first reference plane is calculated based on the first distance information and the first recording information. Calculation methods include, but are not limited to, subtraction of both or subtraction with a proportional coefficient.

In the present embodiment, by obtaining the first distance information and the first record information, the orientation offset in the first direction of the first position of the patrol robot 400 with respect to the first reference plane is determined by the first distance information and the first record information. ie, the pose offset along the x-axis of patrol robot 400 .

Referring to FIG. 18, in one embodiment, the reference coordinates include a second reference plane and a second direction, and S20 includes steps S240-S250.

In S240, the distance information in the first direction of the second position of the patrol robot 400 with respect to the reference slope is obtained, and the second distance information is obtained. The reference slope is installed to be inclined with respect to the second reference plane. The first position and the second position are located on the same plane of the patrol robot 400 . The first position and the second position are located on a straight line perpendicular to the second reference plane.

In S250, based on the first distance information and the second distance information, the attitude offset of the patrol robot 400 in the second direction with respect to the second reference plane is obtained.

Acquisition of the second distance information and calculation and acquisition of the posture offset in the second direction of the patrol robot 400 with respect to the second reference plane are the same as in the above-described embodiment and shown in FIG. The description will not be repeated here.

Referring to Figure 19, in one embodiment, the reference coordinates include the second direction. S20 includes steps S260 to S270.

In S260, the distance information in the first direction of the third position of the patrol robot 400 with respect to the first reference plane is obtained, and the third distance information is obtained. The third position and the first position are located on the same plane of the patrol robot 400, and the first position and the third position are arranged at different positions in the extending direction of the trajectory 100 of the patrol robot 400. there is

In S270, the rotation angle of patrol robot 400 about the second direction is obtained based on the first distance information and the third distance information.

Obtaining the third distance information is similar to obtaining the first distance information. Calculation and acquisition of the rotation angle of the patrol robot 400 about the second direction are the same as in the above embodiment and shown in FIG. The description will not be repeated here.

Referring to FIG. 20, in one embodiment, the reference coordinates include a second reference plane, a third reference plane, a second direction and a third direction. S10 includes steps S110 to S130.

In S110, the distance information of each position of the bottom of the detection target vehicle in the third direction with respect to the second reference plane is obtained in the second direction, and the distance information of the bottom of the detection target vehicle in the third direction with respect to the third reference plane is obtained. , to determine the bottom height and length curve information.

In S120, standard height and length curve information of the bottom of the vehicle to be detected is acquired.

In S130, based on the vehicle bottom height and length curve information and the standard height and length curve information, the attitude offset of the detection target vehicle in the second direction with respect to the second reference plane and the attitude of the detection target vehicle in the third direction are determined. Find the offset.

The height and length curve information is the x-axis position of the vehicle to be detected, the z-axis position of each component of the vehicle bottom, and the z-axis position when the vehicle is parked at the actual parking position. Correspondence with position on the x-axis is shown. The standard height and length curve information is the x-axis position of the vehicle to be detected, the z-axis position of each component of the vehicle bottom, and the z-axis 4 shows the correspondence between positions and positions on the x-axis.

Referring to FIG. 21, patrol robot 400 is equipped with a fourth distance detection device and moves along the bottom surface of the vehicle to be detected. By acquiring the height information of the vehicle bottom of the detection target vehicle and identifying the information of the reference scale 311 with the identification device 324, the position of each position of the vehicle bottom of the detection target vehicle in the third direction with respect to the third reference plane. Information can be obtained. This gives height and length curve information.

By comparing the bottom height and length curve information with the standard height and length curve information, parking deviations along the z-axis and x-axis of the detected vehicle can be quickly determined.

For example, in FIG. 21, the z-axis deviation is z1a-z1b, and the x-axis deviation is x1a-0=x1a, as can be seen from comparison diagrams a and b.

The method according to the present embodiment acquires the vehicle bottom height and length curve information and the standard height and length curve information of the detection target vehicle, thereby obtaining the positional deviation of the detection target vehicle in the z-axis direction and the x-axis direction. can be determined quickly and accurately.

In an embodiment, S130 includes steps S131-S133.

In S131, based on the vehicle bottom height and length curve information, the distance information of the wheel set position of the detection target vehicle in the first direction with respect to the first reference plane is obtained, and the wheel set position information is obtained.

In S132, based on the standard height and length curve information, the standard distance information of the wheel set position of the vehicle to be detected in the first direction with respect to the first reference plane is obtained, and the standard wheel set information is obtained.

In S133, the attitude offset of the detection target vehicle in the second direction with respect to the second reference plane and the attitude offset of the detection target vehicle in the third direction with respect to the third reference plane are determined based on the wheel set position information and the standard wheel set position information. and

Referring to FIG. 21, according to FIG. 21(a), the actual parking position of the wheelset can be determined as a point x1a on the x-axis and its height as z2a. According to FIG. (b), the ideal parking position of the wheelset can be determined as a point x2b on the x-axis and its height as z2b. Therefore, the offset of the detected vehicle along the z-axis is z2a-z2b, and the offset of the detected vehicle along the x-axis is x2a-x2b.

In this embodiment, by identifying the position of the wheelset, the attitude offset of the detection target vehicle in the second direction with respect to the second reference plane and the attitude offset of the detection target vehicle in the third direction with respect to the third reference plane can be quickly determined. Moreover, it can be obtained accurately, and the calculation speed of the attitude offset can be improved.

In one embodiment, the controller 600 of the rail transit vehicle patrol system 10 is communicatively connected to the processor 330 . The attitude offset of the patrol robot 400 with respect to the reference coordinates, the attitude offset of the vehicle to be detected with respect to the reference coordinates, and/or the attitude offset of the patrol work of the rail transit vehicle calculated by the processing device 330 is transmitted to the control device 600 . The control device 600 performs accurate alignment and accurate patrol by controlling the travel of the patrol robot 400 based on these offsets.

Referring to FIG. 22, a rail transit locomotive patrol system 1 is provided according to one embodiment of the present invention. The rail transit locomotive patrol system 1 includes the rail transit locomotive patrol device 10 and the scheduling device 20 as described above. There are at least two patrolling robots 400 . The scheduling device 20 is communicably connected to the patrol robot 400 . The scheduling device 20 is used for scheduling the patrol robot 400 .

The rail transportation locomotive patrol system 1 includes a plurality of patrol robots 400 . Also, the control device 600 for each rail transit locomotive device 10 may be separately provided to control the corresponding patrol robot 400 . Also, one control device 600 may control a plurality of patrol robots.

Similarly, scheduling device 20 may be an independent device or a module of control device 600 . The scheduling device 20 creates a work order and a travel route for each patrol robot 400 according to patrol work requests and the state of the patrol robots 400 . The scheduling device 20 may be used to control the lifting and lowering of the lifting device 501 according to the work request and work state of the patrol robot 400 . The scheduling device 20 may also control the work of the patrol assisting device 900 according to the work request and work status of the patrol robot 400 .

In this embodiment, the work of a plurality of patrol robots 400 is controlled by the scheduling device 20, so that a plurality of patrol robots 400 can perform patrol work at the same time. improves.

There are multiple forms in which the scheduling device 20 controls multiple patrol robots 400 . In one embodiment, each patrol robot 400 may be equipped with multiple different detection devices 430 as needed. The scheduling device 20 controls each patrol robot 400 to complete the detection of a plurality of items of one detection target vehicle. That is, the scheduling device 20 controls each of the patrol robots 400 to complete detection of all items required by one detection target vehicle. A plurality of patrol robots 400 simultaneously complete detection of a plurality of detection target vehicles. In this embodiment, since the patrol robot 400 does not need to detect the crossing track, the traveling time of the patrol robot 400 can be saved and the detection efficiency can be improved.

In another embodiment, a plurality of patrol robots 400 are provided with different detection devices 430, respectively. The scheduling device 20 controls each patrol robot 400 to complete one detection item for a plurality of detection target vehicles. That is, a plurality of patrol robots 400 are equipped with different detection devices 430 to detect different items. A plurality of patrol robots 400 perform patrol work simultaneously, and each patrol robot 400 completes detection of a plurality of detection target vehicles simultaneously by traversing the track and completing detection of a plurality of detection target vehicles. In this embodiment, each patrol robot 400 does not need to replace the detection device 430, so the time and resources required for the patrol robot 400 to replace the detection device 430 can be saved, and the patrol efficiency is improved.

The operation process of the rail transportation locomotive patrol device 10 and the rail transportation locomotive patrol system 1 will be described below in combination with the drawings.

Referring to FIG. 23, the rail transportation locomotive patrol system 1 includes a total of six patrol robots 400 M5(1) to M5(6), which are parked at positions P001 to P006. The rail transit vehicle patrol system 1 further includes two patrol assistants 900 named M6(1) and M6(2) parked at positions P007 and P008, respectively. In the drawing, Pxxx represents position. J1 to J6 indicated by dashed lines are different compartments of the vehicle to be detected. M7(1) and M7(2) are the lifting devices 501. FIG. Assume that the lifting device 501 is communicatively connected to the scheduling device 20 and that the lifting operation of the lifting device 501 is controlled by the scheduling device 20 .

The following describes the positions of P001-P186 in the drawing.

P001-P006: Standby positions of patrol robots M5(1) to M5(6) arranged on the side L of the vehicle to be detected.

P007-P008: Standby positions of the circulating auxiliary devices M6(1)-M6(2) arranged on the side L of the vehicle to be detected.

P120: A point on the platform of the lifting device M7(1) (a reference point in the middle of the side L of the vehicle), which is the plane on which the patrol platform 200 is located and the patrol groove 300 on the side L of the vehicle to be detected. moves to and from the plane in which

P110, P130: Reference points at both ends of the side L of the vehicle to be detected.

P114-P119, P121-P126: detection parking points on the side L of a typical vehicle corresponding to each compartment of the vehicle to be detected.

P150: Intermediate reference point within the circuit groove 300;

p140, p160: reference points at both ends of the circular groove 300;

P144-P149, P151-P156: Detection parking points of a typical vehicle bottom circulation groove corresponding to each compartment of the detection target vehicle.

P180: A point on the platform of the lifting device M7(2) (a reference point in the middle of the side R of the vehicle). Move to and from the plane where it is located.

P170, P190: Reference points at both ends of the side R of the vehicle to be detected.

P174-P179, P181-P186: Typical side R detection parking points corresponding to each compartment of the vehicle to be detected.

In one embodiment, the rail transit locomotive patrol system 1 includes one patrol robot 400, and the patrol work process includes the following steps S101-S115.

In S101, each work module of the rail transportation locomotive patrol device 10 is self-checked and becomes normal, and the function of each part is on standby.

In S102, the site operation status detection device 700 acquires the operation status parameters of the patrol site.

Specifically, the retained liquid detection mechanism 710 detects the state of liquid retention in the circulation groove 300, and the intrusion detection component 730 detects presence or absence of intrusion in the circulation site. If there is an abnormality, the on-site operation status detection device 700 or the control device 600 issues an alarm.

Also, the detection target vehicle presence detection component 720 detects whether or not the detection target vehicle is parked at a predetermined position. If the vehicle to be detected is parked at a predetermined position, an enable signal is activated.

In S103, the control device 600 confirms whether or not work can be started based on the detection status of the site operation status detection device 700, and if the result is affirmative, a start signal is transmitted.

In S104, the scheduling device 20 acquires information on the patrol robot 400 that is activated and waiting, assigns a patrol task to the patrol robot M5(1), and transmits a work control command. Suppose the patrol task is to complete a patrol item at P150 of the drawing.

At S105, the patrol robot M5(1) operates in the following four steps.

1) The scheduling device 20 controls the patrol robot M5(1) to run from P001 to P120. When ready, the patrol robot M5(1) feeds back its status to the scheduling device 20. FIG.

2) The scheduling device 20 sends a “descent” instruction to the lifting device M7(1), and the lifting device M7(1) performs a descent operation.

3) The scheduling device 20 sends a command "P120->P150" to the patrol robot M5(1). When the patrol robot M5(1) travels to P150, it enters the patrol groove 300 and feeds back the state to the scheduling device 20. FIG.

4) The scheduling device 20 sends an "elevate" instruction to the lifting device M7(1), and the lifting device M7(1) performs the lifting operation.

In S106, control device 600 sends patrol robot M5(1) an instruction to "position and detect a vehicle to be detected." >J3->J2->J1” to measure the parking deviation ΔX of the vehicle to be detected and the height deviation ΔYn of the parts.

In S107, the control device 600 sends the patrol robot M5(1) an instruction to "detect the bottom of the vehicle to be detected", and the patrol robot M5(1) sends "P140->P150->P160 ] to detect items on the bottom of the vehicle to be detected.

In S108, the work of detecting the item of the bottom of the vehicle to be detected includes the following steps.

1) Patrol robot M5(1) parks at P144, and controller 600 controls the end of robot arm 420 of patrol robot M5(1) to a predetermined detection position.

2) The detection device 430 provided at the end of the robot arm 420 starts working, acquires relevant information about the detection item, and transmits it to the control device 600 .

3) The control device 600 processes related information and confirms the presence or absence of a failure.

4) The patrol robot M5(1) travels to the next detected parking position, and repeats the above steps 1) to 3) until all the detection operations corresponding to the positions that need to be detected in P140 to P160 are completed. .

At S109, after the patrol robot M5(1) finishes detecting the bottom of the vehicle to be detected, the process returns to P150 and feeds back the state to the control device 600.

At S110, assuming that patrol robot M5(1) is currently located at P150, controller 600 sends an instruction to patrol robot M5(1) to "finish detection of an item at P110." , which is done in the following steps:

1) The scheduling device 20 sends a “descent” instruction to the lifting device M7(1), and the lifting device M7(1) performs a descent operation.

2) The scheduling device 20 sends a command "P150->P120" to the patrol robot M5(1). When patrol robot M5(1) moves to P120, it exits patrol groove 300 and feeds back its status to controller 600. FIG.

3) The control device 600 sends an “up” instruction to the lifting device M7(1), and the lifting device M7(1) performs a lifting operation, and when it reaches a specified position, it feeds back to the scheduling device 20.

4) The scheduling device 20 sends a command "P120->P110" to the patrol robot M5(1), and when the patrol robot M5(1) moves to P110, the operation is completed.

At S111, the patrol robot M5(1) performs the detection work on the side L of the vehicle to be detected at P110 to P130, but the process is similar to S108 and will not be repeated here. Patrol robot M5(1) reaches P130 after completing detection.

At S112, the scheduling device 20 sends an instruction to the patrol robot M5(1) to "perform the P130->P170 operation", which includes the following steps.

1) The scheduling device 20 causes the patrol robot M5(1) to travel from P130 to P120. The patrol robot M5(1) feeds back its state to the scheduling device 20 when it reaches the prescribed position.

2) The scheduling device 20 sends a “down” instruction to the lifting devices M7(1) and M7(2), and when the lifting devices M7(1) and M7(2) perform a lowering operation and reach a prescribed position, , to the scheduling device 20 .

3) The scheduling device 20 sends the command "P120->P180" to the patrol robot M5(1). When the patrol robot M5(1) travels to P180, it comes out of the patrol groove 300 and feeds back its state to the scheduling device 20. FIG.

4) The scheduling device 20 sends an instruction to "rise" to the lifting device M7(1) and the lifting device M7(2), and the lifting device M7(1) and the lifting device M7(2) perform the lifting operation. Then, the lifting device M7(1) and the lifting device M7(2) feed back information to the scheduling device 20 when they reach the specified position.

5) The scheduling device 20 sends a command "P180->P170" to the patrol robot M5(1), and when the patrol robot M5(1) moves to P170, the operation is completed.

At S113, the patrol robot M5(1) performs the task of detecting the side R of the vehicle between P170 and P190, but the process is similar to S108 and will not be repeated here.

In S114, during the cyclic detection work or after the cyclic detection work is completed, the detection device 430 transmits the acquired information to the control device 600 for processing. The control device 600 feeds back the failure information to the inspector for confirmation by the client. Check the defective part and prompt the inspector to inspect it. If it cannot be confirmed, it can be re-detected and then confirmed again. The redetection process is similar to the process described above.

In S115, after the artificial inspection is finished, the scheduling device 20 controls the patrol robot M5(1) to travel to the inspected position, and the control device 600 controls the patrol robot M5(1) to perform the inspection. Re-acquire and re-record the information of later detection items.

When the rail transit locomotive patrol system 1 includes one patrol robot 400 , the control device 600 may control the travel route and patrol work of the patrol robot 400 . Lifting control of the lifting device 501 may also be performed by the control device 600 .

In another embodiment, the scheduling device 20 schedules three patrol robots 400 to patrol at the same time, and the patrol work process includes steps S201 to S206 below.

In S201, inspection and task acquisition before patrol work including the following steps S2011 to S2016 are performed.

In S2011, each work module of the rail transportation locomotive patrol system 1 is self-checked and becomes normal, and the function of each part is completed.

In S2012, the site operation status detection device 700 acquires the operation status parameters of the patrol site. The details are the same as in step S102.

In S2013, the control device 600 confirms whether or not the work can be started based on the detection status of the field operation status detection device 700, and if affirmative, transmits a start signal.

In S2014, the scheduling device 20 acquires information on the patrol robots 400 that are activated and waiting, assigns patrol tasks to patrol robots M5(1), M5(2), and M5(3), and issues work control instructions. Send. Suppose the patrol tasks are assigned as follows. The patrol robot M5(1) completes the first patrol item of P150 in the figure. The patrol robot M5(2) completes the second patrol item of P110 in the figure. The patrol robot M5(3) completes the third patrol item of P170 in the figure.

In S2015, patrol robots M5(1), M5(2), and M5(3) move to P150, P110, and P170, respectively, according to instructions from scheduling device 20 and control device 600.

In S2016, the control device 600 sends the patrol robot M5(1), M5(2), or M5(3) an instruction to "position and detect the vehicle to be detected", and the patrol robot M5(1) or M5(2) or M5(3) travels in the direction of "J4->J5->J6->J3->J2->J1" and performs measurement. A parking deviation ΔX of the vehicle to be detected and a height deviation ΔYn of the parts are obtained.

At S202, patrol robots M5(1), M5(2), and M5(3) feed back information to control device 600 upon reaching a prescribed position.

In S203, the control device 600 sends the patrol robot M5(1) an instruction to "detect the bottom of the vehicle to be detected", and the patrol robot M5(1) travels in the direction of "P140→P150→P160." to detect items on the bottom of the vehicle.

In S204, the control device 600 transmits an instruction to the patrol robot M5(2) to "detect the detection target vehicle on the side L", and the patrol robot M5(2) sends "P110->P120->P130 ] and perform item detection on the side L.

In S205, the control device 600 transmits an instruction to the patrol robot M5(3) to "detect the detection target vehicle on the side R", and the patrol robot M5(3) responds "P170->P180->P190". , and performs item detection on the side R.

S206 is the same as S114-S115.

In one embodiment, the scheduling device 20 schedules the six patrol robots M5 (1) to M (6) to simultaneously patrol the detection target vehicle on the side L, and performs the following steps S211 to S219. including.

S211 is the same as step S201.

In S212, in S2014 above, the scheduling device 20 transmits "P001->P110" to the traveling robot M5(1). The scheduling device 20 transmits "P002->P114" to the patrol robot M5(2). The scheduling device 20 transmits "P003->P116" to the patrol robot M5(3). The scheduling device 20 transmits "P004->P118" to the patrol robot M5(4). The scheduling device 20 transmits "P005->P123" to the patrol robot M5(5). The scheduling device 20 transmits "P006->P125" to the patrol robot M5(6). The scheduling device 20 transmits "P144->P125" to the patrol robot M5(6). The traveling process of the patrol robot is similar to S110, and the patrol robot feeds back the information to the control device 600 when it reaches the specified position.

In S213, the control device 600 transmits to the patrol robot M5(2) an instruction to "perform side L-J1 detection of the vehicle to be detected ", and the patrol robot M5(2) performs "P114->P115". direction to perform lateral L-J1 item detection.

In S214, control device 600 transmits to patrol robot M5(3) an instruction to "perform L-J2 side detection of the vehicle to be detected", and patrol robot M5(3) performs "P116->P117". direction and perform lateral L-J2 item detection.

In S215, the control device 600 transmits to the patrol robot M5(4) an instruction to "perform side L-J3 detection of the vehicle to be detected", and the patrol robot M5(4) performs "P118->P119". Run in the direction and perform lateral L-J3 item detection.

In S216, control device 600 transmits to patrol robot M5(1) an instruction to "perform side L-J4 detection of the vehicle to be detected", and patrol robot M5(1) performs "P121->P122". direction and perform lateral L-J4 item detection.

In S217, the control device 600 transmits to the patrol robot M5(5) an instruction to "perform side L-J5 detection of the vehicle to be detected", and the patrol robot M5(5) performs "P123->P124". Run in the direction and perform lateral L-J5 item detection.

In S218, the control device 600 transmits to the patrol robot M5(6) an instruction to "perform side L-J6 detection of the vehicle to be detected", and the patrol robot M5(6) performs "P125->P126". Run in the direction and perform lateral L-J6 item detection.

S219 is the same as S114-S115.

In one embodiment, the process of docking the patrol robots M5(1) and M5(2) with each other by the docking device 440 and performing cooperative work at positions P122 and P123 includes the following steps S301-S04.

At S301, patrol robot M5(1) reaches detection point P123.

At S302, patrol robot M5(2) reaches detection point P122 and is mechanically connected to M5(1) by real-time docking device 440. FIG.

At S303, patrol robots M5(1) and M5(2) cooperate with their relative positions stationary according to process requirements.

In S304, the docking device 440 disconnects after the patrol robots M5(1) and M5(2) complete their work.

In one embodiment, the auxiliary work process performed by the patrol assistance device M6(1) for the patrol robot M5(1) includes the following steps S401 to S403.

In S401, the patrol robot M5(1) controls the end of the robot arm 420 to a predetermined detection position during the detection work in step S108 (the parking position is set to P121). The detection device 430 initiates detection operations. After acquisition and detection are complete, the detector device 430 needs to be replaced for another detection.

In S402, the scheduling device 20 sends an instruction to ``replace the detection device of the end of the robot arm at position P121'' to the circulating auxiliary device M6(1). The cyclic auxiliary device M6(1) performs the operation “P007→P121” and moves from P007 to P121. After arriving at the prescribed position, the patrol assistant M6(1) is docked with the patrol robot M5(1) by the docking device 440 to achieve mechanical connection. After completion, the status is fed back to controller 600 .

In S403, the control device 600 instructs replacement of the detection device, and the patrol robot M5(1) replaces the detection device at the end of the robot arm 420 with the detection device in the tool rack 920 of the patrol auxiliary device M6(1). Exchange. After completion, the patrolling robot M5(1) leaves the patrolling auxiliary device M6(1) and the patrolling auxiliary device M6(1) returns.

In one embodiment, patrol assistant M6(1) provides patrol robot M5(1) with assistance emergency rescue, which includes the following steps S501-S506.

In S501, the patrol robot M5(1) encounters a failure at position P121 during patrol work and cannot work normally. When the scheduling device 20 acquires the abnormality information, it sends an instruction to “rescue at position P121” to patrol robot M6(1).

At S502, the patrol robot M6(1) is driven to P121 and docked with the malfunctioning patrol robot M5(1) to achieve mechanical and electrical connection.

In S503, the patrol robot M5(1) is diagnosed by the patrol assist device M6(1). If it is a software failure, repair the software of the patrol robot M5(1) and restart it. Then, it is determined whether or not patrol robot M5(1) is still in the failure state.

In S504, if the software repair fails, the electrical connection of the patrol robot M5(1) is checked by the patrol assist device M6(1). In the case of an electrical failure, the drive control mode of the traveling portion of the patrol robot M5(1) may be switched to automatically allow the patrol robot M5(1) to travel to the maintenance area.

In S505, if the drive control mode switching of the patrol robot M5(1) fails, the patrol robot M5(1) is pushed directly into the maintenance area.

In S506, the traveling auxiliary device M6(1) is separated from the docking device 440 of the traveling robot M5(1), and the traveling auxiliary device M6(1) is restored.

Although the above embodiments illustrate only some embodiments of the present application, and the description is relatively specific and detailed, they should not be taken as limiting the scope of the present application. It should be noted that a person skilled in the art can make some modifications and improvements within the scope of protection of a person skilled in the art without departing from the concept of the present application. Therefore, the scope of protection of the present application is subject to the attached claims.

1 track transportation locomotive patrol system, 10 rail transportation locomotive patrol device, 100 track, 200 patrol platform, 300 patrol groove, 400 patrol robot, 410 working traveling device, 411 vehicle body, 412 wheels, 413 accommodation cavity, 420 robot arm, 430 detection device, 431 speed change device, 433 robot arm end, 435 tool end, 440 docking device, 450 auxiliary charging terminal, 460 lifting device, 500 lifting device group, 501 lifting device, 510 lifting platen, 520 drive device, 530 Elevation control device 540 Distance sensor 600 Control device 700 On-site operating status detection device 710 Retained liquid detection mechanism 720 Detection target vehicle presence detection component 730 Intrusion detection component 800 Auxiliary charging device 900 Patrol auxiliary device 910 auxiliary travel device 920 tool rack 930 energy supply device 931 power supply device 932 gas supply device 940 emergency device 941 mechanical emergency device 942 electrical emergency device 20 scheduling device 30 patrol attitude detection system 310 Reference reference 311 Reference scale 312 Reference slope 320 Posture detection device 321 First distance detection device 322 Second distance detection device 323 Third distance detection device 324 Identification device 325 First processing mechanism 326 Second processing mechanism, 327 fourth distance detection device, 330 processing device;

Claims (13)

In a rail transportation locomotive patrol device that detects a vehicle to be detected,
Said vehicle to be detected is parked on a track (100), said track is arranged on a circulating platform (200), and said circulating platform (200) has a corresponding circulating groove along the direction of extension of said track (100). (300) is opened,
The rail transportation locomotive patrol device
a patrol robot (400);
A lifting device group (500) comprising at least one lifting device (501), said lifting device (501) having a liftable structure arranged laterally of said track (100); a lifting device group (500) capable of docking with the circuit groove (300) and flush with the surface of the circuit platform (200) by;
a control device (600) communicatively connected to the patrol robot (400) and controlling the work of the patrol robot (400);
Said patrol robot (400)
A work traveling device (410) comprising a vehicle body (411) and wheels (412), wherein the wheels (412) are disposed at the bottom of the vehicle body (411), and the vehicle body (411) is provided with a receiving cavity ( 413), a work vehicle (410);
a robotic arm (420) disposed on the vehicle body (411), communicatively connected to the controller (600), having a foldable structure and capable of being housed within the housing cavity (413);
a sensing device (430) located at the end of said robotic arm (420) and communicatively connected to said controller (600);
a docking device (440) disposed on the vehicle body (411) and configured to dock with another device;
The rail transportation locomotive patrol device further includes a patrol auxiliary device (900),
The circulatory auxiliary device (900)
an auxiliary running device (910);
and a tool rack (920) arranged on the auxiliary traveling device (910) and on which a replacement target detection device is installed. Said lifting device group (500) comprises at least two lifting devices (501), at least two said lifting devices (501) are respectively arranged on both sides of said track (100), said circuit groove (300) and The rail transportation locomotive patrol device according to claim 1, wherein at least one passage can be formed by docking and communicating. There are at least two groups of the tracks (100), at least two groups of the circulation grooves (300), and at least two groups of the lifting device groups (500);
each of said circular grooves (300) is arranged corresponding to one group of said tracks (100);
each group of said tracks (100) is associated with a group of said elevator groups (500);
a plurality of said lifting devices (501) of at least two said lifting device groups (500) can be docked and communicated with at least two said circuit grooves (300) to form at least one transverse track passage; 3. The rail transportation locomotive patrol system according to claim 2. Further comprising a site operation status detection device (700), the site operation status detection device (700) is installed on the track (100), the patrol platform (200) and/or the patrol groove (300), and the control device (600) to be communicatively connected to detect the operation status of the patrol site. The on-site operating status detection device (700) includes at least one of a stored liquid detection mechanism (710), a detection target vehicle presence detection component (720), and an intrusion detection component (730),
The retained liquid detection mechanism (710) is arranged in the circulation groove (300), is communicatively connected to the control device (600), and detects the state of liquid retention in the circulation groove (300),
The detection target vehicle presence detection component (720) is arranged on the track (100), is communicably connected to the control device (600), and detects whether the detection target vehicle is parked at a predetermined position. detect and
The intrusion detection component (730) is located on the track (100), the patrol platform (200) and/or the patrol groove (300), is communicatively connected to the controller (600), and 5. The track transportation locomotive patrol device according to claim 4, wherein the presence or absence of an intrusion is detected in the. The rail transportation locomotive patrol device according to claim 1, wherein the patrol robot (400) further includes an auxiliary charging terminal (450) provided on the vehicle body (411). 7. The method of claim 6, further comprising an auxiliary charging device (800) arranged on the track (100) and supplying power to the auxiliary charging terminal (450) together with the auxiliary charging terminal (450). rail transit vehicle patrolling equipment. Said patrolling auxiliary device (900) is arranged on said auxiliary traveling device (910), and is a mechanical emergency vehicle that realizes mechanical docking with said patrolling robot (400) in conjunction with the structure of said docking device (440). 2. The rail transit locomotive patrol system of claim 1, further comprising a device (941). said detection device (430) is connected to the end of said robot arm (420) by a speed change device (431);
Said quick change device (431) comprises a robot arm end (433) and a tool end (435), said robot arm end (433) connected to said robot arm (420), said tool end (435) is connected to said detection device (430), said robot arm end (433) and said tool end (435) may be realized electrical and mechanical connection by plug-in connection. can
A detection device to be replaced is provided on the tool rack (920) of the circulating auxiliary device (900), and another tool end (435) is connected to one end of the detection device to be replaced, and the other tool end is connected to one end of the detection device to be replaced. 8. A part (435) is connected to the robot arm end (433) to provide a connection between the sensing device to be replaced and the robot arm (420). 2. The tracked transportation locomotive patrol device according to . a reference standard (310) arranged on one side of the track (100) along the direction of extension of the track (100);
a posture detection device (320) provided in a patrol robot (400) for detecting distance information of the patrol robot (400) with respect to the reference standard (310);
A process of calculating a posture offset of the patrol robot (400) with respect to the reference coordinates, which is communicably connected to the posture detection device (320) and based on distance information of the patrol robot (400) with respect to the reference standard (310). 2. The rail transit locomotive patrol system of claim 1, comprising a device (330). The processing device (330) is communicatively connected to the control device (600), and the control device (600) further determines the position of the patrol robot (400) according to the pose offset relative to the reference coordinates. The track transportation locomotive patrol device according to claim 10, wherein the patrol robot (400) is controlled to travel. comprising said rail transit locomotive patrol device according to any one of claims 1 to 11, said patrol robots (400) being at least two,
A rail transportation locomotive patrol system, comprising: a scheduling device (20) communicably connected to the patrol robot (400) and scheduling the patrol robot (400). At least two patrol robots (400) are provided with different detection devices (430), respectively, and the scheduling device (20) controls each patrol robot (400) to detect a plurality of vehicles to be detected, respectively. 13. The rail transit locomotive patrol system according to claim 12, wherein detection of one item is performed.

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