Intelligent robot dust removal system and method based on machine vision

Abstract

The invention discloses an intelligent robot dust removal system based on machine vision, which is used for removing dust at the bottom of a rail transit vehicle and comprises a dust removal trolley walking in a maintenance trench and air curtain devices on two sides. The dust removal trolley carries a front-end image acquisition mechanical arm which is provided with a linear array camera and a panoramic scanning unit and serves as an acquisition mechanism for shooting vehicle bottom images; a rear-end purging mechanical arm which carries a purging nozzle; a fixed nozzle used for sweeping the vehicle bottom in a large range; and a dust collection device used for synchronously collecting dust while blowing. According to the system, effective blowing and cleaning can be conducted on the vehicle bottom, dead corner and fixed-point blowing is conducted on the vehicle bottom structure, the cleaning effect is improved, a relatively closed space is formed in each blowing station, the good dust collection effect is achieved, dust diffusion generated in blowing operation is prevented, and the working environment in a blowing warehouse is improved. The intelligent robot is used for replacing traditional manual operation, the operation efficiency and quality can be effectively improved, and the manual labor intensity is reduced.

Description

technical field [0001] The invention belongs to the field of new urban rail transit, and in particular relates to an intelligent robot dust removal system and method based on machine vision. Background technique [0002] In the maintenance of rail transit vehicles, the blowing and dust removal at the bottom of the vehicle has always been the focus of vehicle maintenance. After the rail transit vehicle has been running for a long time, a large amount of dust, floating soil and other polluting dust will adhere to the bottom of the vehicle. If it is not cleaned up in time, it will cause vehicle operation failure (such as failure of electrical lines, sensors, control systems, etc.), affecting the safety of vehicle operation. At present, most rail transit vehicles use artificial auxiliary equipment for purging operations, which has problems such as harsh working environment, low work efficiency, and low degree of automation and intelligence of equipment. [0003] At present, the...

AI Technical Summary

Problems solved by technology

After a rail transit vehicle has been running for a long time, a large amount of dust, floating soil and other polluting dust will adhere to the bottom of the vehicle. If it is not cleaned up in time, it will cause vehicle operation failures (such as failures in electrical circuits, sensors, control systems, etc.), affecting the safety of vehicle operation

At present, most rail transit vehicles use manual auxiliary equipment for purging operations, which has problems such as harsh working environment, low work efficiency, and low degree of automation and intelligence of equipment.

[0003] At present, the widely used dust collectors mainly include: cyclone dust collector, bag filter, wet dust collector, electrostatic precipitator, etc., all of which cannot be directly applied to the dust removal at the bottom of the vehicle.

The commonly used vehicle bottom dust removal technology mainly sprays the bottom of the vehicle on a large scale. Due to the large number of dead spots in the bottom structure of the vehicle, the cleaning of the bottom of the vehicle is often not thorough

Moreover, due to the extremely irregular flight path of the dust generated during the vehicle purging process, in order to meet the limit requirements for vehicle traffic safety, it is difficult for the purging station to form a relatively closed space, which makes it difficult to collect the dust generated during the vehicle purging process. The working environment of warehouse sweeping is poor, and some dust even spreads outside the warehouse and affects the surrounding environment

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