KR20210120068A - Track traffic locomotive vehicle inspection device and system - Google Patents

Abstract

The present application relates to an apparatus and system for inspecting a tracked vehicle locomotive. A track traffic locomotive vehicle inspection device for detecting a vehicle to be detected, wherein the vehicle to be detected is stopped on a track, the track is disposed on an inspection platform, and an inspection groove is provided on the inspection platform along the extension direction of the track, is formed, and the tracked transportation locomotive vehicle inspection device includes an inspection robot, a hoisting equipment group, and a control device. Here, the elevating equipment group includes at least one elevating facility, the elevating facility is disposed on a side surface in the extending direction of the track, the elevating facility is configured in a structure capable of elevating, and the elevating facility is It can be docked with the inspection groove and can be flush with the surface of the inspection platform. The control device is connected to communication with the inspection robot to control the operation of the inspection robot. The track traffic locomotive vehicle inspection device according to the present application has high intelligence.

Description

Track traffic locomotive vehicle inspection device and system

Related applications

This application claims the priority of the Chinese patent application filed on February 3, 2019, the application number is 201910108765.X, and the title is "Tracked Transportation Locomotive Vehicle Inspection Device and System", all contents of which are for reference only. is used

technical field

The present invention relates to the field of detection of a locomotive vehicle for track transportation, and more particularly to an apparatus and system for inspection of a vehicle for rail transportation locomotive.

With the development of transportation technology, railroad locomotive vehicles represented by trains, distributed power trains, subways, and high-speed trains have become an important means of transportation for the movement of the public. Tracked locomotive vehicles require regular inspection and repair work to ensure operational safety.

In the prior art, the inspection and repair of the tracked locomotive vehicle has been mainly performed manually. Inspection is carried out by the operator's visual inspection or portable inspection equipment. Such detection has problems such as low efficiency, low quality, and low informatization level.

With the gradual development of artificial intelligence, tracked transportation locomotive vehicle inspection devices are gradually appearing. Current track traffic locomotive vehicle inspection equipment mainly performs inspection and repair of tracked traffic locomotive vehicles through the detection probe carried by the inspection robot. However, the intelligence of the current track transportation locomotive vehicle inspection device having such a structure needs to be further improved.

In view of this, there is a need to provide an apparatus and system for inspecting a tracked transportation locomotive, in order to solve the problem of poor intelligence.

A track traffic locomotive vehicle inspection device for detecting a vehicle to be detected, wherein the vehicle to be detected is stopped on a track, the track is disposed on an inspection platform, and an inspection groove is provided on the inspection platform along the extension direction of the track, Formed, the track traffic locomotive vehicle inspection device,

inspection robot;

A group of lifting equipment including at least one lifting equipment, wherein the lifting equipment is disposed on a side surface in an extension direction of the track, the lifting equipment has a structure capable of lifting and lowering, and the lifting equipment includes the inspection groove and the a group of lifting equipment that can be docked and can be leveled with the surface of the inspection platform; and

and a control device that is connected to communication with the inspection robot and controls an operation of the inspection robot.

In one embodiment, the lifting equipment group includes at least two of the lifting equipment, the at least two lifting equipment is respectively disposed on both sides of the extending direction of the track, at least two of the lifting equipment is the inspection groove and It can be docked and communicated and defines at least one passage.

In one embodiment, the quantity of the track is at least two sets, the quantity of the inspection grooves is at least two, and the quantity of the lifting equipment group is at least two sets;

each of the inspection grooves is disposed corresponding to a set of the trajectories;

a set of said hoisting equipment groups are arranged corresponding to each set of said tracks;

A plurality of the lifting equipment included in the at least two sets of the lifting equipment group may be docked and communicated with at least two of the inspection grooves to form at least one cross track passage.

In one embodiment, the tracked transportation locomotive vehicle inspection device is disposed on the track, the inspection platform, and/or the inspection groove, and is connected to the control device in communication with the on-site working condition detection device for detecting the working conditions of the inspection site. include more

In one embodiment, the on-site operation condition detection device includes at least one of a liquid pool detection mechanism 710, a vehicle position detection assembly to be detected, and an intrusion detection assembly;

the liquid accumulation detection mechanism is disposed in the inspection groove, and is connected to the control device in communication to detect the liquid accumulation condition in the inspection groove;

the detection target vehicle position detection assembly is disposed on the track and is connected to the control device in communication to detect whether the detection target vehicle is stopped in place;

The intrusion detection assembly is disposed on the track, the inspection platform, and/or the inspection groove, and is connected to the control device in communication to detect whether there is an intrusion into the inspection site.

In one embodiment, the inspection robot,

a working walking device comprising a vehicle body and a wheel, wherein the wheel is disposed at a bottom of the vehicle body and the vehicle body includes a receiving cavity;

A mechanical arm disposed on the vehicle body and communicatively connected to the control device, including a mechanical arm having a foldable structure and capable of being accommodated in the accommodating cavity.

In one embodiment, the inspection robot,

It further includes a detecting device disposed at the distal end of the mechanical arm and connected to the control device in communication.

In one embodiment, the inspection robot,

It further includes a docking device disposed on the vehicle body and configured to realize docking with other equipment.

In one embodiment, the inspection robot,

It further includes an auxiliary charging end disposed on the vehicle body.

In one embodiment, the track traffic locomotive vehicle inspection device,

It further includes an auxiliary charging device disposed on the track and matched with the auxiliary charging end to supply power to the auxiliary charging end.

In an embodiment, the tracked transportation locomotive vehicle inspection device further includes an inspection assistance device, the inspection assistance device comprising:

assistive walking device;

and a tool rest disposed on the auxiliary walking device and configured to mount a replacement detecting device.

In one embodiment, the inspection assistance device comprises:

and a mechanical emergency device disposed on the auxiliary walking device and matching the structure of the docking device to realize mechanical docking with the inspection robot.

In one embodiment, the detecting device is connected to the distal end of the mechanical arm through a quick change device;

The quick change device includes a mechanical arm side end and a tool side end, the mechanical arm side end is connected to the mechanical arm, the tool side end is connected to the detecting device, the mechanical arm side end and the tool side end Electrical connection and mechanical connection can be realized by insertion connection;

A replacement detecting device is disposed on the tool rest of the inspection auxiliary device, one end of the replacement detecting device is connected to the tool side end, and the tool side end is connected to the mechanical arm side end to detect the replacement and realize the connection of the device and the mechanical arm.

In one embodiment, the track traffic locomotive vehicle inspection device,

a reference reference disposed on one side of the track along the extension direction of the track;

a pose detection device disposed in the inspection robot and detecting distance information of the inspection robot with respect to the reference reference;

The apparatus further includes a processing device that is connected to the pose detecting device and calculates a pose offset of the inspection robot with respect to a reference coordinate according to distance information of the inspection robot with respect to the reference reference.

In an embodiment, the processing device and the control device are communicatively connected, and the control device also controls the walking of the inspection robot according to a pose offset of the inspection robot with respect to the reference coordinates.

The tracked transportation locomotive vehicle inspection apparatus according to an embodiment of the present invention automatically elevates through the lifting facility, docks with the inspection groove, and docks with the inspection platform to communicate with the inspection platform, thereby improving the level of automation. And, by leveling the surface of the inspection platform through the elevating facility, the inspection platform is flattened so that there is no obstacle to walking. In addition, through the elevating facility, the inspection robot can enter and exit the inspection groove without the intervention of an operator to realize fully automatic walking, thereby improving the intelligence of the tracked transportation locomotive vehicle inspection device by improving the intelligence of the inspection robot.

As a tracked transportation locomotive vehicle inspection system,

Tracked transportation locomotive vehicle inspection device as described above;

and a scheduling device communicatively connected to the inspection robot to schedule the inspection robot, wherein the number of inspection robots is at least two.

In one embodiment, the at least two inspection robots are respectively equipped with different detection devices, and the scheduling device controls each of the inspection robots to complete detection items for the plurality of detection target vehicles one by one.

The tracked transportation locomotive vehicle inspection system according to an embodiment of the present invention controls the tasks of the plurality of inspection robots through the scheduling device, so that the plurality of inspection robots can perform inspection tasks at the same time, so that the inspection work time greatly shortens the inspection work efficiency.

1 is a view showing a track traffic locomotive vehicle inspection apparatus and inspection site according to an embodiment of the present application.
2 is a view showing an apparatus for inspecting a tracked transportation locomotive vehicle and an inspection site according to an embodiment of the present application.
3 is a view showing the structure of the elevator equipment according to an embodiment of the present application.
4 is a view showing the structure of a track traffic locomotive vehicle inspection apparatus according to an embodiment of the present application.
5 is a view showing the front structure of the inspection robot according to an embodiment of the present application.
6 is a view showing a three-dimensional structure of the inspection robot according to an embodiment of the present application.
7 is a view showing the structure of the auxiliary charging end and the auxiliary charging device according to an embodiment of the present application.
8 is a view showing a front structure of the inspection robot and the inspection auxiliary device according to an embodiment of the present application.
9 is a diagram illustrating a three-dimensional structure of an inspection robot and an inspection auxiliary device according to an embodiment of the present application.
10 is a view showing the structure of a track traffic locomotive vehicle inspection apparatus according to an embodiment of the present application.
11 is a view showing the reference coordinates of the inspection pose detection process according to an embodiment of the present application.
12 is a block diagram showing the structure of a pose detecting apparatus according to an embodiment of the present application.
13 is a side view of a reference standard according to an embodiment of the present application.
14 is a view showing the principle of a method of calculating the posture offset along the second direction of the inspection robot with respect to the second reference plane according to the first detection distance and the second detection distance according to an embodiment of the present application ( The drawing is a side view of the vehicle body of the inspection robot and reference reference).
15 is a view showing the principle of a method of calculating a rotation angle centered on the second direction of the inspection robot according to the first detection distance and the third detection distance according to an embodiment of the present application (the diagram is inspection It is a plan view of the body of the robot and reference standards).
16 is a flowchart showing the steps of the pose detection method in the inspection of the track traffic locomotive vehicle according to an embodiment of the present application.
17 is a flowchart illustrating the steps of obtaining the pose offset of the inspection robot with respect to the reference coordinates and obtaining the pose offset of the robot according to an embodiment of the present application.
18 is a flowchart illustrating the steps of obtaining the pose offset of the inspection robot with respect to the reference coordinates and obtaining the pose offset of the robot according to an embodiment of the present application.
19 is a flowchart illustrating the steps of obtaining the pose offset of the inspection robot with respect to the reference coordinates and obtaining the pose offset of the robot according to an embodiment of the present application.
20 is a flowchart illustrating the steps of obtaining a pose offset of a detection target vehicle with respect to reference coordinates and obtaining a pose offset of the vehicle according to an embodiment of the present application.
21 is a view comparing the height-length curve information of the vehicle bottom and the standard height-length curve information according to an embodiment of the present application.
22 is a view showing the structure of a track traffic locomotive vehicle inspection apparatus according to an embodiment of the present application.
23 is a view showing the layout of the inspection site location of the track transportation locomotive vehicle inspection apparatus and system according to an embodiment of the present application.

Hereinafter, in order to clarify the purpose, technical measures, and advantages of the present application, with reference to embodiments and the accompanying drawings, it will be described in more detail with respect to the track transportation locomotive vehicle inspection apparatus and system of the present application. It should be understood that the specific embodiments described herein are for illustrative purposes only and do not limit the present application.

In the present specification, order numbers added to elements such as "first", "second", etc. are only for distinguishing objects to be described, and do not have any order or descriptive meaning. As used herein, "connection" and "connection" include "direct connection (connection)" or "indirect connection (connection)" unless otherwise specified. In the description of this application, the terms “top”, “bottom”, “before”, “after”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside” , “outside”, “clockwise”, “counterclockwise”, etc. indicate a direction or positional relationship based on the direction or positional relationship shown in the accompanying drawings, and is merely for easy and brief explanation of the present application. It is not to be construed as limiting the present application, as it does not indicate or imply that any given device or component must have a particular orientation and be constructed and operated in a particular orientation.

Unless otherwise specified in the specification, when a first element is referred to as being “above” or “below” a second element, the first element and the second element are directly connected, or through another element in between. can be indirectly connected. Also, when a first element is referred to as being “on,” “above,” and “above” a second element, the first element is either directly above or obliquely above the second element, or only at the horizontal elevation of the first element. may mean that is higher than the second factor. When a first element is referred to as being “below,” “below,” and “under” a second element, the first element is directly below or obliquely below the second element, or only if the horizontal elevation of the first element is It can mean less than 2 factors.

The present application provides an apparatus 10 for inspecting a tracked vehicle locomotive. The track traffic locomotive vehicle inspection device 10 performs the detection of track traffic locomotive vehicles such as power distribution trains, high-speed trains, trains, subways, and the like. The tracked transportation locomotive vehicle to be detected is hereinafter abbreviated as a detection target vehicle.

Referring to FIG. 1 , the track transportation locomotive vehicle inspection device 10 performs detection of the detection target vehicle at the inspection site. The inspection site includes an inspection platform 200 , a track 100 , and an inspection groove 300 . The track 100 is disposed on the inspection platform 200 . The detection target vehicle is stopped on the track 100 . In the inspection platform 200 , an inspection groove 300 is formed in correspondence with the extension direction of the track 100 .

The inspection platform 200 may be a plane flush with the ground, or a plane higher or lower than the ground. The inspection platform 200 is configured so that a device necessary for inspection is disposed, and a facility and an operator necessary for inspection can move. The track 100 includes two parallel rails. The rails of the track 100 may be disposed directly on the inspection platform 200 , or may be disposed on the inspection platform 200 through supports or other devices spaced apart from each other. The quantity of the orbits 100 may be one set or a plurality of sets. Each set of the track 100 is disposed corresponding to the inspection groove 300 . The inspection groove 300 is a pit recessed in the inspection platform 200 to have a groove structure. The inspection groove 300 is formed between the tracks 100 and extends along the extending direction of the tracks 100 . The size and the recessed dimension of the inspection groove 300 may be set as needed, and are not particularly limited in the present application. The detection target vehicle is stopped on the track 100, the inspection platform 200 can realize the detection of the side of the detection target vehicle, and the bottom of the detection target vehicle in the inspection groove 300 detection can be realized.

In one embodiment, the tracked transportation locomotive vehicle inspection device 10 includes an inspection robot 400 , a lifting equipment group 500 , and a control device 600 .

The inspection robot 400 is an inspection robot of a tracked transportation locomotive vehicle, and is hereinafter abbreviated as an inspection robot 400 . The inspection robot 400 detects related parameters such as an appearance, size, position, temperature, and leakage condition of the vehicle to be detected. The specific structure and function of the inspection robot 400 are not limited in the present application, and may be selected as necessary.

The lifting equipment group 500 includes at least one lifting equipment 501 . The lifting equipment 501 is disposed on the side of the track 100 in the extension direction. The elevating facility 501 has a structure capable of elevating, that is, the elevating facility 501 is capable of ascending and descending. Specifically, an elevating groove may be formed in the inspection platform 200 on the side of the track 100, and the elevating facility 501 may be disposed in the elevating groove to realize ascending and descending within the elevating groove. . The lifting equipment 501 may be docked with the inspection groove 300 by lifting and lowering, and may be level with the surface of the inspection platform 200 . The elevator equipment 501 may be a guide rail-type elevator, a crank-type elevator, a scissor-type elevator, a chain-type elevator, or others. Specifically, it may be selected as needed, and the present application is not limited thereto. The lifting facility 501 may be configured to lower the inspection robot 400 or the operator to the inspection groove 300 or to raise the inspection robot 400 or the operator to the inspection platform 200. , but not limited thereto. The number of the lifting equipment 501 may be one or plural. A plurality of the lifting equipment 501 may be arranged spaced apart from one side of the track 100 along the track 100 , or may be distributed on both sides of the track 100 .

The control device 600 is connected to communication with the inspection robot 400 and controls the operation of the inspection robot 400 . The control device 600 may control the inspection robot 400 to walk and perform detection. The control device 600 may be a computer device, a programmable logic controller (PLC), or other device including a processor, but is not limited thereto. In the present application, the control device 600 is not limited to a specific structure, model, etc., as long as it can implement its function.

The operation process of the track transportation locomotive vehicle inspection device 10 may include the following process, but is not limited thereto.

The control device 600 acquires an inspection task, and the inspection task includes the quantity of the detection target vehicle, the location of the detection target vehicle, and an item to be detected. The control device 600 transmits the inspection task to the inspection robot 400 and sends an inspection command. The inspection robot 400 receives the inspection command, autonomously walks to a location where the detection target vehicle is located according to the inspection task, and detects the detection target vehicle. When the item to be detected included in the inspection task is located on the side of the vehicle to be detected, the inspection robot 400 walks along the extension direction of the track 100 on the inspection platform 200 and detects proceed with At this time, the lifting equipment 501 may be level with the surface of the inspection platform 200 so that the inspection robot 400 walks along the inspection platform 200 without being disturbed. When the item to be detected included in the inspection task is located at the bottom of the vehicle to be detected, the inspection robot 400 must walk into the inspection groove 300 to perform the task. The inspection robot 400 first walks to the lifting equipment 501 according to the inspection task. After controlling the lifting equipment 501 to lower it and docking it in the inspection groove 300 , the inspection robot 400 walks to the inspection groove 300 and performs inspection work. When the inspection is completed, the inspection robot 400 walks to the lifting equipment 501, and the lifting equipment 501 lifts the inspection robot 400 to get out of the inspection groove 300 and move to the inspection platform ( 200) to complete the detection.

Compared to the prior art of arranging a walking ladder or a ramp on the inspection platform 200 on one side of the track 100, the track traffic locomotive vehicle inspection device 10 according to an embodiment of the present invention, By automatically ascending and descending through the elevating facility 501 and docked with the inspection groove 300 and docked with the inspection platform 200 to communicate with each other, the level of automation is improved. In addition, by leveling the surface of the inspection platform 200 through the elevating facility 501, the inspection platform 200 is flattened so that there is no obstacle to walking. In addition, through the elevating facility 501, the inspection robot 400 can enter and exit the inspection groove 300 without an operator's intervention to realize fully automatic walking, so by improving the intelligence of the inspection robot 400, the track Improve the intelligence of the transportation locomotive vehicle inspection device 10 .

Referring to FIG. 2 , in one embodiment, the lifting equipment group 500 includes at least two of the lifting equipment 501 . At least two of the lifting equipment 501 are respectively disposed on both sides of the track 100 . At least two of the lifting equipment 501 may be docked and communicated with the inspection groove 300 , and form at least one passage.

Taking the lifting equipment group 500 including the two lifting equipment 501 as an example, the two lifting equipment 501 are disposed on both sides of the track 100 . The connecting lines of the two elevating facilities 501 form a constant angle with respect to the track 100 , and for example, the connecting lines of the two elevating facilities 501 are perpendicular to the track 100 . After all of the two lifting equipment 501 descend to the inspection groove 300 , they are docked with the inspection groove 300 and communicated with each other to form a single passage. The passage forms a predetermined angle with the inspection groove (300).

In one embodiment, the quantity of trajectories 100 is at least two sets. The number of the inspection grooves 300 is at least two. The number of the lifting equipment group 500 is at least two sets. Each of the inspection grooves 300 is disposed corresponding to a set of the tracks 100 . A set of the lifting equipment groups 500 is arranged corresponding to each set of the tracks 100 , that is, at least two of the lifting equipment 501 are arranged on both sides of the tracks 100 of each set. A plurality of the lifting equipment 501 included in the at least two sets of the lifting equipment group 500 may be docked and communicated with the at least two inspection grooves 300 and form at least one cross track passage. That is, the hoisting equipment 501 of the two adjacent sets of the tracks 100 can communicate, so that the passages of the tracks 100 of each set can communicate and form at least one of the cross track passages. . A plurality of the inspection grooves 300 may be communicated by the cross track passage. Therefore, when there are a plurality of vehicles to be detected, the inspection robot 400 can perform detection while traversing the track, thereby improving detection efficiency by detecting a plurality of vehicles to be detected at once.

Hereinafter, the elevating equipment 501 according to the present invention will be described.

Referring to FIG. 3 , in one embodiment, the lifting equipment 501 includes a lifting plate 510 , a driving device 520 , and a lifting control device 530 . The driving device 520 is drivably connected to the lifting plate 510 to drive the lifting and lowering of the lifting plate 510 . The lifting control device 530 is electrically connected to the driving device 520 . The lifting control device 530 controls the operation of the driving device 520 .

The lifting plate 510 is disposed in the lifting groove on the side of the track 100 . When the lifting plate 510 is in an elevated state, the lifting plate 510 has the same height as a plane on which the inspection platform 100 is located. When the lifting plate 510 is in the descending state, the lifting plate 510 has the same height as the plane on which the inspection groove 300 is located and communicates with each other. The lifting plate 510 may be an insulating plate, and the insulating plate may be made of an inorganic insulating material, an organic insulating material, or a mixed insulating material. Specifically, it may be selected as needed, and the present application is not limited thereto. The shape of the elevating plate 510 may be a rectangle, a formulation, or a polygon, which may be specifically selected as necessary and is not particularly limited in the present application. When a plurality of sets of the tracks 100 are included in the inspection and repair site, and the elevating equipment 501 is disposed on each set of the tracks 100, the lifting plates of the two adjacent elevating equipment 501 ( The 510 is disposed in contact with each other, and when the lifting plate 510 descends to the inspection groove 300 , the cross track passage is formed.

The driving device 520 may be disposed in the elevating groove of the side surface of the track 100 . The driving device 520 is drivably connected to the lifting plate 510 to drive the lifting and lowering of the lifting plate 510 . A specific structure, an installation location, and an installation method of the driving device 520 may be selected as needed, and the present application is not limited thereto. The number of the driving devices 520 may also be selected as needed. The driving device 520 may be a hydraulic driving device, a pneumatic driving device, an electric driving device, a chain driving device, or other types of driving device as long as it can drive the lifting and lowering of the lifting plate 510 . In one specific embodiment, the drive device 520 is a hydraulic drive device. The hydraulic driving device is combined with the lifting plate 510 to constitute a hydraulic scissor type lifting platform. The hydraulic scissor-type lifting platform is a fixed hydraulic scissor-type lifting platform. Tables such as rollers, balls, and turntables of the fixed hydraulic scissor type elevating platform are arbitrarily arranged to meet the actual use needs. Therefore, in actual use, the fixed hydraulic scissor-type lifting platform is more convenient for maintenance workers or users to adjust as needed and facilitates the use of the lifting equipment 501 .

The lifting control device 530 is electrically connected to the driving device 520 to control start, stop, and work modes of the driving device 520 . The elevating control device 530 obtains an elevating command, and controls the starting, stopping, and working modes of the driving device 520 according to the elevating command to control the elevating or lowering of the elevating plate 510 .

The lifting command of the lifting equipment 501 may be manually input, may be obtained through the control device 600, may be obtained through detection. In one embodiment, the hoisting equipment 501 further includes a distance sensor 540 . The distance sensor 540 is communicatively connected to the lift control device 530 . The distance sensor 540 detects a distance between itself and a front object in order to determine whether there is a person or a stationary object on the surface of the lifting plate 510 . When the distance detected by the distance sensor 540 satisfies a preset distance threshold, it means that a person or an object is stationary on the surface of the lifting plate 510 and needs to be lifted. For example, assuming that the distance detected by the distance sensor is 1 m when a person or an object is not stationary on the lifting plate 510 , the distance detected by the distance sensor 540 is less than 0.98 m and 0.05 When it is greater than m, the lifting control device 530 determines that there is a person or a stationary object on the lifting plate, and the lifting controller 530 controls the driving device 520 to start. The distance sensor may be a capacitive proximity sensor, a laser distance measurement sensor, or an ultrasonic sensor, and may be specifically selected as needed, but the present application is not limited thereto. The number of the distance sensors 540 may be one or a plurality. In this embodiment, the automatic elevation of the elevation plate 510 is implemented by cooperation of the distance sensor 540 and the elevation control device 530 . The hoisting equipment 501 according to the present embodiment has high intelligence, thereby improving the intelligence of the track transportation locomotive vehicle inspection device 10 .

In one embodiment, the lifting equipment 501 further includes a lifting safety alarm device (550). The lift safety alarm device 550 is electrically connected to the lift control device 530 . The elevating alarm device 550 proceeds with an alarm when abnormal data is detected by the distance sensor 540 or a failure occurs in the elevating facility 501 . The specific structure of the elevating safety alarm device 550 is not limited in the present application, and may be selected as necessary. The safety and intelligence of the elevating facility 501 can be improved through the elevating safety alarm device 550 , and accordingly, the safety and intelligence of the tracked transportation locomotive vehicle inspection device 10 is improved.

Referring to FIG. 4 , in one embodiment, the track traffic locomotive vehicle inspection device 10 further includes a field work condition detecting device 700 . The on-site working condition detecting device 700 is disposed at the inspection site. Specifically, the on-site working condition detecting device 700 may be disposed on the track 100 , the inspection platform, and/or the inspection groove 300 . The on-site working condition detecting device 700 is connected to the control device 600 in communication. The field work condition detecting device 700 detects field work conditions. By arranging the on-site operation condition detecting device 700, the situation of the inspection site can be immediately grasped before and during inspection, so that the control of the inspection robot 400 is performed according to the situation to ensure reliability of inspection work. , improve safety and intelligence.

The on-site working condition detecting device 700 may have different structures according to different needs and different working conditions. Hereinafter, the structure of the on-site operation condition detecting device 700 will be described with reference to an embodiment.

In an embodiment, the on-site working condition detecting device 700 includes a liquid pool detecting device 710 . The liquid accumulation detection mechanism 710 is disposed in the inspection groove 300 . The liquid pool detection mechanism 710 is communicatively connected to the control device 600 . The liquid accumulation detection mechanism 710 detects liquid accumulation in the inspection groove 300 .

The liquid accumulation detection mechanism 710 may be a liquid detection sensor. The number of the liquid pool detection device 710 is not limited. The specific arrangement position of the liquid accumulation detection mechanism 710 in the inspection groove 300 is not limited, and may be set according to an actual situation. For example, the depth of the inspection groove 300 may be relatively deep and the liquid accumulation detecting device 710 may be disposed at a position where liquid accumulation is likely to occur. The pooling detection mechanism 710 detects the pooling condition of the current location and transmits it to the control device 600 . The control device 600 determines whether to start the inspection operation based on the liquid stagnant situation. When the pooling exceeds a preset pooling threshold, the work condition is not satisfied and an enable signal is not sent to the inspection robot 400 . In this embodiment, the liquid accumulation detection mechanism 710 prevents a situation in which the inspection operation is started even when there is a large amount of liquid accumulation in the inspection groove 300 , so that the safety and intelligence of the track transportation locomotive vehicle inspection device 10 . to improve

In one embodiment, the on-site working condition detecting device 700 includes a detection target vehicle position detecting assembly 720 . The detection target vehicle position detection assembly 720 is disposed on the track 100 . The detection target vehicle position detection assembly 720 is communicatively connected to the control device 600 . The detection target vehicle position detection assembly 720 detects whether the detection target vehicle is stopped in place.

The detection target vehicle position detection assembly 720 may be disposed on one side of the track 100 or may be disposed on the support for supporting the track 100 . The number of the detection target vehicle position detection assembly 720 may be one or a plurality. The detection target vehicle position detection assembly 720 may include a speed sensor and an occupancy sensor, but is not limited thereto. In a specific embodiment, along the extending direction of the track 100, the plurality of occupancy sensors and the plurality of speed sensors are sequentially disposed inside the rail. When the vehicle to be detected enters and stops along the track 100, the presence of wheels and a vehicle body on the track 100 is detected by the occupancy sensor, and a plurality of sequentially arranged speed detecting devices It is detected that the speed of the vehicle body is gradually reduced to zero by this. It means that the detection target vehicle enters the track 100 and is stopped at the sensor arrangement position. The control device 600 determines whether to start the inspection operation according to the detection result of the detection target vehicle position detection assembly 720 and controls the startup of the inspection robot 400 . In this embodiment, the intelligence and automaticity of the tracked transportation locomotive vehicle inspection device 10 is further improved by the detection target vehicle position detection assembly 720 , and the inspection accuracy of the tracked transportation locomotive vehicle inspection device 10 is improved. is improved

In one embodiment, the on-site operation condition detecting device 700 includes an intrusion detecting assembly 730 . The intrusion detection assembly 730 is disposed at the inspection site. Specifically, the intrusion detection assembly 730 may be disposed on the track 100 , the inspection platform 200 , and/or the inspection groove 300 . The intrusion detection assembly 730 is communicatively connected to the control device 600 . The intrusion detection assembly 730 detects whether there is an intrusion into the inspection site.

The intrusion detection assembly 730 may include an image collection device and an image processing device communicatively connected thereto. The image collection device may be a webcam, a camera, or the like. The image collection device collects image information of the inspection site and transmits it to the image processing device. The image processing apparatus may be a computer facility. The image processing apparatus may also be one module or processing software of the control apparatus 600 . The image processing apparatus processes the image information to determine whether a person or an object has entered the inspection site, and determines whether a work condition is satisfied and whether an inspection operation is started. In this embodiment, the intelligence of the tracked transportation locomotive vehicle inspection device is improved by the intrusion detection assembly 730 , and the safety of the operation of the tracked transportation locomotive vehicle inspection device 10 is further improved.

In one embodiment, the on-site work condition detecting device 700 further includes an assembly for detecting the hitch connection state of the inspection robot 400 and the related equipment in order to secure the safety of the hitch connection of the inspection robot 400 . may include

The control device 600 includes a corresponding module for processing the data of the field work condition detecting device 700 in the embodiment, and receives the relevant data transmitted from the field work condition detecting device 700, and It will be understood that processing judgment is performed to determine whether or not the inspection site of the inspection site satisfies the conditions of the inspection operation, and it is determined whether the inspection enable signal is sent.

The inspection robot 400 performs inspection according to the inspection enable signal. Hereinafter, an embodiment of the inspection robot 400 will be described.

5 and 6 , in one embodiment, the inspection robot 400 includes a work walking device 410 and a mechanical arm 420 . The working walking device 410 includes a vehicle body 411 and a wheel 412 . The wheel 412 is disposed at the bottom of the vehicle body 411 . The vehicle body 411 includes an accommodation cavity 413 . The mechanical arm 420 is disposed on the vehicle body 411 . The mechanical arm 420 has a foldable structure. The mechanical arm 420 may be accommodated in the receiving cavity 413 .

The working walking device 410 may be specifically an Automated Guided Vehicle (AGV) or other small vehicle capable of automatically performing a walking function. The vehicle body 411 may have a cube or other shape structure. Taking the vehicle body 411 configured as a cube as an example, the vehicle body 411 has a cavity structure, and the accommodation cavity 413 is surrounded by six surfaces. The mechanical arm 420 is mounted on the upper portion of the vehicle body 411 . At the same time, the vehicle body 411 has an opening. After the mechanical arm 420 is folded, it is accommodated in the receiving cavity 413 through the opening. The working gait device 410 may be communicatively connected to the control device 600 , and the control device 600 sends a working command and a working gait task to the working gait device 410 . The working gait device 410 may include a self-control system to control gait by itself, or may control gait through an external control system. For example, the gait of the working walking device 410 may be controlled through the control device 600 .

The wheel 412 is mounted on the bottom of the vehicle body 411 . The number of the wheels 412 may be four. The wheel 412 may have various structures, for example, the wheel 412 may have a general-purpose wheel structure. In a specific embodiment, the wheel 412 has a two-wheel differential drive type structure. The wheel 412 having a two-wheel differential driving type structure can effectively reduce the volume of the inspection robot 400 . In addition, by adopting a two-wheel differential driving structure for the wheel 412, it is possible to avoid complicated calculations in the case of designing a tread midpoint as a reference point in the prior art, and the control is simple and the trajectory tracking effect is excellent. , to improve the real-time of motion control.

The mechanical arm 420 may include a plurality of movable joints. In one specific embodiment, the mechanical arm 420 includes six movable joints, and each of the movable joints is rotatable about an axis, so that the mechanical arm 420 has flexible movement and positioning along the six axes. decision is possible The mechanical arm 420 is connected to the control device 600 to transmit a signal. The control device 600 controls the movement, folding, etc. of the mechanical arm 420 .

The mechanical arm 420 is disposed outside the vehicle body 411 during operation. When the operation of the mechanical arm 420 is completed, the control device 600 controls the mechanical arm 420 to be folded and accommodated in the accommodation cavity 413, thereby preventing dust, preventing collision, and reducing the volume. plays a role

In this embodiment, the inspection robot 400 includes the working walking device 410 and the mechanical arm 420 . The body 411 of the working walking device 410 includes the receiving cavity 413 . Since the mechanical arm 420 has a foldable structure and can be accommodated in the accommodation cavity 413, the volume of the inspection robot 400 can be reduced, dust and collision can be prevented, and storage is easy. convenient.

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

Openings may be formed in the vehicle body 411 along top and side surfaces. The opening of the vehicle body 411 is the opening of the accommodation cavity 413 . The shape and size of the opening is the same as the folded shape and size of the mechanical arm 420 so that the mechanical arm 420 is sealed in the opening position after being folded. For example, the mechanical arm 420 includes six of the movable joints and holds the three movable joints in length after being folded. The shape, length, and width of the opening coincide with the shape, length, and width of the three movable joints. When the mechanical arm 420 is accommodated in the receiving cavity 413, the three movable joints are accommodated in the receiving cavity 413, and the remaining three movable joints are in close contact with the opening to the receiving cavity ( 413) to seal the opening to prevent dust. Accordingly, the space inside the accommodating cavity 413 can be saved, and other facilities and devices can be accommodated in the accommodating cavity 413 . This embodiment improves the practicality of the inspection robot 400 .

In an embodiment, the inspection robot 400 further includes a lifting device 460 . The lifting device 460 is disposed in the accommodation cavity 413 . The lifting device 460 is mechanically connected to the mechanical arm 420 . The lifting device 460 enables lifting and lowering of the mechanical arm 420 .

The lifting device 460 may specifically include an additional lifting shaft. One end of the additional lifting shaft is disposed in the receiving cavity 413 , and the other end is mechanically connected to the bottom of the mechanical arm 420 . A manner in which the lifting additional shaft drives the lifting may include, but is not limited to, a hydraulic drive, a cylinder drive, and the like, and may be selected as necessary. The driving of the lifting device 460 may be automatic or manual. In a specific embodiment, the elevating device 460 is communicatively connected to the control device 600 , and the control device 600 also controls the operation of the elevating device 460 . The lifting and lowering of the mechanical arm 420 may be realized by the lifting device 460 , and not only the ascending and advancing of the mechanical arm 420 but also lowering and receiving of the mechanical arm 420 may be realized. In addition, when the mechanical arm 420 performs inspection and inspection, the lifting device 460 may further adjust the height of the mechanical arm 420 to realize compensation for the distal position of the mechanical arm 420 . have. Therefore, the inspection robot 400 according to the present embodiment has strong practicality, increases the flexibility of inspection work, and improves inspection accuracy.

In an embodiment, the inspection robot 400 includes a detection device 430 . The detecting device 430 is disposed at the distal end of the mechanical arm 420 . The detection device 430 detects the detection target vehicle. The type of the detection device 430 may be set as needed. The detecting device 430 may be directly electrically connected to the distal end of the mechanical arm 420 or indirectly connected to the distal end of the mechanical arm 420 through a separate device. The mechanical arm 420 moves so that the detection device 430 moves to the inspection item area of the detection device, and performs the inspection on the inspection item. The detection device 430 is communicatively 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 collected by the detection device 430 .

In an embodiment, the detection device 430 includes at least one of an image collection device, a gas leak detection device, a temperature detection device, and a dimension detection device. It will be understood that the detection device 430 may also include other detection devices to implement other necessary functions. In this application, this is not limited.

The image collection apparatus may include a 2D image acquisition unit and/or a 3D image acquisition unit. In a specific embodiment, the 2D image acquisition unit mainly includes an area scan camera. The area scan camera collects a surface image of the element to be measured. For the detection target vehicle, the presence or absence of parts detection, shape detection, position detection, appearance detection, dimension detection, etc. may be performed. The 2D image acquisition unit may further include a light source. The light source illuminates the element to be measured to obtain a better image acquisition effect.

In a specific embodiment, the 3D image acquisition unit mainly includes a linear laser light source, a line scan camera, and a linear motion unit. When the three-dimensional image acquisition unit is working, the linear laser light source emits a linear laser and irradiates the surface of the element to be measured. The line scan camera acquires one image, and the line scan camera continuously acquires several images according to the movement of the linear motion unit. Through stitching on a plurality of images, a complete image including depth information may be obtained. The three-dimensional image acquisition unit may perform bolt fastening detection, crack detection, wheel tread quality detection, etc. for the vehicle to be detected.

The gas leak detection device detects a bottom and/or side duct of the vehicle to be detected. In a specific embodiment, the gas leak detection device includes a microphone array. The microphone array collects and detects gas leak sound data. The microphone array transmits the acquired gas leak sound data to the control device 600 . The control device 600 processes and judges the gas leak sound, determines whether the gas leaks in the duct, and also determines a specific location of the gas leak. In one embodiment, the microphone array includes three cardioid microphones and one omni-directional microphone. In another embodiment, the microphone array includes one cardioid microphone, and a plurality of the cardioid microphones are disposed on the mechanical arm 420 .

In one embodiment, the method of determining whether there is a gas leak in a duct by processing the gas leak sound by the control device 600 and determining a specific location of the gas leak includes the following steps.

Step S1110: The detection target vehicle model is formed by modeling the detection target vehicle.

Step S1120: A gas leak sound of the inspection item point area of the detection target vehicle is identified.

Step S1130: The location of the sound source from which the gas leak sound is determined.

Step S1140: It is determined whether there is a gas leak in the detection target vehicle according to the location of the sound source and the detection target vehicle model.

Step S1150: Mark the location of the sound source in the detection target vehicle model.

The method according to this embodiment, by matching the gas leak sound source location of the detection item area of the detection target vehicle to the detection target vehicle model to determine the gas leak sound around the detection item point as the gas leak of the detection target vehicle The possibility can be effectively excluded, improving the accuracy of detection and providing a reliable basis for vehicle inspection, repair and maintenance. In addition, by modeling the detection target vehicle and matching the gas leak sound with the detection target vehicle model, the detection process and detection results for vehicle airtightness are more intuitive.

The temperature detecting device detects a temperature of an element to be detected of the detection target vehicle. The selection of the specific structure of the temperature detecting device is not limited. In a specific embodiment, the temperature detecting device includes a thermal imaging camera. The thermal imaging camera detects the temperature distribution of the element to be detected and forms a corresponding temperature distribution image. The temperature distribution image detected by the thermal imaging camera is transmitted to the control device 600 . The control device 600 further processes the temperature distribution image. In another embodiment, the temperature detecting device further includes a non-contact infrared temperature sensor. The non-contact infrared temperature sensor detects the surface temperature of the element to be detected. Before performing the detection, the control device 600 may proceed by selecting the three-dimensional modeling of the vehicle to be detected. Mark the item to be inspected and the location of the point to be measured on the 3D model. Here, one item to be inspected includes a plurality of points to be measured. The mechanical arm 420 clamps the non-contact infrared temperature sensor to move it to the item to be inspected, and directs the light beam of the non-contact infrared temperature sensor to the outer surface of the item to be inspected. The mechanical arm 420 is measured by sequentially adjusting the temperature of the point to be measured by changing the pose. The temperature measurement of the point to be measured is completed. Data measured by the non-contact infrared temperature sensor is transmitted to the controller 600 . The control device 600 may process the data using a method of obtaining a median value, an expected value, and the like, and obtain a model graph reflecting the temperature of the item to be inspected by matching it with the three-dimensional model.

The determination of the point to be measured may be based on the detection result of the thermal imaging camera, and the specific temperature of the area of interest may be obtained by setting the area of interest or the point to be measured and detecting the point.

The size detecting device detects distance information related to a quantity to be detected. The dimension detecting device may include a wheel flange-wheel rim measuring tool and/or a wheel set spacing measuring tool. The wheel flange-wheel rim measurement tool measures dimensions related to the wheel flange and wheel rim of the vehicle to be detected. The wheelset spacing measuring tool measures the wheelset spacing of the vehicle to be detected.

In one embodiment, the wheelset spacing measuring tool comprises two laser distance sensors and one measuring rod. The distance information measured by the wheelset spacing measuring tool is transmitted to the control device 600 . The control device 600 obtains the dimensions of the wheelset by processing the distance information. The specific process includes, but is not limited to, the following steps.

Step S2210: A wheelset model is formed by modeling the standard contour dimension of the detection item point of the wheelset to be detected.

First, the control device 600 builds a wheelset coordinate system with the center of symmetry of the wheelset as the origin according to the dimensional positional relationship with respect to the wheel flange and the wheel rim section of the standard wheelset, and by simulating the three-dimensional model of the wheelset appearance build Then, when the inspection robot 400 performs measurement and sampling, the relative position of the base coordinate system of the working walking device 410 of the inspection robot 400 with respect to the central coordinate system of the wheelset, and the position of the mechanical arm 420 By determining the relative positions of the distal sampling points, a three-dimensional model database of the measurement points is constructed.

Step S2220: Precise calibration of the position of the wheel set to be detected and the position of the inspection robot 400 is performed.

Before the inspection robot 400 detects, positioning is performed through the wheel axis visual feature or the wheelset auxiliary positioning mark point, and actual pose information of the inspection robot 400 is acquired in the wheelset coordinate system. The inspection robot 400 adjusts the distal pose of the mechanical arm 420 to compensate for the actual pose, thereby matching the three-dimensional model database of the measurement point.

Step S2230: The inspection robot 400 performs sampling and measurement.

The distal end of the inspection robot 400 clamps the laser distance measuring sensor to measure the distance dimension of the outline of the wheelset inspection item for each point, and transmits the data to the control device 600 .

Step S2240: A target dimension value is calculated.

The inspection robot 400 simulates the actual contour of the wheelset inspection item by combining the collected external dimension points and the position of the operation trajectory point of the inspection robot 400, and compares the detected actual contour with the standard contour. Get the dimension value of the wheelset inspection item.

Each of the above-described detection devices 430 may be arranged alone at the distal end of the mechanical arm 420 , or a plurality of items may be arranged in combination at the distal end of the mechanical arm 420 . In one embodiment, the two-dimensional image acquisition unit, the gas leak detection device, and the temperature detection device are combined and arranged at the distal end of the mechanical arm 420, so that occupancy detection, shape detection, pose detection for the vehicle to be detected, shape detection, pose detection, Simultaneous detection of multiple items such as gas leak detection and temperature detection is performed.

In another embodiment, the three-dimensional image acquisition unit, the gas leak detection device, and the temperature detection device are combined and arranged at the distal end of the mechanical arm 420, so that the detection target vehicle is bolted for detection, crack detection, wheel tread Simultaneous detection of multiple items such as quality detection, gas leakage detection, and temperature detection.

In the above embodiment, by disposing the detection device 430 at the distal end of the mechanical arm 420 to inspect various items for the vehicle to be detected, the inspection robot 400 has a multi-inspection function, Functionality and intelligence of the inspection robot 400 are improved.

In an embodiment, the inspection robot 400 further includes a docking device 440 . The docking device 440 is disposed on the vehicle body 411 . The docking device 440 is configured to realize docking with other facilities. The docking device 440 may be configured to realize mechanical docking with other facilities, or may be configured to realize electrical docking with other facilities. The structure of the docking device 440 may be designed in various ways as needed. The docking device 440 that realizes mechanical docking with a rescue facility or an inspection auxiliary device is taken as an example. The docking device 440 may be disposed at a front end and/or a rear end of the vehicle body 411 . The docking device 440 may include a docking interface of a ring shape or a square shape so that the rescue facility or the inspection auxiliary device is connected to realize traction or towing for the inspection robot 400 . In the present embodiment, the function of the inspection robot 400 is further supplemented by the docking device 440 , and the practicality of the orbital transportation locomotive vehicle inspection device 10 is improved.

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

Referring to FIG. 7 , in one embodiment, the inspection robot 400 further includes an auxiliary charging end 450 . The auxiliary charging end 450 is disposed on the vehicle body 411 . The auxiliary charging end 450 may be a charging head or a charging stand, and may be any device capable of implementing circuit continuity, such as a charging brush or a charging conducting rail. The auxiliary charging end 450 is connected to the power supply of the inspection robot 400 and is connected to an external charging device, and the inspection robot 400 is charged. In the present embodiment, the inspection work capability of the inspection robot 400 may be improved by timely charging the electric energy to the inspection robot 400 through the auxiliary charging end 450 .

In one embodiment, the track traffic locomotive vehicle inspection device 10 further includes an auxiliary charging device (800). The auxiliary charging device 800 is disposed on the track 100 . The auxiliary charging device 100 matches the auxiliary charging end 450 and supplies power to the auxiliary charging end 450 to charge the inspection robot 400 . The specific shape, structure, etc. of the auxiliary charging device 800 is not limited as long as charging is possible by matching the auxiliary charging end. Hereinafter, two embodiments of the auxiliary charging device 800 and the auxiliary charging end 450 are provided.

In one embodiment, the auxiliary charging end 450 is a conductive brush. The auxiliary charging device 800 is a conductive rail. The conductive brush has a hair brush structure. The conductive brush may be disposed on one side of the vehicle body 411 through a protruding cantilever structure. The protruding cantilever may have a corner contact structure. A spring or other material is provided between the protruding cantilever and the vehicle body 411 so as to save space by returning the conductive brush to the vehicle body 411 when not in use, while improving the flow elasticity and flexibility of the conductive brush to save space. An elastic device may be disposed. The number of the conductive brushes may be one disposed on one side of the vehicle body 411 , or may be two disposed on both sides of the vehicle body 411 . Of course, the number of the conductive brushes may be two or more, and they are respectively disposed at required positions of the vehicle body 411 .

The conductive rail is disposed on one side of the track 100 close to the walking of the inspection robot 400 . The conductive rail has a long rod shape. The conductive rail may be powered by a grounded safety voltage. The conductive rail may adopt a PVC profile, an aluminum profile, or a copper strip composite structure. The number of the conductive rails may be plural. A plurality of the conductive rails are spaced apart along the track 100 . When the conductive brushes are disposed on both sides of the vehicle body 411 , the plurality of conductive rails are also disposed inside the two rails of the track 100 , respectively. On and off for the plurality of said conductive rails can be individually controlled, respectively.

In the overall operation process of the inspection robot 400, when the detection is performed while stopping at the target position, the mechanical arm 420 has a large workload and a long operation time, so power consumption is the greatest in the detection process. Accordingly, in many cases, charging of the inspection robot 400 is required in the detection process. In the present embodiment, when the inspection robot 400 walks and stops at a target position, that is, when detection starts, the inspection robot 400 projects the conductive brush through the protrudable cantilever to come into contact with the conductive rail. make it When power is supplied to the conductive rail, the inspection robot 400 may be charged through the conductive brush. When the detection task of the inspection robot 400 is completed and it is about to move to the next detection position, the power to the conductive rail is cut off to stop charging the conductive brush, and the conductive brush is moved using the protruding cantilever. After returning, the inspection robot 400 continues to walk to the next detection position.

In another embodiment, the auxiliary charging end 450 is a conductive brush, and the auxiliary charging device 800 is a conductive brush. The arrangement of the conductive brush and the conductive rail is opposite to that of the above-described embodiment. The implementation method, principle, and arrangement method thereof are similar. A description thereof will be omitted.

In the above two embodiments, the auxiliary charging for the inspection robot 400 is realized by the combination of the conductive brush and the conductive rail, so that the working power of the inspection robot 400 is secured, and the tracked transportation locomotive vehicle The reliability and stability of the inspection device 10 are improved. In addition, since the conductive rail has a long bar shape, it is possible to complete charging of the inspection auxiliary device 900 by being combined with the conductive brush even in the case of a stop position deviation of the inspection robot 400 or the vehicle to be detected. to reduce charging errors.

8 and 9 , in one embodiment, the quick change device 431 includes two parts: a mechanical arm end 433 and a tool end 435 . The mechanical arm side end 433 and the tool side end 435 are correspondingly matched. The mechanical arm side end 433 and the mechanical arm 420 are electrically and mechanically connected. The tool side end 435 and the detecting device 430 are electrically and mechanically connected. The mechanical arm side end 433 and the tool side end 435 realize electrical connection and mechanical connection by insertion connection, thereby realizing electrical connection and mechanical connection between the mechanical arm 420 and the detecting device 430 . do.

In the above two embodiments, the detection device 430 and the end of the mechanical arm 420 are electrically and mechanically connected by the quick change device 431, making it simple, convenient, and highly versatile.

In one embodiment, the tracked transportation locomotive vehicle inspection device 10 further includes a tracked transportation locomotive vehicle inspection auxiliary device. The tracked transportation locomotive vehicle inspection assistance device is hereinafter abbreviated as an inspection assistance device 900 . The inspection assistance device 900 assists the inspection robot 400 to complete replacement of the detection device 430 , and performs energy supply, inspection and repair, and emergency rescue functions. Hereinafter, an embodiment will be described with respect to the inspection auxiliary device 900 .

In one embodiment, the inspection assistance device 900 includes an auxiliary walking device 910 and a tool rest 920 . The tool rest 920 is disposed on the auxiliary walking device 910 . The tool rest 920 is configured to mount a replacement detecting device.

The inspection robot 400 of the tracked transportation locomotive vehicle inspection device 10 has to replace the detection device 430 at the end of the mechanical arm 420 in order to perform different detection items in the inspection process. have. For convenience of description, the replaced detection device is referred to as the replacement detection device. The replaced detection device is referred to as the original detection device.

The auxiliary walking device 910 completes walking and moves the equipment disposed thereon to walk. Since the structure, implementation principle, and control method of the auxiliary walking device 910 are similar to those of the working walking device 410 , a detailed description thereof will be omitted.

The tool rest 920 may be disposed above the vehicle body of the auxiliary walking device 910 . The specific structure of the tool rest 920 is not limited, and may be set according to the structure and size of the mounted tool. The replacement detection device is mounted on the tool rest (920). When it is necessary to replace the original detection device, the auxiliary walking device 910 is controlled to walk next to the inspection robot 400 . The original detection device is replaced with the replacement detection device on the tool rest 920 . The replacement method may be automatic or manual, and is not limited in the present application.

In this embodiment, the track traffic locomotive vehicle inspection device 10 includes the inspection auxiliary device 900 . The inspection auxiliary device 900 may be disposed on the tool rest 920 to transfer the replacement detection device to the location where the inspection robot 400 is located, thereby realizing replacement of the detection device 430 . The inspection assistance device 900 according to the present embodiment simultaneously improves the overallness and intelligence of the function of the track transportation locomotive vehicle inspection device 10 .

In one embodiment, the shape and size of the tool rest 920 matches the shape and size of the replacement detection device. That is, the tool rest 920 is designed to imitate the shape of the replacement detecting device, so that the replacement detecting device can be more stably and closely mounted on the tool rest 920 .

In one embodiment, the replacement detecting device is disposed on the tool rest 920 of the inspection auxiliary device 900 . The tool side end 435 is connected to one end of the replacement detecting device. The replacement detecting device and the tool side end 435 are electrically and mechanically connected. The tool side end 435 is connected with the mechanical arm side end 433 to realize the connection between the replacement detecting device and the end of the mechanical arm 420 . When replacing the detecting device 430, the original detecting device 430 and the tool side end 435 connected thereto are removed. By connecting the tool side end 435 of the replacement detecting device to the mechanical arm side end 433 of the distal end of the mechanical arm 420, electrical and mechanical connection between the replacement detecting device and the mechanical arm 420 to realize In this embodiment, by arranging the tool-side end 435 in the detecting device to be replaced, the detecting device can be replaced quickly, thereby improving work efficiency.

In one embodiment, the inspection assistance device 900 further includes an energy supply device 930 . The energy supply device 930 is disposed in the auxiliary walking device. The energy supply device supplies energy to the inspection equipment of the track transportation locomotive vehicle. The inspection equipment of the tracked transportation locomotive vehicle includes, but is not limited to, the inspection robot 400 . The energy supply device 930 may include a power supply device 931 or a gas supply device 932 , and may also be any other device that supplies energy required for the inspection robot 400 . In this embodiment, the energy supply device 930 can supply and supplement energy to the inspection robot 400 , so as to ensure the energy supply of the inspection robot 400 , and By improving the stability and reliability, the stability and reliability of the track transportation locomotive vehicle inspection device 10 are improved.

In one embodiment, the energy supply 930 includes a power supply 931 . The power supply 931 includes a power source and a power interface. The power source is disposed in the auxiliary walking device 910 . The power interface is electrically connected to a power source to realize an electrical connection between the power source and the inspection robot 400 . That is, the power supplies electricity to the inspection robot 400 through the power interface. The specific configuration and mounting method of the power source and the power interface are not limited in the present application as long as they can perform the function. When the electrical energy of the inspection robot 400 is exhausted, the inspection auxiliary device 900 carries the power supply device and walks to the inspection robot 400 to supply electricity. In this embodiment, by implementing a power supply function to the inspection robot 400 through the power source and the power interface, the function of the inspection auxiliary device 900 is increased and practicality is increased.

In one embodiment, the inspection assistance device 900 further includes an emergency device 940 . The emergency device 940 is disposed in the auxiliary walking device 910 . The emergency apparatus provides an emergency rescue for the inspection robot 400 .

During the inspection operation, the inspection robot 400 does not walk, the mechanical arm 420 does not work, or the mechanical arm 420 is caught and stopped due to a sudden failure. emergencies may occur. At this time, the inspection assistance device 900 is controlled to carry the emergency device 940 and walk near the inspection robot 400 to provide emergency rescue to the inspection robot 400 . In this embodiment, the safety and stability of the inspection robot 400 are ensured by further increasing the function of the inspection auxiliary device 900 through the emergency device 940 .

In one embodiment, the first aid device 940 includes a mechanical first aid device 941 . The mechanical emergency device 941 is disposed in the auxiliary walking device 910 . The mechanical emergency device 941 realizes mechanical docking with the inspection robot 400 . The specific structure of the mechanical emergency device 941 is not limited as long as its function can be implemented. In one embodiment, the structure of the mechanical emergency device 941 matches the structure of the docking device 440 , thereby realizing mechanical docking with the inspection robot 400 , and Towing and movement of the inspection assistance device 900 are realized. The inspection assistance device 900 according to the present embodiment can take out the inspection robot 400 from the inspection site when a failure occurs in the inspection robot 400, Increase the level of automation and intelligence.

In one embodiment, the emergency device 940 further includes an electric emergency device 942 . The electric emergency device 942 is disposed in the auxiliary walking device 910 . Specifically, the electric emergency apparatus 942 may be disposed in the mechanical emergency apparatus 941 . The electric emergency device 942 realizes electrical connection with the inspection robot 400 and realizes an electrical emergency rescue for the inspection robot 400 . Also, the emergency device 940 may further include a communication emergency device. The communication emergency device realizes a communication emergency rescue for the inspection robot 400 .

In one embodiment, the inspection assistance device 900 further includes a maintenance device (not shown in the drawing). The maintenance device is disposed in the auxiliary walking device 910 . The inspection and repair device inspects and repairs failure information of the inspection robot 400 . For example, when the mechanical arm 420 of the inspection robot 400 does not move, the inspection and repair apparatus may connect the electrical communication control line of the inspection robot 400 to the inspection and repair apparatus. The inspection and repair device debugs the inspection robot 400 and performs inspection and repair according to the debugging result. In the present embodiment, the function of the inspection auxiliary device 900 is further supplemented by the inspection and repair device, so that the safety and reliability of the inspection robot 400 are improved.

When the inspection operation is performed using the above-described track transportation locomotive vehicle inspection device 10 , the inspection robot 400 needs to determine the location of the detection target vehicle for accurate detection and measurement. However, when the inspection robot 400 determines the position of the detection target vehicle, a positioning deviation may occur due to various errors. First, the inspection robot 400 cannot accurately reach a predetermined position due to an error of its own navigation system, irregularities on the walking surface, wheel slip, wheel wear, and the like, due to its own positioning error. In addition, the detection target vehicle may have an error between the actual stopping position of the detection target vehicle and a preset stopping position due to wheel wear, navigation error, and the like. The error in the two directions leads to an error in the relative positions of both, and finally, the inspection robot 400 cannot accurately detect the inspection target vehicle. Therefore, it is necessary to detect an error in the inspection process of the tracked vehicle locomotive, and additional positioning correction can be performed based on the error.

Referring to FIG. 10 , in one embodiment, the tracked transportation locomotive vehicle inspection apparatus 10 further includes a tracked transportation locomotive vehicle inspection pose detection system. Hereinafter, the tracked traffic locomotive vehicle inspection pose detection system is abbreviated as the inspection pose detection system 30 .以 Hereinafter, the above-mentioned inspection pose detection system 30 will be described with reference to an embodiment.

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

The reference reference 310 is disposed on one side of the track 100 along the extension direction of the track 100 on which the detection target vehicle is stopped. The length of the reference reference 310 matches the length of the walking work surface of the inspection robot 400 . The reference reference 310 may be a reference made of a profile. The reference reference 310 includes absolute position information and reference plane information along the extending direction of the orbit 100 . The reference reference 310 may reflect the absolute position information and the reference plane information through scale information, image information, and the like.

The pose detecting device 320 detects distance information of the inspection robot 400 with respect to the reference reference 310 . The pose detection device 320 is disposed in the inspection robot 400, and detects the distance information of the inspection robot 400 with respect to the reference reference 310 according to the movement of the inspection robot 400 in real time. , obtain the pose offset of the inspection robot 400 . The pose detecting device 320 may be disposed at different positions of the vehicle body 411 of the inspection robot 400 according to different detection parameters required. The pose detecting device 320 includes, but is not limited to, a distance detecting device.

The processing device 330 is communicatively connected to the pose detection device 320 . The pose detecting device 320 transmits the detected distance information of the inspection robot 400 with respect to the reference reference 310 to the processing device 330 . The processing device 330 calculates a pose offset of the inspection robot 400 with respect to a reference coordinate according to the distance information of the inspection robot 400 with respect to the reference reference 310 .

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

In an embodiment, the reference coordinates for calculating 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. A specific position along the y-axis of the first reference plane may be set as necessary. For example, the first reference plane is a symmetrical plane along the lateral direction of the inspection 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 track in the inspection groove 300 . It is located at a midpoint perpendicular to the extension direction of (100). The second reference plane is a plane parallel to the plane formed by the x-axis and the y-axis. The second direction is a direction parallel to the z-axis. A specific position along the z-axis of the second reference plane may be set as necessary. For example, if it is assumed that the walking surface of the inspection robot 400 is parallel to the plane by the x-axis and the y-axis, the second reference plane may be the walking surface of the inspection robot 400 . The third reference plane is a plane parallel to the plane formed by the y-axis and the z-axis. The third direction is a direction parallel to the x-axis. A specific position along the x-axis of the third reference plane may be set as necessary. For example, the third reference plane may be located at a starting position of the inspection groove 300 along the extension direction of the track 100 .

The pose offset of the inspection robot 400 with respect to the reference coordinates may include an offset in the first direction with respect to the first reference plane of the inspection robot 400 and an offset in the second direction with respect to the second reference plane. , an offset along the third direction with respect to the third reference plane, and a rotation angle about the first direction, a rotation angle about the second direction, and a rotation angle about the third direction. can, but is not limited thereto.

In this embodiment, after detecting the distance information of the inspection robot 400 with respect to the reference reference 310 by combining the reference reference 310 and the pose detection device 320, the processing device 330 The detection of the pose of the inspection robot 400 is implemented through . The reference reference 310 provides a stable and accurate reference reference for distance detection, thereby improving the accuracy of the pose detection and subsequently improving the positioning accuracy of the inspection robot 400 .

Based on the above-described embodiment, referring to FIGS. 12 and 13 , in an embodiment, the reference coordinate includes the first reference plane and the first direction. The reference reference 310 includes a reference mark 311 . The reference mark 311 is closely adhered to one side of the track 100 close to the walking of the inspection robot 400 along the extension direction of the track 100 .

14 , the pose detecting device 320 includes a first distance detecting device 321 . The first distance detecting device 321 includes, but is not limited to, a laser range finder. The first distance detecting device 321 is disposed at a first position on one side of the vehicle body 411 of the inspection robot 400 close to the reference target 311 . The first position may be set as needed. The first distance detection device 321 is configured to obtain a first detection distance by detecting the distance information of the first position along the first direction with respect to the reference target chuck 311 . The first distance detecting device 321 is communicatively connected to the processing device 330 . The first distance detection device 321 transmits the detected first detection distance to the processing device 330 .

The processing device 330 calculates a pose offset of the first position along the first direction with respect to the first reference plane according to the first detection distance. The processing device 330 may calculate the pose offset of the first position along the first direction with respect to the first reference plane in various ways. In one embodiment, the processing device 330 obtains the first detection distance and obtains the distance information of the reference target 311 along the first direction with respect to the first reference plane, to the first reference plane By calculating the distance information of the inspection robot 400 along the first direction, the first distance information is obtained. The processing device 330 also obtains the first record information of the inspection robot 400, and according to the first record information and the first distance information, along the first direction with respect to the first reference plane. A pose offset of the inspection robot 400 is calculated. Here, the first record information may be acquired by a position collecting module such as an encoder of the vehicle body 411 of the inspection robot 400 .

In this embodiment, using the distance information of the inspection robot 400 to the reference target 311 detected by the first distance detection device 321, the first reference plane to the processing device 330 , calculate the pose offset of the inspection robot 400 along the first direction. By detecting the offset along the y-axis of the inspection robot 400, this embodiment provides a basis for subsequent positioning and correction in the y-axis direction, resulting in unevenness of the walking surface, wheel wear, navigation system deviation, etc. By eliminating the y-axis deviation of the inspection robot 400 caused by the inspection, accurate positioning in inspection is realized.

In an embodiment, the reference coordinate includes the second reference plane and the second direction. The reference reference 310 further includes a reference inclined surface 312 . The reference inclined surface 312 is disposed along the extension direction of the track 311 at one end of the reference target 311 separated from the walking surface of the inspection robot 400 . That is, the reference inclined surface 312 is disposed above the reference mark 311 . The reference inclined surface 312 is inclined with respect to the reference target 311 . The included angle between the reference inclined surface 312 and the reference target 311 may be set as necessary. In a specific embodiment, the included angle between the reference inclined surface 312 and the reference mark 311 is 45°.

The pose detecting device 320 further includes a second distance detecting device 322 . The second distance detecting device 322 is disposed at a second position of the vehicle body 411 of the inspection robot 400 . The second position and the first position are located on the same surface of the vehicle body 411 of the inspection robot 400 . That is, the second position is also disposed on one side of the vehicle body 411 close to the reference mark. The second distance detecting device 322 at the second position includes, but is not limited to, a laser range finder. The second distance detecting device 322 is configured to detect the distance information of the second position along the first direction with respect to the reference inclined surface 312 to obtain a second detecting distance. The specific setting of the second position is such that the second distance detecting device 322 can detect the distance information of the second position along the first direction with respect to the reference inclined surface 312, the reference inclined surface. It can be adjusted and selected according to the arrangement position of the 312 . For example, the second position is located above the first position, and the second position is located higher than the lowest point of the reference inclined surface 312 , so that the second distance detecting device 322 is the reference inclined surface. To be able to detect the distance information of the second location to the.

The second distance detecting device 322 is communicatively connected to the processing device 330 . The processing device 330 calculates the pose offset of the inspection robot 400 along the second direction with respect to the second reference plane according to the first detection distance and the second detection distance.

For example, when the included angle between the reference inclined surface 312 and the reference target 311 is 45°, the first detection distance is y1 and the second detection distance is y2. When there is no offset of the inspection robot 400 along the second direction with respect to the second reference plane, assuming that the second detection distance y2 = y1, the difference between the first detection distance and the second detection distance y1-y2 is a pose offset of the inspection robot 400 along the z-axis direction with respect to the second reference plane.

The inspection pose detection system 30 according to this embodiment realizes the detection of the second detection distance through the second distance detection device 322 and the reference inclined surface 312, and the second reference surface A pose offset of the inspection robot 400 along the second direction is calculated. The system according to this embodiment is simple and effective, and since it is possible to accurately detect and calculate the offset along the z-axis direction of the inspection robot 400, the inspection robot 400 due to wheel wear, unevenness of the walking surface, etc. error in the z-axis direction can be removed.

In an embodiment, the first position and the second position are located on a straight line perpendicular to the second reference plane. That is, the first position and the second position are arranged on a straight line parallel to the second direction, so that the difference in position between the first position and the second position along the third direction becomes 0, so that y When calculating the pose offset in the axial direction, the accuracy of detection and calculation of the pose offset in the z-axis direction is improved by excluding the influence of the vehicle body tilt of the inspection robot 400 .

In an embodiment, the reference coordinate includes the second direction. The pose detecting device 320 further includes a third distance detecting device 323 . The third distance detecting device 323 is disposed at a third position of the inspection robot. The third distance detecting device 323 includes, but is not limited to, a laser range finder. The third distance detecting device 323 is configured to detect the distance information of the third position along the first direction with respect to the reference target 311 to obtain the third detecting distance. The third location is on the same plane as the first location and the second location. The third position and the first position are respectively disposed at different positions along the extension direction of the orbit 100 . That is, the third position and the first position have different coordinate values in the third coordinate axis. The first position and the third position are disposed at the front and rear sides of the vehicle body 411 of the inspection robot 400 .

The third distance detecting device 323 is communicatively connected to the processing device 330 . The processing device 330 calculates the rotation angle of the inspection robot 400 about the second direction according to the first detection distance and the third detection distance. The rotation angle of the inspection robot 400 with respect to the second direction is the inclination angle of the vehicle body 411 of the inspection robot 400 .

15, if the first detection distance is y1, the third detection distance is y3, and the distance between the first position and the third position is d, the frequency of ∠1 according to d, y3-y1, That is, the rotation angle of the inspection robot 400 with respect to the second direction may be calculated.

In this embodiment, the third detection distance is detected through the third distance detection device 323, and the inspection robot 400 is centered in the second direction according to the first detection distance and the third detection distance. ), the inclination of the vehicle body of the inspection robot 400 due to unevenness of the walking surface, wheel wear, wheel slip, etc. is removed, thereby improving the accuracy of positioning.

12 , in an embodiment, the reference coordinate includes the third reference plane and the third direction. The reference reference 310 includes the reference mark 311 . The reference mark 311 includes scale information. The pose detection device 320 further includes a recognition device 324 . The recognition device recognizes the scale information of the reference target, and acquires the position information of the inspection robot along the third direction with respect to the third reference plane. That is, the recognition device 324 recognizes the scale information of the reference target 311, and obtains the position information of the inspection robot 400 according to the walking direction, thereby determining the third direction with respect to the third reference plane. Accordingly, the position information of the inspection robot 400 is acquired. The system according to the present embodiment can also detect the deviation between the actual walking position and the target position in the third direction of the inspection robot 400 due to wheel slip, deviation of the navigation system, etc. By improving the positioning accuracy, the quality and efficiency of inspection work can be improved.

The display form of the scale information on the reference mark 311 and the specific structure of the recognition device 324 are not limited as long as they can be combined to obtain position information. In one embodiment, the reference scale 311 is a two-dimensional code band. The two-dimensional code band includes y-axis information and x-axis information. The recognition device 324 is an image collecting device. The image collection device may include, but is not limited to, a webcam. The image collecting device is disposed on the vehicle body 411 of the inspection robot 400, and collects information of the two-dimensional code band to obtain image information. The pose detecting device 320 further includes a first processing mechanism 325 . The first processing mechanism 325 is communicatively connected to the image collection device. The first processing mechanism 325 acquires the image information, and according to the image information, the position information of the inspection robot 400 along the first direction with respect to the first reference plane, and the third reference plane. The location information of the inspection robot 400 along the third direction is acquired. That is, the first processing mechanism 325 acquires the current position of the inspection robot 400 in the y-axis direction and the x-axis position according to the information of the two-dimensional code band acquired by the image collection device 324 . do. It will be understood that when information is acquired through the two-dimensional code band and the image collecting device, the first distance detecting device 321 may not be disposed.

In this embodiment, by detecting the position along the x-axis direction and the y-axis direction of the inspection robot 400 through the combination of the two-dimensional code band and the image collection device, the x-axis of the inspection robot 400 Since the pose offset in the direction and the y-axis direction can be obtained, the detection method is simple and accurate.

In one embodiment, the reference mark 311 is a two-dimensional code band or barcode band. The recognition device 324 is a code reader. The code reader recognizes the information of the two-dimensional code band or the barcode band. The barcode band includes x-axis information. The pose detecting device 320 is communicatively connected to the second processing mechanism 326 . The second processing mechanism 326 is communicatively coupled to the code reader. The second processing mechanism 326 acquires the position information of the inspection robot 400 along the third direction with respect to the third reference plane according to the information of the two-dimensional code band or the barcode band. That is, by reading the x-axis information of the two-dimensional code band or the barcode band through the code reader, the current position information in the x-axis direction of the inspection robot 400 is acquired.

In this embodiment, by realizing the detection along the x-axis direction of the inspection robot 400 through the combination of the two-dimensional code band or the barcode band and the code reader, the inspection robot 400 in the x-axis direction of pose offset can be obtained, so the detection method is simple and accurate.

In one embodiment, the pose detecting device 320 further includes a fourth distance detecting device (327). The fourth distance detecting device 327 is disposed above the inspection robot 400 . The fourth distance detecting device 327 includes, but is not limited to, a laser range finder. The fourth distance detecting device 327 is configured to obtain the fourth detecting distance by detecting distance information of the vehicle bottom to be detected with respect to the fourth distance detecting device 327 . The fourth distance detecting device 327 is communicatively connected to the processing device 330 . The processing device 330 calculates the pose offset of the detection target vehicle according to the fourth detection distance.

The fourth detection distance is information on the height of the bottom of the vehicle to be detected. The fourth distance detecting device 327 continuously moves within the inspection groove 300 to collect the height information curve of the bottom of the vehicle to be detected. In addition, the inspection robot 400 recognizes the information of the reference target 311 through the recognition device 324 while moving to obtain position information in the x-axis direction corresponding to the height information, and the detection target vehicle It is also possible to obtain information about the height-length curve of the bottom. The processing device 330 calculates the pose offset of the detection target vehicle according to the height-length curve information. The pose offset of the detection target vehicle includes a pose offset of the detection target vehicle along the second direction with respect to the second reference plane, and a pose offset of the detection target vehicle along the third direction with respect to the third reference plane may include, that is, an offset in the z-axis direction and an offset in the x-axis direction of the detection target vehicle, but is not limited thereto. The calculation and processing of the processing device 330 may refer to an embodiment of the method described below.

In this embodiment, by realizing the detection of the pose offset of the detection target vehicle through the fourth distance detecting device 327, the stopping deviation in the x-axis direction of the detection target vehicle due to a navigation error or the like, and the It is possible to increase the accuracy of positioning by removing the posture deviation in the z-axis direction due to the wheel wear of the vehicle to be detected.

Referring to FIG. 16 , in the method for detecting a tracked traffic locomotive vehicle inspection pose according to an embodiment of the present application, the pose detection may be performed using the inspection pose detection system 30 as described above. The execution subject of the method is a computer equipment. The computer equipment may be the processing device 330 of the tracked transportation locomotive vehicle inspection pose detection system 30, or the control device 600, or may include a memory and a processor and process a computer program. It may be any other computer facility available.

The method includes the following steps.

Step S10: obtain a vehicle pose offset by obtaining a pose offset of the detection target vehicle with respect to the reference coordinates.

Step S20: A robot pose offset is obtained by obtaining a pose offset of the inspection robot 400 with respect to the reference coordinates.

Step S30: Obtain a tracked transportation locomotive vehicle inspection work pose offset according to the vehicle pose offset and the robot pose offset.

The definition of the reference coordinates is the same as described in the above embodiment. The pose offset of the detection target vehicle with respect to the reference coordinates is the fourth distance detection device 327 and the processing device 330 , the recognition device 324 , the first processing mechanism 325 and the It can be obtained through detection of the second processing mechanism 326 . The pose offset of the inspection robot 400 with respect to the reference coordinates is the first distance detecting device 321, the second distance detecting device 322 and/or the third distance detecting device 323 as described above. , can be obtained through detection of the processing device 330 , the recognition device 324 , the first processing mechanism 325 , and the second processing mechanism 326 . Here, the vehicle pose offset may be obtained after the detection target vehicle is stopped in place and stored in the memory of the computer equipment. The robot pose offset is acquired in real time during the inspection operation of the inspection robot 400 .

After acquiring the vehicle pose offset and the robot pose offset, respectively, the computer equipment calculates and processes the vehicle pose offset and the robot pose offset according to a preset method, so that the total position offset during the inspection work process; That is, the tracked transportation locomotive vehicle inspection work pose offset is obtained. The calculation method includes, but is not limited to, summing pose offsets and other correlation quantities in the same coordinate axis or summing weights. A specific calculation method may be set as needed.

The tracked traffic locomotive vehicle inspection work pose offset is transmitted to the controller 600 . The control device 600 corrects and adjusts the walking direction of the inspection robot 400 in real time according to the pose offset, so that accurate positioning and accurate detection of the detection target vehicle are performed.

In this embodiment, the vehicle pose offset and the robot pose offset are obtained, and the pose offset during the inspection operation of the orbital locomotive vehicle is obtained according to the vehicle pose offset and the robot pose offset. The method according to this embodiment removes the positioning error in various ways by considering not only the pose deviation of the inspection robot 400 during the inspection work of the tracked transportation locomotive vehicle, but also the pose deviation of the vehicle to be detected. Improves the inspection effect by increasing the positioning accuracy.

In an embodiment, the reference coordinate includes a first reference plane and a first direction, and step S20 includes the following steps.

Step S210: Obtaining first distance information by obtaining distance information of a first position of the inspection robot 400 in the first direction with respect to the first reference plane.

The first distance information may be obtained as follows, but is not limited thereto. The first detection distance is obtained by detecting the distance between the first position and the reference target chuck 311 with the first distance detection device 321 in the above-described embodiment. Then, the first distance information is calculated according to the distance of the reference target 311 along the first direction with respect to the first reference plane, and the first detection distance. Of course, the first reference plane may be set as the reference target, and in this case, the first distance information is the first detection distance.

The first distance information represents actual distance information of a first position of the inspection robot 400 along the first direction with respect to the first reference plane. Continuing with the above-described embodiment, the first distance is distance information of the first position of the inspection robot 400 along the y-axis with respect to the first reference plane.

Step S220: Acquire recording information of the first position along the first direction with respect to the first reference plane to obtain first recording information.

The first record information indicates an ideal position or a target position of the first position of the inspection robot 400 along the first direction with respect to the first reference plane. The first record information may be acquired through a navigation module such as an encoder of the inspection robot 400 .

Step S230: A pose offset of the first position along the first direction with respect to the first reference plane is calculated according to the first distance information and the first recording information. The calculation method includes, but is not limited to, subtraction for both or subtraction by adding a proportional coefficient.

In this embodiment, the inspection robot 400 obtains the first distance information and the first record information, and follows the first direction with respect to the first reference plane according to the first distance information and the first record information. ) of the first position, that is, the pose offset of the inspection robot 400 along the x-axis is obtained.

Referring to FIG. 18 , in an embodiment, the reference coordinate includes the second reference plane and the second direction, and step S20 includes the following steps.

Step S240: Obtaining second distance information by obtaining distance information of the second position of the inspection robot 400 along the first direction with respect to the reference inclined surface. Here, the reference inclined surface is inclined with respect to the second reference surface, and the first position and the second position are located on the same surface of the inspection robot 400 . The first position and the second position are located on a straight line perpendicular to the second reference plane.

Step S250: A pose offset of the inspection robot 400 along the second direction with respect to the second reference plane is obtained according to the first distance information and the second distance information.

The acquisition of the second distance information and the calculation and acquisition of the pose offset of the inspection robot 400 along the second direction with respect to the second reference plane are the same as those shown in the above-described embodiment and FIG. 14 . A description thereof will be omitted.

Referring to FIG. 19 , in an embodiment, the reference coordinate includes the second direction. Step S20 includes the following steps.

Step S260: Obtain third distance information by obtaining distance information of a third position of the inspection robot 400 in the first direction with respect to the first reference plane. Here, the third position and the first position are located on the same surface of the inspection robot 400 , and the first position and the third position are respectively the inspection robot along the extension direction of the track 100 . 400 are placed at different locations.

Step S270: A rotation angle of the inspection robot 400 about the second direction is calculated according to 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 inspection robot 400 about the second direction are the same as those shown in the above-described embodiment and FIG. 15 . A description thereof will be omitted.

Referring to FIG. 20 , in an embodiment, the reference coordinates include the second reference plane, the third reference plane, the second direction, and the third direction. Step S10 includes the following steps.

Step S110: Acquire distance information of each location along the third direction of the detection target vehicle bottom along the second direction with respect to the second reference plane, and the detection along the third direction with respect to the third reference plane By acquiring distance information of the bottom of the target vehicle, information on the height-length curve of the bottom of the vehicle is acquired.

Step S120: Acquire the standard height-length curve information of the bottom of the vehicle to be detected.

Step S130: according to the height-length curve information of the vehicle bottom and the standard height-length curve information, the posture offset of the detection target vehicle along the second direction with respect to the second reference plane, and the detection target vehicle A posture offset along the third direction is obtained.

The height-length curve information indicates a position on the x-axis when the vehicle to be detected is stopped at an actual stopping position, a position on the z-axis of each part at the bottom of the vehicle, and a positional correspondence between the z-axis and the x-axis. The standard height-length curve information includes the position on the x-axis when the vehicle to be detected is stopped at the exact target stop position, the position on the z-axis of each part at the bottom of the vehicle, and the positional correspondence between the z-axis and the x-axis. indicates.

Referring to FIG. 21 , the inspection robot 400 is equipped with the fourth distance detection device and moves along the bottom of the detection target vehicle to obtain height information of the bottom of the detection target vehicle, and at the same time, the recognition device 324 By recognizing the information of the reference target 311 through to obtain the position information of each position of the bottom of the detection target vehicle along the third direction with respect to the third reference plane. Accordingly, the height-length curve information is obtained.

By comparing the height-length curve information of the vehicle bottom and the standard height-length curve information, the deviation along the z-axis and the stopping deviation along the x-axis of the vehicle to be detected can be quickly obtained.

For example, according to a comparison between FIGS. a and b in FIG. 21 , it can be seen that the z-axis deviation is z1a-z1b, and the x-axis deviation is x1a-0 = x1a.

The method according to this embodiment, by obtaining the height-length curve information and the standard height-length curve information of the bottom of the detection target vehicle, the detection target vehicle posture deviation along the z-axis and the stopping deviation along the x-axis quickly and can be obtained accurately.

In one embodiment, step S130 includes the following steps.

Step S131: According to the height-length curve information of the vehicle bottom, distance information of the wheelset position of the detection target vehicle along the first direction with respect to the first reference plane is obtained to obtain wheelset position information.

Step S132: According to the standard height-length curve information, the standard distance information of the wheelset position of the detection target vehicle along the first direction with respect to the first reference plane is obtained, and the standard wheelset position information is obtained.

Step S133: According to the wheelset position information and the standard wheelset position information, the posture offset of the detection target vehicle along the second direction with respect to the second reference plane, and the third direction with respect to the third reference plane Obtain the posture offset of the vehicle to be detected.

Referring back to FIG. 21 , according to FIG. a, the actual stopping position of the wheelset is the x1a point on the x-axis, and the height is z2a. According to FIG. b, the ideal stopping position of the wheelset is the x2b point on the x-axis, and the height is z2b. Therefore, it can be seen that the offset along the z-axis of the detection target vehicle is z2a-z2b, and the offset along the x-axis of the detection target vehicle is x2a-x2b.

In this embodiment, by recognizing the position of the wheelset, the posture offset of the detection target vehicle along the second direction with respect to the second reference plane, and the detection target vehicle along the third direction with respect to the third reference plane The posture offset can be acquired quickly and accurately, improving the calculation speed of the posture offset.

In one embodiment, the control device 600 of the track transportation locomotive vehicle inspection device 10 is communicatively connected to the processing device 330 . The pose offset of the inspection robot 400 with respect to the reference coordinates calculated by the processing device 330, the pose offset of the detection target vehicle with respect to the reference coordinates, and/or the posture offset of the tracked transportation locomotive vehicle inspection operation is It is transmitted to the control device (600). The control device 600 controls the walking of the inspection robot 400 according to the offset to realize accurate positioning and accurate inspection.

Referring to FIG. 22 , an embodiment of the present application provides an inspection system 1 for a tracked transportation locomotive. The tracked transportation locomotive vehicle inspection system 1 includes the tracked transportation locomotive vehicle inspection device 10 and the scheduling device 20 as described above. Here, the number of the inspection robot 400 is at least two. The scheduling device 20 is communicatively connected to the inspection robot 400 . The scheduling device 20 schedules the inspection robot 400 .

The tracked transportation locomotive vehicle inspection system 1 includes a plurality of the inspection robots 400 . The control device 600 of each of the track transport locomotive vehicle devices 10 may be separately disposed to control the corresponding inspection robot 400 , or a plurality of the inspection devices with one control device 600 . You can control the robot.

Similarly, the scheduling device 20 may be a separately arranged device, or may be a module of the control device 600 . The scheduling device 20 creates a work sequence and a walking path of each of the inspection robots 400 according to the inspection task request and the state of the inspection robot 400 . The scheduling device 20 may also control the lifting and lowering of the lifting equipment 501 according to the work needs and work conditions of the inspection robot 400 . Also, the scheduling apparatus 20 may control the operation of the inspection auxiliary apparatus 900 according to the operation needs and operation state of the inspection robot 400 .

In this embodiment, by controlling the tasks of the plurality of inspection robots 400 through the scheduling device 20, the plurality of inspection robots 400 can simultaneously perform inspection tasks, thereby greatly increasing the inspection task time. shortened to improve inspection work efficiency.

The scheduling device 20 controls the plurality of inspection robots 400 in various ways, and in one embodiment, each of the inspection robots 400 is provided with a plurality of different detection devices 430 as needed. can be The scheduling device 20 controls each inspection robot 400 to complete a plurality of detection items for one detection target vehicle. That is, the scheduling device 20 controls each inspection robot 400 to complete all detection items necessary for one detection target vehicle. The plurality of inspection robots 400 simultaneously complete the detection of the plurality of detection target vehicles. In this embodiment, the inspection robot 400 does not need to cross the track to perform detection, thereby saving the walking time of the inspection robot 400 and improving detection efficiency.

In another embodiment, the plurality of inspection robots 400 are respectively provided with different detection devices 430 . The scheduling device 20 controls each inspection robot 400 to complete one detection item for the plurality of detection target vehicles. That is, the plurality of inspection robots 400 are equipped with different detection devices 430 to perform different detection items. A plurality of the inspection robots 400 perform inspection tasks at the same time, and each inspection robot 400 crosses the track and completes the detection of the plurality of detection target vehicles, thereby detecting the plurality of detection target vehicles complete at the same time In this embodiment, since each inspection robot 400 does not need to replace the detection device 430, the inspection robot 400 saves time and resources for replacing the detection device 430, and Improve inspection efficiency.

Hereinafter, the working process of the tracked transportation locomotive vehicle inspection device 10 and the tracked transportation locomotive vehicle inspection system 1 will be described with reference to an embodiment.

Referring to FIG. 23 , the tracked transportation locomotive vehicle inspection system 1 includes a total of six inspection robots 400 of M5(1) to M5(6) respectively stopped at positions P001 to P006. The tracked transportation locomotive vehicle inspection system 1 further includes a total of two inspection auxiliary devices 900 of M6(1) and M6(2) respectively stopped at positions P007 and P008. In the figure, Pxxx denotes a position. J1 to J6 indicated by dotted lines indicate several cars of the vehicle to be detected. M7 ( 1 ) and M7 ( 2 ) denote the lifting device 501 . Assuming that the elevating facility 501 is communicatively connected with the scheduling device 20 , the lifting operation of the elevating facility 501 is controlled by the scheduling device 20 .

Hereinafter, positions P001 to P186 in the drawings will be described.

P001 to P006: Standby positions of the inspection robots M5(1) to M5(6) provided on the L side of the detection target vehicle.

P007 to P008: Standby positions of the inspection auxiliary devices M6(1) to M6(2) provided on the L side of the detection target vehicle.

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

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

P114 to P119, P121 to P126: Normal L-side detection stopping points corresponding to each vehicle of the vehicle to be detected.

P150: It is an intermediate reference point in the said inspection groove 300.

P140, P160: Reference points at both ends in the inspection groove 300 .

P144 to P149, P151 to P156: These are the detection and stop points of the normal vehicle bottom inspection grooves corresponding to the respective tracks of the vehicle to be detected.

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

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

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

In one embodiment, the tracked transportation locomotive vehicle inspection system 1 includes one inspection robot 400, and the inspection operation process is as follows.

Step S101: Self-inspection of each work module of the track transportation locomotive vehicle inspection device 10 is normal, and the function of each part is ready.

Step S102: The site work condition detecting device 700 acquires the work condition parameters of the inspection site.

Specifically, the pooling detection mechanism 710 detects whether there is an intrusion into the inspection site, the state of liquid accumulation in the inspection groove 300 , and the intrusion detection assembly 730 . If there is an abnormality, the on-site work condition detecting device 700 or the control device 600 sends an alert.

At the same time, the detection target vehicle position detection assembly 720 detects whether the detection target vehicle is stopped in place. If the detection target vehicle is stopped in place, an enable signal may be started.

Step S103: The control device 600 checks whether a starting operation is possible according to the detection situation of the field work condition detection device 700, and if possible, transmits a starting signal.

Step S104: The scheduling device 20 acquires information of the inspection robot 400 that is activated and on standby, assigns an inspection task to the inspection robot M5(1), and sends a job control command. It is assumed that the inspection task is to complete a specific inspection item at position P150 in the drawing.

Step S105: The inspection robot M5(1) is executed in the following four steps.

1) The scheduling device 20 controls the inspection robot M5(1) to walk from P001 to P120, and when preparation is completed, the inspection robot M5(1) feeds back a state to the scheduling device 20.

2) The scheduling device 20 sends a “lower” command to the elevating device M7(1), and the elevating device M7(1) performs a lowering operation, and after being positioned in place, the scheduling device 20 Feedback.

3) The scheduling device 20 sends a "P120->P150" command to the inspection robot M5(1), and when the inspection robot M5(1) arrives at P150, it enters the inspection groove 300 and The status is fed back to the scheduling device 20 .

4) The scheduling device 20 sends a "lift" command to the elevator M7(1), and the elevator M7(1) performs a lift operation.

Step S106: The control device 600 sends a "positioning and detecting for the detection target vehicle" command to the inspection robot M5(1), and the inspection robot M5(1) sends a "J4 -> J5 -> By walking along the direction of J6 -> J3 -> J2 -> J1" and measuring, the stopping deviation ΔX of the vehicle to be detected and the height deviation ΔYn of the parts are obtained.

Step S107: the control device 600 sends a "detection of the vehicle bottom of the vehicle to be detected" to the inspection robot M5(1), and the inspection robot M5(1) sends a "P140->P150->P160" Walk along the direction to detect the vehicle bottom item of the vehicle to be detected.

Step S108: The detection work for the vehicle bottom item of the detection target vehicle is performed according to the following steps.

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

2) The detection device 430 mounted on the distal end of the mechanical arm 420 starts the operation, collects information related to the detection item and transmits it to the control device 600 .

3) The control device 600 checks whether there is a failure by processing the related information.

4) The inspection robot M5(1) walks to the next inspection stop position and repeats steps 1) to 3) until the detection operation corresponding to the positions required for all detection of P140 to P160 is completed.

Step S109: The inspection robot M5(1) returns to P150 after completing the detection operation on the bottom of the vehicle to be detected, and feeds back the state to the control device 600 .

Step S110: Assuming that the inspection robot M5(1) is currently at the P150 position, the control device 600 transmits a command “Perform the detection of a specific item at the P110 position” to the inspection robot M5(1), as follows The same steps are followed.

1) The scheduling device 20 sends a “lower” command to the hoisting device M7(1), and the hoisting device M7(1) performs a descent operation, and after being positioned in place, the scheduling device 20 Feedback.

2) The scheduling device 20 sends a "P150->P120" command to the inspection robot M5(1), and when the inspection robot M5(1) arrives at P120, it is out of the inspection groove 300 and the state is fed back to the control device 600 .

3) The control device 600 sends a “lift” command to the elevator device M7(1), and the elevator device M7(1) performs a lift operation, and after being positioned in place, feedback to the scheduling device 20 do.

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

Step S111: The inspection robot M5(1) performs a detection operation on the L side of the vehicle to be detected in P110 to P130, and since the process is similar to step S108, a detailed description thereof will be omitted. The inspection robot M5(1) reaches P130 after completing the detection.

Step S112: The scheduling device 20 sends a "P130->P170 job execution" command to the inspection robot M5(1), which is performed according to the following steps.

1) The scheduling device 20 controls the inspection robot M5(1) to walk from P130 to P120. After being positioned in place, the inspection robot M5 ( 1 ) feeds back the status to the scheduling device ( 20 ).

2) The scheduling device 20 sends a "lower" command to the lifting devices M7(1) and M7(2), and the lifting devices M7(1) and M7(2) perform a lowering operation, and After being located in , it feeds back to the scheduling device 20 .

3) The scheduling device 20 sends a “P120->P180” command to the inspection robot M5(1), and when the inspection robot M5(1) arrives at P180, it moves out of the home and changes the status to the scheduling device ( 20) to give feedback.

4) The scheduling device 20 sends a "lift" command to the hoisting equipment M7(1) and the hoisting equipment M7(2), and the hoisting equipment M7(1) and the hoisting equipment M7(2) are raised perform the action After being positioned, the elevator device M7 ( 1 ) and the elevator device M7 ( 2 ) feed back information to the scheduling device ( 20 ).

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

Step S113: The inspection robot M5(1) performs a detection operation on the vehicle R side between P170 and P190, and since the process is similar to step S108, a detailed description thereof will be omitted.

Step S114: During the inspection and detection operation, or after completion of the inspection and detection operation, the detection device 430 transmits the collected information to the control device 600 for processing. The control device 600 feeds back failure information to the person in charge of maintenance through the client. Check the defective part and suggest to the person in charge of inspection and repair to carry out inspection and repair. If it cannot be confirmed, it can be checked again by performing retesting. The retesting process is similar to the process described above.

Step S115: After the manual inspection and repair is completed, the scheduling device 20 controls the inspection robot M5(1) to walk to the position where the inspection and repair is performed, and the control unit 600 controls the inspection robot M5(1). Control 1) to collect and record information about the items to be inspected after inspection and repair.

When the tracked transportation locomotive vehicle inspection system 1 includes one inspection robot 400 , the walking path control and inspection operation control of the inspection robot 400 are to be controlled by the control device 600 . you will understand that you can The lifting control of the lifting equipment 501 may also be controlled by the control device 600 .

In another embodiment, the scheduling device 20 schedules the three inspection robots 400 to simultaneously perform inspection tasks, and the inspection task process is as follows.

Step S201: Inspection before inspection and acquisition of work includes the following steps.

Step S2011: Self-inspection of each work module of the tracked transportation locomotive vehicle inspection system 1 is normal, and the function of each part is ready.

Step S2012: The site work condition detecting device 700 acquires the work condition parameters of the inspection site. Specifically, it is the same as step S102.

Step S2013: The control device 600 checks whether a starting operation is possible according to the detection situation of the field work condition detection device 700, and if possible, transmits a starting signal.

Step S2014: The scheduling device 20 acquires information of the inspection robot 400 that is activated and on standby, and assigns inspection tasks to the inspection robots M5(1), M5(2) and M5(3), and performs a task Send control commands. The assignment of the inspection task is performed when the inspection robot M5(1) completes the first inspection item at the position P150 in the drawing; the inspection robot M5(2) completes the second inspection item at the position P110 in the drawing; It is assumed that the inspection robot M5(3) completes the third inspection item at the position P170 in the drawing.

Step S2015: The inspection robots M5(1), M5(2) and M5(3) walk to positions P150, P110, and P170, respectively, according to commands from the scheduling device 20 and the control device 600 .

Step S2016: The control device 600 sends a "positioning and detecting for the detection target vehicle" command to the inspection robot M5(1), M5(2) or M5(3), and the inspection robot M5( 1), M5(2), or M5(3) is measured by walking along the direction of "J4 -> J5 -> J6 -> J3 -> J2 -> J1", so that the vehicle stop deviation ΔX and parts Obtain a height deviation of ΔYn.

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

Step S203: The control device 600 sends a "detection of the vehicle bottom for the detection target vehicle" command to the inspection robot M5(1), and the inspection robot M5(1) sends a "P140->P150->P160" Walk along the direction of the vehicle to detect the bottom of the vehicle.

Step S204: The control device 600 sends a "L side detection for the detection target vehicle" command to the inspection robot M5(2), and the inspection robot M5(2) sends a "P110->P120->P130" Walk along the direction of the vehicle and detect the L side of the vehicle.

Step S205: The control device 600 sends a "detection R-side for the vehicle to be detected" command to the inspection robot M5(3), and the inspection robot M5(3) sends a "P170->P180->P190" Walk along the direction of and detect the R-side item of the vehicle.

Step S206 is the same as steps S114 to S115.

In an embodiment, the scheduling device 20 schedules the six inspection robots M5 to simultaneously perform the L-side inspection task on the detection target vehicle, and the process is as follows.

Step S211 is the same as step S201.

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

Step S213: The control device 600 sends a "L side-J1 detection of vehicle" command to the inspection robot M5(2), and the inspection robot M5(2) sends a "P114->P115 for the detection target vehicle" Walk along the direction of " and detect the L side-J1 item of the vehicle.

Step S214: The control device 600 sends a "L-side-J2 detection for the detection target vehicle" command to the inspection robot M5(3), and the inspection robot M5(3) of "P116->P117" Walk along the direction and detect the L side-J2 item of the vehicle.

Step S215: The control device 600 sends a "L-side-J3 detection for the detection target vehicle" command to the inspection robot M5(4), and the inspection robot M5(4) performs a "P118->P119" Walk along the direction and detect the L side-J3 item of the vehicle.

Step S216: The control device 600 sends a "L-side-J4 detection for the detection target vehicle" command to the inspection robot M5(1), and the inspection robot M5(1) performs the "P121->P122" Walk along the direction and detect the L side-J4 items of the vehicle.

Step S217: The control device 600 sends a "L side-J5 detection for the detection target vehicle" command to the inspection robot M5(5), and the inspection robot M5(5) of "P123 -> P124" Walk along the direction and detect the L side-J5 item of the vehicle.

Step S218: The control device 600 sends a "L-side-J6 detection for the detection target vehicle" command to the inspection robot M5(6), and the inspection robot M5(6) performs a "P125->P126" Walk along the direction and detect the L side-J6 item of the vehicle.

Step S219 is the same as steps S114 to S115.

In one embodiment, the inspection robots M5 ( 1 ) and M5 ( 2 ) are docked through the docking device 440 to perform a cooperative operation at positions P122 and P123 as follows.

Step S301: The inspection robot M5(1) reaches the detection point P123.

Step S302: The inspection robot M5(2) arrives at the detection point P122 and is mechanically connected to the M5(1) through the docking device 440.

Step S303: The inspection robots M5(1) and M5(2) perform cooperative work in a state in which their relative positions are stopped according to a process request.

Step S304: When the tasks of the inspection robots M5(1) and M5(2) are completed, the connection of the docking device 440 is released.

In one embodiment, the process of the auxiliary inspection device M6(1) performing the auxiliary operation for the inspection robot M5(1) is as follows.

Step S401: During the detection operation of step S108 described above (assuming that the stop position is P121), the inspection robot M5(1) controls the distal end of the mechanical arm 420 to go to a predetermined detection position. The detection device 430 starts the detection operation. After the collection and detection are completed, the detection device 430 is replaced to perform another detection.

Step S402: The scheduling device 20 sends a command “replace the detection device at the end of the mechanical arm at the position P121” to the inspection auxiliary device M6(1). The inspection assistance device M6(1) walks from P007 to P121 by performing the “P007->P121” operation. After arrival, it docks with the inspection robot M5(1) through the docking device 440 to realize a mechanical connection. After completion, the state is fed back to the control device 600 .

Step S403: The control device 600 sends a command to replace the detection device, and the inspection robot M5(1) sets the detection device at the end of the mechanical arm 420 to the tool of the inspection auxiliary device M6(1). Replace with the detection device on the stand (920). After completion, the inspection robot M5(1) is disconnected from the inspection assistance device M6(1), and the inspection assistance device M6(1) returns.

In one embodiment, the process of performing the auxiliary emergency rescue for the inspection robot M5(1) by the inspection assistance device M6(1) is as follows.

Step S501: The inspection robot M5(1) malfunctions at the position P121 during the inspection operation, so that the normal operation is impossible. After acquiring the abnormality information, the scheduling device 20 sends a "P121 location rescue" command to the inspection robot M6(1).

Step S502: The inspection robot M6(1) moves to P121 and docks with the inspection robot M5(1) in which a failure has occurred to realize mechanical and electrical connection.

Step S503: Diagnosis of the inspection robot M5(1) is performed using the inspection auxiliary device M6(1), and software recovery and rebooting are performed on the inspection robot M5(1) in case of a software failure. Then it is determined whether or not it is still in a fault state.

Step S504: If the software recovery fails, an electrical connection test for the inspection robot M5(1) is performed through the inspection auxiliary device M6(1), and in the case of an electrical failure, the walking unit for the inspection robot M5(1) Attempt to change the drive control mode. Allow the inspection robot M5(1) to walk on its own in the maintenance area.

Step S505: If the switching of the driving control mode of the inspection robot M5(1) fails, the inspection robot M5(1) is directly pushed to the maintenance area.

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

The above-described examples merely represent specific embodiments of the present application, and the description thereof is specific and detailed, but is not intended to limit the scope of the present application. A person skilled in the art can make various changes and modifications without departing from the spirit of the present invention, all of which fall within the scope of the present invention. Accordingly, the scope of the present application is determined by the appended claims.

Claims (17)

As a track traffic locomotive vehicle inspection device for detecting a vehicle to be detected,
The detection target vehicle is stopped on the track 100 , the track is disposed on the inspection platform 200 , and the inspection groove 300 corresponds to the inspection platform 200 along the extension direction of the track 100 . is formed by
The track traffic locomotive vehicle inspection device,
inspection robot 400;
A lifting equipment group (500) including at least one lifting equipment (501), wherein the lifting equipment (501) is disposed on a side surface of the track (100) in an extension direction, and the lifting equipment (501) is a structure capable of lifting and lowering Consisting of, the lifting equipment 501 can be docked with the inspection groove 300 by elevating and can be leveled with the surface of the inspection platform 200, the lifting equipment group 500; and
and a control device (600) connected to the inspection robot (400) in communication to control the operation of the inspection robot (400). According to claim 1,
The lifting equipment group 500 includes at least two of the lifting equipment 501,
At least two of the lifting equipment 501 are respectively disposed on both sides of the extending direction of the track 100 , and at least two of the lifting equipment 501 may be docked and communicated with the inspection groove 300 , and at least one Tracked transportation locomotive vehicle inspection device, characterized in that forming the passage of. 3. The method of claim 2,
the quantity of the track 100 is at least two sets, the quantity of the inspection grooves 300 is at least two, and the quantity of the lifting equipment group 500 is at least two sets;
each of the inspection grooves 300 is disposed corresponding to a set of the orbits 100;
a set of the lifting equipment group 500 is disposed corresponding to each set of the track 100;
A plurality of the lifting equipment 501 included in the at least two sets of the lifting equipment group 500 may be docked and communicated with the at least two inspection grooves 300 and form at least one cross track passage. Tracked transportation locomotive vehicle inspection device. According to claim 1,
The track 100, the inspection platform 200, and/or the inspection groove 300, the on-site work condition detection device 700 for communicating with the control device 600 to detect the working conditions of the inspection site. ) Tracked traffic locomotive vehicle inspection device, characterized in that it further comprises. 5. The method of claim 4,
The on-site operation condition detection device 700 includes at least one of a liquid pool detection mechanism 710, a vehicle position detection assembly 720 to be detected, and an intrusion detection assembly 730;
the liquid accumulation detection mechanism 710 is disposed in the inspection groove 300 and is connected to the control device 600 to detect the liquid accumulation condition in the inspection groove 300;
The detection target vehicle position detection assembly 720 is disposed on the track 100 and is connected to the control device 600 to detect whether the detection target vehicle is stopped in place;
The intrusion detection assembly 730 is disposed on the track 100, the inspection platform 200, and/or the inspection groove 300, and is connected to the control device 600 to prevent intrusion into the inspection site. Tracked transportation locomotive vehicle inspection device, characterized in that it detects whether there is. According to claim 1,
The inspection robot 400,
A working walking device (410) comprising a body (411) and wheels (412), wherein the wheels (412) are disposed at the bottom of the body (411) and the body (411) includes a receiving cavity (413) , task walking device 410; and
A mechanical arm 420 disposed on the vehicle body 411 and communicatively connected to the control device 600, which has a foldable structure and includes a mechanical arm 420 that can be accommodated in the accommodation cavity 413 Tracked transportation locomotive vehicle inspection device, characterized in that. 7. The method of claim 6,
The inspection robot 400,
Tracked traffic locomotive vehicle inspection device, which is disposed at the distal end of the mechanical arm (420) and further comprises a detection device (430) connected to the control device (600) in communication. 8. The method of claim 7,
The inspection robot 400,
and a docking device (440) disposed on the vehicle body (411) and configured to realize docking with other equipment. 7. The method of claim 6,
The inspection robot 400,
Tracked transportation locomotive vehicle inspection device, characterized in that it further comprises an auxiliary charging end (450) disposed on the vehicle body (411). 10. The method of claim 9,
Tracked traffic locomotive vehicle inspection, which is arranged on the track 100 and further comprises an auxiliary charging device 800 matching the auxiliary charging end 450 to supply power to the auxiliary charging end 450 Device. 9. The method of claim 8,
Further comprising a check auxiliary device (900),
The inspection assistance device 900 includes an auxiliary walking device 910 ; and a tool rest (920) disposed on the auxiliary walking device (910) and configured to mount a replacement detection device. 12. The method of claim 11,
The inspection auxiliary device 900,
Orbit characterized in that it further comprises a mechanical emergency device (941) disposed on the auxiliary walking device (910) and matching the structure of the docking device (440) to realize mechanical docking with the inspection robot (400). Transportation locomotive vehicle inspection device. 13. The method of claim 12,
the detecting device 430 is connected to the distal end of the mechanical arm 420 through a quick change device 431;
The quick change device 431 includes a mechanical arm side end 433 connected to the mechanical arm 420 and a tool side end 435 connected to the detection device 430, and the mechanical arm side end 433 and the insertion connection of the tool side end 435 can realize electrical connection and mechanical connection;
A replacement detecting device is disposed on the tool rest 920 of the inspection auxiliary device 900 , and one end of the replacement detecting device is connected to the tool side end 435 , and the tool side end 435 . is connected to the mechanical arm side end (433) to realize the connection between the replacement detecting device and the mechanical arm (420). According to claim 1,
a reference reference 310 disposed on one side of the orbit 100 along the extension direction of the orbit 100;
a pose detecting device 320 disposed in the inspection robot 400 and detecting distance information of the inspection robot 400 with respect to the reference reference 310; and
A processing device that is connected to communication with the pose detection device 320 and calculates a pose offset of the inspection robot 400 with respect to a reference coordinate according to distance information of the inspection robot 400 with respect to the reference reference 310 ( 330) Tracked traffic locomotive vehicle inspection device, characterized in that it further comprises. 15. The method of claim 14,
The processing device 330 and the control device 600 are communication-connected,
The control device 600 also controls the walking of the inspection robot 400 according to the pose offset of the inspection robot 400 with respect to the reference coordinates. As a tracked transportation locomotive vehicle inspection system,
Claims 1 to 15, wherein any one of the track traffic locomotive vehicle inspection device 100 according to any one of; and
and a scheduling device 20 connected in communication with the inspection robot 400 to schedule the inspection robot 400,
Tracked transportation locomotive vehicle inspection system, characterized in that the quantity of the inspection robot (400) is at least two. 17. The method of claim 16,
At least two of the inspection robot 400 is equipped with a different detection device 430, respectively,
The scheduling device 20 controls each of the inspection robots 400 to complete the detection items for the plurality of detection target vehicles one by one.

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