Railway station hidden space steel structure disease automatic inspection method

Abstract

The invention belongs to the technical field of mechanical engineering robots, and particularly relates to a railway station hidden space steel structure disease automatic inspection method comprising the following steps: S1, route autonomous planning; s2, task inspection; s3, periodically and regularly inspecting; s4, accurately and automatically avoiding obstacles; s5, intelligently identifying problems; and S6, automatically analyzing the data. Aiming at the common problems of steel member corrosion, bolt looseness, weld joint cracking, water leakage of a metal roof and the like in a hidden space of a steel structure of a high-speed rail station house roof, the intelligent inspection robot needs to have high-precision detection and identification capabilities, and can inspect and inspect the high-speed rail station house roof in a narrow space with dense rod pieces, complex pipelines and a dark or dim light environment. And comprehensive and meticulous inspection is carried out on the steel structure. Roof leakage monitoring and response speed in extreme weather can be improved, all-weather unmanned intelligent inspection is realized, and labor cost and safety risk are reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical engineering robots, and particularly relates to an automatic inspection method for steel structure diseases in hidden spaces of railway passenger stations. Background Art

[0002] With the increase of the operation years of the steel structures in railway passenger stations, problems such as steel component corrosion, bolt loosening, weld cracking, and metal roof leakage have occurred successively, seriously affecting the safe operation of railways. At present, the visual inspection method mainly cannot conduct daily inspections on the steel structures in hidden spaces such as suspended ceilings. Due to reasons such as atmospheric corrosion, train wind vibration, and roof leakage, the diseases of corrosion and damage of the structural components in hidden spaces are relatively prominent. Some structural components are more likely to have problems such as corrosion and fracture due to their thin wall thickness, seriously threatening structural safety. The metal roof of the passenger station is prone to leakage in extreme weather such as heavy rain and typhoons, but the leakage points cannot be found in time and are not easy to locate, seriously affecting the waiting experience of passengers.

[0003] The steel structure in the hidden space of the passenger station mainly uses a space grid structure as the skeleton, with outer sealed roof panels and suspended ceiling panels, etc. To realize the inspection in the hidden space, the main technical focus lies in developing a robot carrier that can walk in the hidden space and the detection equipment mounted on the robot carrier, and conducting system integration.

[0004] However, when the robot walks and detects in the space grid, the following problems will be encountered: (1) The structural characteristics of the truss determine that the intersection of the web members and chord members forms a passage obstacle; (2) The truss is a non-closed space, which is a rod system structure connected together according to certain rules, and there is no obvious passable road. There are numerous nodes in the grid structure, the line of sight is seriously blocked, and the effective observation distance is short; (3) The lighting conditions inside the grid are poor, the scene is dim, and the reflectivity is extremely low, which increases the requirements for the camera's adaptability to light and also improves the difficulty of the supplementary lighting technology; (4) When shooting a relatively distant scene during the inspection process, due to the camera resolution and pixel problems, the video captured picture is blurred, which increases the difficulty of AI recognition; (5) In the grid space, there are numerous members and the environment is complex and intricate. How to ensure the comprehensive coverage of the inspection and the accuracy of positioning; (6) Due to the narrowness inside the grid structure, how to ensure the passability of the inspection robot. Due to the structural characteristics of the truss itself, it is still an urgent technical problem to realize the crawling and inspection of the robot inside the truss. Summary of the Invention

[0005] According to the above problems, the invention proposes an automatic inspection method for steel structure diseases in hidden spaces of railway passenger stations, and the specific scheme is as follows: An automatic inspection method for steel structure diseases in hidden spaces of railway passenger stations includes the following steps: S1. Route autonomous planning: Conduct route inspection according to the pre-set inspection route or based on the inspection task. S2. Task inspection: Trigger the robot to conduct inspections according to different situations. The inspection modes include remote automatic inspection, manual remote control inspection, and special inspection, and various inspection modes support mutual switching. Among them: After switching to the remote automatic inspection mode, start the inspection remotely without intervention. The robot automatically inspects and switches the screen according to the planned route, and generates an inspection report and uploads it to the ground monitoring base station. S3. Periodic timed inspection: According to the set inspection period, collect pictures at the predetermined inspection points. The robot automatically completes the inspection task and generates an inspection report and uploads it to the ground monitoring base station. S4. Precise automatic obstacle avoidance: During inspection, the robot measures distances through a collector, quickly and accurately identifies surrounding objects, and realizes rapid and precise obstacle avoidance. S5. Intelligent problem identification: Deploy automatic identification software at the station end to identify and upload engineering defects, potential safety hazards, or suspected engineering defects and potential safety hazards to the main station. S6. Automatic data analysis: The collected inspection data is connected to the comprehensive processing and analysis system for trend analysis and judgment of the data.

[0006] In the above technical solution, the steel structure of the hidden space in the passenger station mainly uses a space grid structure as the framework, with outer enclosing roof panels and ceiling panels, etc. By performing surface reconstruction on the three-dimensional point cloud data of the space grid and classifying the terrain as the obstacle area of the robot according to the extracted geometric information of the terrain, a selection strategy within the passing area is formulated to plan the trajectory (route) of the robot.

[0007] In the above technical solution, based on an accurate environmental map and a clear inspection route, the robot calculates the arrival at the target position through a navigation and positioning algorithm. Among them: The navigation and positioning algorithm includes the following steps: S101. Collect environmental and robot motion data through lidar nodes and encoder nodes. S102. Use the map service node to construct a global map and achieve real-time positioning through the Monte Carlo localization node. S103. The navigation control node publishes robot control messages according to the current pose message of the robot and the target pose. The drive control node subscribes to the message, parses it into the rotational speed of the driving wheels, and transmits it to the servo motor drive to execute motion control. S104. Achieve time and space synchronization of multi-source sensor data through the coordinate transformation node. S105. The robot status publishing node real-time feedbacks the system operation status to complete closed-loop control.

[0008] In the above technical solution, the robot is equipped with intelligent lighting linkage. During the patrol process, the robot is equipped with an intelligent follow-up lighting system and an intelligent dimming system. Even when the light is poor or during night operations and patrols, clear color images can be seen, and the appearance and status of the inspection targets can be clearly distinguished.

[0009] In the above technical solution, the collector includes a ranging sensor, a front standard-definition camera, and a rear standard-definition camera. When the robot patrols, distance measurement is carried out through the collector, and surrounding objects are quickly and accurately identified. The operation of the robot is controlled by checking the running speed and position of the robot, planning the patrol route, modifying the patrol points and speed. The robot's form expansion is achieved through the cooperation of the walking mechanism, the swing mechanism, and the height adjustment mechanism, realizing rapid and precise obstacle avoidance. At the same time, the camera angle of view is adjusted through the cooperation of the walking mechanism, the swing mechanism, and the height adjustment mechanism to achieve a full-range and non-blind-spot shooting of the detection object, and automatic tracking of the key targets specified by the monitoring system is carried out to achieve directional video acquisition.

[0010] In the above technical solution, a model is constructed that can automatically identify various engineering defects and potential safety hazards, or suspected engineering defects and potential safety hazards on the steel structure of the high-speed railway station roof. The construction method of the model is as follows: First, the collected images are preprocessed, then the key features in the images are extracted, and finally the model uses the above features for fault classification and identification.

[0011] The second object of the present invention is to provide an automatic inspection system for implementing the automatic inspection method for steel structure diseases in the concealed space of railway passenger stations described above. The automatic inspection system can also be called a spatial grid intelligent inspection robot system. In view of the characteristics of the concealed space being narrow, without light, having dense members, and many obstacles, the intelligent inspection robot system includes hardware such as a robot system, an integrated control system (system processing software and peripheral devices), a carried detection device (detection and collection device), a power line carrier communication system, a video server, and a ground monitoring base station, which is used to solve six key technologies including the walking control, mobile communication, mobile precise positioning, inertial navigation, dynamic image acquisition, and robotic arm trajectory control of the robot.

[0012] Among them: The robot system includes a comprehensive control system, a communication transmission system, a power supply system, and a patrol management platform server.

[0013] In the above technical solution, the robot system includes a control module, a communication transmission module, a positioning and navigation module, a power control module, a temperature control module, an obstacle avoidance module, and a vision module.

[0014] In the above technical solution, the robot system communicates with the ground monitoring base station through a communication transmission module (wireless transmission system). The comprehensive processing and analysis system accesses the inspection data collected by the robot, completes data interaction, and makes decisions according to the preset model information, environmental conditions, etc., so as to achieve the highly reliable control and operation of the robot. The control module communicates with the ground monitoring base station to obtain control instructions, and controls, executes, and completes functions such as precise positioning, autonomous navigation, obstacle avoidance, charging, and temperature control. The system management platform conducts data analysis, judges the equipment and environmental status, and alarms in time when abnormalities are found.

[0015] The third object of the present invention is to provide a grid operation robot, including a fuselage, and further including: A traveling mechanism, which includes a set of power limb mechanisms arranged diagonally at the bottom of the fuselage and a set of passive limb mechanisms arranged diagonally at the bottom of the fuselage. A power wheel mechanism is provided at the end of the power limb mechanism, and a passive wheel mechanism is provided at the end of the passive limb mechanism; A swinging mechanism, which includes two sets of multi-axis robotic arms arranged diagonally at the top of the fuselage; A height adjustment mechanism, which includes folding arms arranged at the middle bottom of each bottom edge of the fuselage; A detection and acquisition device, which is carried on the fuselage.

[0016] In the above technical solution, the power limb mechanism includes a rotating limb one, a rotating motor one, a rotating joint, a rotating motor two, a rotating motor three, a rotating limb two, and a shock absorber. The structural composition of the passive limb mechanism is the same as that of the power limb mechanism. In the power limb mechanism, the rotating motor one is fixedly connected to the fuselage by bolts, the rotating joint is fixedly connected to the rotating motor one by bolts, the rotating limb one is symmetric left and right, the rotating motor two is fixedly connected to the end of the rotating limb one by bolts, the rotating motor three is fixedly connected to the front end of the rotating limb one by bolts, the rotating joint is fixedly connected to the rotating motor two by bolts, the end of the rotating limb two is fixedly connected to the rotating motor three by bolts, one end of the shock absorber is hinged to the corresponding ear plate of the rotating limb two through a pin shaft, the other end of the shock absorber is hinged to the corresponding ear plate of the power wheel frame through a pin shaft, and the ear plate at the front end of the rotating limb two is hinged to the corresponding ear plate of the power wheel frame through a pin shaft, so as to keep the power wheel mechanism having a certain pressure on the chord member.

[0017] In the above technical solution, the difference between the passive limb mechanism and the power limb mechanism lies only in the wheel mechanism at the end. The end of the passive limb mechanism is a passive wheel mechanism, and the others are exactly the same as the power limb mechanism.

[0018] In the above technical solution, the folding arm includes a movable limb, a telescopic mechanism, a shock absorber, and a rotary motor IV. The telescopic mechanism includes several long rods and short rods connected in a scissor-like manner. A power wheel mechanism is provided at the end of the folding arm. In the folding arm, the movable limb is fixedly connected to the rotary motor IV by bolts, and the rotary motor IV is fixedly connected to the fixed plate at the bottom of the fuselage by bolts. The first long rod, the first short rod, the second long rod, the third long rod, the fourth long rod, and the second short rod are hinged by pins to form a telescopic mechanism. One end of the shock absorber is hinged to the fourth long rod by a pin, and the other end is hinged to the corresponding ear plate of the wheel rod by a pin. The ear plate at the end of the wheel rod is hinged to the ear plate at the end of the fourth long rod by a pin, and the power wheel frame is hinged to the corresponding ear plate of the wheel rod by a pin.

[0019] In the above technical solution, the power wheel mechanism includes a power wheel frame, a power wheel motor, and a conical rubber wheel.

[0020] In the above technical solution, the passive wheel mechanism includes a magnetic attraction wheel frame and a magnetic wheel. The magnetic wheel is a conical wheel structure composed of several magnetic wheel monomers sharing a common wheel axle and having gradually increasing diameters. Each of the magnetic wheel monomers is arranged and fixed on the wheel axle at equal intervals.

[0021] The fourth object of the present invention is to provide an operation method for a grid operation robot, specifically: When the robot works in the transverse grid, all the power wheel mechanisms and passive wheel mechanisms acting on the transverse chord are on the transverse chord. The transverse folding arm unfolds and walks on the transverse chord, and the longitudinal folding arm is retracted.

[0022] When it rotates to work in the longitudinal grid, all the rotating limbs rotate 90° to the longitudinal chord, the transverse folding arm is retracted, and the longitudinal folding arm unfolds and walks on the longitudinal chord.

[0023] Combining all the above technical solutions, the advantages and positive effects of the present invention are as follows: 1. Aiming at common problems such as corrosion of steel components, loosening of bolts, cracking of welds, and leakage of metal roofs in the concealed space of the steel structure of the high-speed railway station house roof, the intelligent inspection robot needs to have high-precision detection and recognition capabilities, and be able to comprehensively and meticulously inspect the steel structure in a narrow, member-dense, pipeline-complex space with no light or weak light. By real-time monitoring and recording the disease conditions, it provides accurate data support for subsequent maintenance and ensures the structural safety.

[0024] 2. Improve the monitoring and response speed of roof leakage under extreme weather; The leakage and poor drainage of the metal roof of high-speed railway station buildings have always been key issues for rectification in the industry. Serious leakage accidents will have an extremely adverse social impact. Intelligent inspection robots need to have the ability of real-time monitoring and rapid response. Effectively monitor the roof leakage points, the drainage flow of the gutter, and the blockage of the gutter on a daily basis, accurately repair the leakage parts, and accurately dredge the blocked points, which can play a role in early prevention and protection in the face of extreme weather.

[0025] 3. Achieve round-the-clock unmanned intelligent inspection; Intelligent inspection robots have the ability of round-the-clock online and unmanned operation. They can continuously and stably conduct inspections according to the set inspection path, and can comprehensively meet the large-area inspection requirements of the steel structure of the roof of high-speed railway station buildings. Through intelligent inspection processes and data analysis, the reliability and accuracy of inspections are improved, and missed inspections and misjudgments caused by human factors are reduced.

[0026] 4. Reduce labor costs and safety risks; By introducing intelligent inspection robots, while ensuring the inspection quality, the safety risks faced by inspection personnel can be reduced, especially in narrow, complex and potentially dangerous hidden spaces, ensuring the safety and efficiency of inspection work. Brief Description of the Drawings

[0027] The technical solutions of the present invention will be further described in detail below in conjunction with the drawings and embodiments. However, it should be noted that these drawings are only designed for explanatory purposes and therefore are not intended to limit the scope. In addition, unless otherwise specified, these drawings are only intended to conceptually illustrate the structural configurations described herein and are not necessarily drawn to scale.

[0028] Figure 1 It is a perspective view of the grid operation robot described in the present invention; Figure 2 It is a front view of the grid operation robot described in the present invention in the standby state; Figure 3 It is a side view of the grid operation robot described in the present invention in the standby state; Figure 4 It is a bottom view of the grid operation robot described in the present invention in the standby state; Figure 5 It is an overall exploded view of the grid operation robot described in the present invention; Figure 6 For Figure 1 The enlarged view of part A in Figure 7 It is an exploded view of the power limb of the grid operation robot described in the present invention; Figure 8 It is an exploded view of the passive limb of the grid operation robot described in the present invention; Figure 9 Stereogram of the folding limb of the grid work robot according to the present invention; Figure 10 Exploded view of the folding limb of the grid work robot according to the present invention; Figure 11 Exploded view of the driving wheel of the grid work robot according to the present invention; Figure 12 Exploded view of the driven wheel of the grid work robot according to the present invention; Figure 13 Steering of the grid work robot according to the present invention Figure 1 ; Figure 14 Steering of the grid work robot according to the present invention Figure 2 ; Figure 15 Structure block diagram of the robot system according to the present invention; Figure 16 Overall structure of the functional logic of the intelligent mobile inspection system; Figure 17 Business process of the intelligent mobile inspection system; Figure 18 Navigation and positioning relationship diagram of the intelligent inspection system; Figure 19 Operation logic flow chart; Figure 20 Flow chart of the exception handling program; In the figure, 1, Rotating limb 1, 11, Rotating motor 1, 12, Rotating joint, 13, Rotating motor 2, 14, Rotating motor 3, 15, Rotating limb 2, 16, Shock absorber, 2, Movable limb, 21, Long rod 1, 22, Short rod 1, 23, Long rod 2, 24, Long rod 3, 25, Long rod 4, 26, Short rod 2, 27, Shock absorber, 28, Wheel rod, 29, Rotating motor 4, 3, Body, 4, Magnetic wheel holder, 41, First bearing, 42, Magnetic wheel and wheel shaft, 5, Driving wheel holder, 51, Driving wheel motor, 52, Tapered rubber wheel, 53, Second bearing, 6, Multi-axis robotic arm. Detailed implementation manners

[0029] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of the specific implementation manners of the present invention will be given with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific implementations disclosed below.

[0030] The present invention will be further described in detail below in conjunction with specific embodiments. It should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0031] Embodiment 1: Grid Structure Operation Robot As Figures 1-4 shown, this embodiment discloses a grid structure operation robot, which includes a traveling mechanism, a fuselage 3, and a multi-axis robotic arm 6.

[0032] As Figure 5 shown, at the top of the fuselage 3, 2 sets of multi-axis robotic arms 6 are arranged diagonally and fixedly connected by bolts. Acquisition and detection equipment can be carried on the multi-axis robotic arm. At the bottom of the fuselage 3, 2 sets of power limb mechanisms are arranged diagonally in one group, and 2 sets of passive limb mechanisms are arranged diagonally in the other group. The difference between the power limb mechanism and the passive limb mechanism lies in the end wheel mechanism. The end of the power limb mechanism is a power wheel mechanism, and the end of the passive limb mechanism is a passive wheel mechanism. In addition, 1 set of folding arms is arranged in the middle of each bottom edge at the bottom of the fuselage 3.

[0033] As Figure 6 、 7 shown, in the power limb mechanism, the first rotating motor 11 is fixedly connected to the fuselage 3 by bolts, the rotating joint 12 is fixedly connected to the first rotating motor 11 by bolts, the first rotating limb 1 is symmetrical left and right, the second rotating motor 13 is fixedly connected to the end of the first rotating limb 1 by bolts, the third rotating motor 14 is fixedly connected to the front end of the first rotating limb 1 by bolts, the rotating joint 12 is fixedly connected to the second rotating motor 13 by bolts, the end of the second rotating limb 15 is fixedly connected to the third rotating motor 14 by bolts, one end of the shock absorber 16 is hinged to the corresponding ear plate of the second rotating limb 15 by a pin shaft, the other end of the shock absorber 16 is hinged to the corresponding ear plate of the power wheel frame 5 by a pin shaft, and the ear plate at the front end of the second rotating limb 15 is hinged to the corresponding ear plate of the power wheel frame 5 by a pin shaft, so as to keep the power wheel mechanism having a certain pressure on the chord member.

[0034] As Figure 8 shown, the difference between the passive limb mechanism and the power limb mechanism is only the wheel mechanism at the end. The end of the passive limb mechanism is a passive wheel mechanism, and the others are exactly the same as the power limb mechanism.

[0035] As Figure 9 、 10As shown, the movable limb 2 is fixedly connected to the fourth rotary motor 29 by bolts, and the fourth rotary motor 29 is fixedly connected to the fixed plate at the bottom of the fuselage 3 by bolts. The first long rod 21, the first short rod 22, the second long rod 23, the third long rod 24, the fourth long rod 25, and the second short rod 26 are hinged by pins to form a telescopic mechanism. One end of the shock absorber 27 is hinged to the fourth long rod 25 by a pin, and the other end is hinged to the corresponding ear plate of the wheel rod 28 by a pin. The ear plate at the end of the wheel rod 28 is hinged to the ear plate at the end of the fourth long rod 25 by a pin. The power wheel frame 5 is hinged to the corresponding ear plate of the wheel rod 28 by a pin. The folding arms are divided into horizontal folding arms and vertical folding arms according to their orientations. When the robot works in a horizontal grid, all movable limbs are on the horizontal chord bars. The horizontal folding limbs are unfolded for walking, and the vertical folding limbs are folded. As Figure 13 shown. When it rotates to work in the vertical grid, all movable limbs rotate 90° to the vertical chord bars, the horizontal folding arms are folded, and the vertical folding arms are unfolded for walking.

[0036] As Figure 11 shown, the power wheel motor 51 is fixedly connected to the power wheel frame 5 by bolts, the end of the conical rubber wheel 52 is fixedly connected to the power wheel motor 51 by bolts, the second bearing 53 is installed on the outside of the power wheel frame 5, and the front end of the conical rubber wheel 52 is hinged to the second bearing 53 by a wheel shaft.

[0037] As Figure 12 shown, the first bearings 41 are arranged on both sides of the magnetic wheel frame 4, the magnetic wheel is hinged to the first bearings 41 on both sides by a wheel shaft, and the magnetic wheel is a conical wheel structure composed of several magnetic wheel monomers sharing a common wheel shaft and having gradually increasing diameters. Each magnetic wheel monomer is arranged and fixed on the wheel shaft at equal intervals. As Figure 13 shown, when the robot walks between the chord bars, the conical rubber wheels of the folding arms, the conical rubber wheels of the power limb mechanism, and the magnetic wheels of the passive limb mechanism are all on the chord bars. The conical rubber wheels of the power limb mechanism are diagonally distributed, and the magnetic wheels of the passive limb mechanism are diagonally distributed, so that the conical rubber wheels of the power limb mechanism and the magnetic wheels of the passive limb mechanism are in a relative position, and the large-head ends of the conical wheels are opposite. The conical rubber wheels and the magnetic wheels can be tangent to the circumferences of the chord bars, forming a stable support to enable it to walk and avoid obstacles stably between the chord bars, and can avoid problems such as jamming or derailment; when avoiding obstacles, one of the conical rubber wheels or magnetic wheels on the chord bar is lifted, and the remaining conical rubber wheels or magnetic wheels still continue to walk on the chord bar, enabling rapid, accurate, and stable obstacle avoidance. In addition, the grid operation robot can adapt to the change in the width between the chord bars through the design of the magnetic passive wheels, can adapt to the change in the distance between adjacent chord bars, facilitates the stable walking of the robot on the chord bars, avoids problems such as jamming or derailment, facilitates subsequent inspection operations, and provides a good foundation for high-altitude operations.

[0038] Embodiment 2: Inspection method of the grid operation robot The grid operation robot in the above-mentioned embodiment 1 is mainly used in the inspection operation of the spatial grid structure. The inspection process is as follows: 1. Robot installation and equipment debugging: During inspection operations, first send the inspection robot to the starting point of the track through a hanging basket or elevator, connect the power supply and control system of the inspection robot, and perform cable routing and connection; perform initialization settings and debugging of the inspection robot to ensure normal communication with the control system; perform various functional tests of the inspection robot, including testing inspection, monitoring and alarm functions; adjust the parameters and settings of the inspection robot to optimize its operation effect; perform operation tests of the inspection robot to simulate actual scenarios to ensure that it can operate normally and meet project requirements.

[0039] 2. Inspection robot operation process: 1) Autonomous route planning: patrol along the planned route according to the pre-set patrol route or patrol tasks.

[0040] 2) Automatic remote patrol: After the operation and maintenance personnel start the patrol remotely, the system automatically switches the screen according to the patrol route without intervention.

[0041] 3) Periodic scheduled inspection: It can collect pictures according to the set inspection cycle and the predetermined inspection points, automatically complete the inspection task, and generate an inspection report and upload it to the main station.

[0042] 4) Intelligent lighting linkage: The lighting control system is intelligently linked during inspections. Even when the light is poor or when operating and inspecting at night, clear color images can be seen, and the appearance and status of the inspection target can be clearly distinguished.

[0043] 5) Accurate automatic obstacle avoidance: Use sensors to measure distance and quickly and accurately identify surrounding objects to achieve rapid and precise obstacle avoidance.

[0044] 6) Intelligent problem identification: Automatic identification software is deployed on the station side to identify the corrosion of steel components and missing bolts and upload them to the main station.

[0045] 7) Automatic data analysis: The collected patrol data is connected to the comprehensive processing and analysis system, which can conduct trend analysis and judgment on the data.

[0046] Shooting and detection rules: A complete observation task requires running twice along the path (only one side is observed in a single run), stopping once at each grid unit, and the shooting task for each stop is: 14 node observation photos, 12 side bar observation photos, and 2 front bar observation photos, a total of 28 photos need to be taken.

[0047] It should be noted that this grid operation robot can also be applied to the high-altitude spraying operation of purlins on the roof slope. When the high-altitude spraying operation is completed, corresponding spraying equipment needs to be carried on this grid operation robot.

[0048] Embodiment 3: Intelligent Inspection Robot System In view of the characteristics of narrow concealed space, lack of light, dense members, and many obstacles, an intelligent inspection robot system (also called an intelligent mobile inspection system) is equipped for the grid operation robot in the above-mentioned Embodiment 1. The intelligent inspection robot system consists of a robot system, an integrated control system (system processing software and peripheral devices), detection equipment, a power line carrier communication system, a video server, a ground monitoring base station and other hardware, and is used to realize the walking operation of the robot in the space grid and solve problems such as environmental perception, path planning, and carrier adaptability.

[0049] The robot system mainly consists of a comprehensive control system, a communication transmission system, a power supply system, an inspection management platform server, etc. The control system block diagram inside the robot is as Figure 15 shown.

[0050] The PC is used as the control center of the robot. It can control actuators such as motors and relays according to the control instructions from the ground monitoring base station and the data collected in real time by various sensors carried by the robot itself, process and analyze the information of each sensor collected in real time, and obtain data such as the precise position, temperature, distance to obstacles in front and behind, and battery power of the robot. And through communication with the ground monitoring base station, it obtains control instructions to control, execute, and complete functions such as precise positioning, autonomous navigation, obstacle avoidance, charging, and temperature control. And the system management platform conducts data analysis, judges the equipment and environmental status, and alarms in time when abnormalities are found.

[0051] Monitoring terminal communication: Through the TCP / IP communication protocol, a connection is established with the remote monitoring terminal program to obtain control instructions in real time and feedback robot information.

[0052] The inspection robot communicates with the ground monitoring base station through a wireless transmission system for data interaction, and makes decisions according to the pre-set model information and environmental conditions, etc., to achieve the high-reliability control operation of the robot.

[0053] Adopting the control mode of PC + distributed controller can realize the real-time interconnection with other bus-type electrical detection equipment. Adopting a functional distributed structure, the working speed and control performance of the controller are significantly improved, and the problem of multi-bus real-time interconnection can be well solved.

[0054] Through servo motion and synchronous control technology, effective and precise control of the walking mechanism, swing mechanism, and height adjustment mechanism during the dynamic monitoring process is realized.

[0055] The specific functions of each device are as follows: The PC is connected to the integrated serial port interface card, high-speed digital I / O card, analog I / O card, low-speed digital I / O card, etc. through the bus.

[0056] The interface communication layer mainly refers to the interaction between the inspection robot and the ground monitoring base station through wireless network equipment, the seamless connection of the monitoring information systems of various comprehensive mining equipment, the transmission of multi-channel high-definition color video, and the real-time transmission of production data.

[0057] The entire robot system is controlled by real-time communication with the backend server through the construction of a wireless LAN in the on-site transportation area. The robot body is connected to the LAN through wireless signals to transmit real-time images and control commands. The robot body integrates a 5G CPE (all-network compatible with 4G) module. The robot 5G CPE operator must provide a 5G private network card that can obtain a fixed IP address. The inspection data collected by the robot is connected to the enterprise intranet through a private network and dedicated line provided by the operator. The enterprise intranet uses the fixed IP provided by the operator to access the robot page. The robot's accessories will also be equipped with a 5G CPE. The operator also assigns a fixed IP address. The robot and its accessories communicate and interact through the fixed IP address assigned by the operator.

[0058] The entire robot system in the inspection station room uses one IP for external communication. NVR (network video recorder) and workstation computers are installed in the monitoring center for robot management and video storage. The system needs to allocate IP for NVR and working power.

[0059] Environmental perception and autonomous navigation: are the foundation for mobile robots to achieve true autonomy. By reconstructing the surface of the spatial grid 3D point cloud data, and classifying the terrain into obstacle areas and passage areas for the robot based on the extracted terrain geometry information, a selection strategy within the passage area is formulated, and the robot trajectory planning is performed.

[0060] Since the robot's movement is dynamic and related, the real-time fusion decision of terrain information and the robot's own posture information becomes the key to the robot's stable control. Therefore, building a large closed-loop behavior control model of "terrain understanding and behavior gait" is to solve the difficulty of integrating the robot with the spatial grid environment. The SLAM technology based on vision / lidar perceives the environment to adapt to the perception system, untimely gait adjustment, inaccurate footholds and other problems.

[0061] Example 4: Intelligent Inspection Robot System 1. Functional Logic Overall Structure of Intelligent Patrol Robot System: To achieve real-time information perception, quickly discover engineering defects and safety hazards; efficiently respond to safety risks, provide real-time feedback of information, and support decision-making; this system includes four levels: data layer, parsing layer, fusion layer, and application layer. Through the data layer, patrol plans are set or the robot is manually controlled to reach the designated position; the parsing layer collects monitoring data and identifies the types and parameters of defects; the fusion layer integrates defect data, power status, and expert evaluation results to generate a preliminary report; the application layer visually displays the report and supports user interactive operations and downloads. The specific architecture is as shown in Figure 16 shown below, where: Data layer, which includes a planned patrol module and a manual patrol module, used to set patrol plans, dynamically display the position of the robot, support refined operations, and enter point positions; Parsing layer, which includes a defect identification module and an intelligent monitoring module, used to identify corrosion, cracks, and water seepage defects and calculate their parameters, and at the same time perform lightweight processing on the monitoring data and analyze dial readings; Fusion layer, which includes a robot power management module, a defect marking module, and an automatic report generation module, used to monitor the robot's power in real time, locate defect information, jointly analyze data, and integrate expert remote evaluation results; Application layer, which includes a defect visual display module, a defect tracking module, and a report management module, used to mark the patrol results in real time, generate a visual report, and provide a preview and download function.

[0062] Furthermore, it can also be considered in this embodiment that the planned patrol module of the data layer includes: Roof scan plan setting unit, used to define a periodic patrol path; Custom plan setting unit, which supports users to adjust patrol parameters according to needs; Robot position dynamic display unit, which updates the robot's position in real time in combination with the map interface.

[0063] Furthermore, it can also be considered in this embodiment that the defect identification module of the parsing layer includes: Corrosion defect identification unit, which judges the existence of corrosion based on image analysis; Crack calculation unit, used to measure the length and width of cracks; Water seepage identification and range calculation unit, which determines the water seepage area and its diffusion range through image segmentation technology.

[0064] Furthermore, it can also be considered in this embodiment that the automatic report generation module of the fusion layer includes: Monitoring data joint analysis unit, which integrates multi-source sensor data to generate a comprehensive analysis result; Expert remote judgment interface, which supports the access of external expert systems and feedback of judgment conclusions.

[0065] Furthermore, it can also be considered in this embodiment that the report management module of the application layer includes: A real-time marking unit that allows users to dynamically mark the defect locations during the inspection; A report preview unit that provides an interactive interface to preview the report content; A multi-format download unit that supports the export of inspection reports in PDF and Excel formats.

[0066] 2. The intelligent inspection robot system can achieve the following functions: 1) Motion control function: Control the operation of the inspection robot, view the running speed and position of the robot, plan the inspection route, modify the position and speed of the inspection points; and adjust the camera angle by controlling the translation, deflection, and pitch motions of the multi-axis robotic arm to achieve all-round and dead-angle-free shooting of the detection object, and automatically track the specified key targets of the monitoring system to achieve directional video acquisition.

[0067] 2) Data acquisition and storage function: Support automatic image focusing, and support functions such as video playback, stop, screenshot, recording, and full-screen display; 3) The management platform software of the intelligent inspection robot system is designed with a B / S architecture. In addition to being able to control the robot to perform relevant inspection tasks, the management platform software also has functions such as acquisition, statistics, retrieval, reporting, and intelligent analysis.

[0068] 3. The business process of the intelligent inspection robot system: As Figure 17 shown, when using this system, the inspection methods include automatic inspection and manual inspection. Automatic inspection can trigger the robot to perform inspections according to different situations. One is to set a timed task to let the robot perform automatic inspections at regular intervals; the other is to set warning rules and special working conditions to let the robot complete special inspections, start automatic inspections in a timely manner when early warnings are issued for monitoring data, and automatically associate key parts to focus on viewing the warning parts.

[0069] During the inspection process, comprehensive information of the inspected parts can be collected through various mounted acquisition and detection devices, and the comprehensive information is stored and analyzed. Based on image recognition technology, the results of parsing, identifying, and intelligently analyzing the inspection image data are permanently stored in the server, and the analysis results are marked on the original pictures to form a defect management library, recording defect parameter information. The final inspection report contains all the above inspection information.

[0070] Regular inspection content: bolt and fastener inspection; corrosion inspection of steel structure components; weld cracking inspection; butt weld inspection of web members; structure deformation and dimension inspection; metal roof leakage inspection.

[0071] Display of inspection results: During the automatic inspection process, the robot captures high-definition images of suspected abnormal positions and can promptly display the latest captured photos on the platform overview page. Each photo has a record of the shooting location, and the robot can be dispatched to immediately reach that location for manual review. Each photo can be enlarged to full screen for detailed viewing.

[0072] Use the typical fault recognition algorithm model during intelligent analysis: By training a large amount of image data, the model can automatically identify various faults on the steel structure of the high-speed railway station roof.

[0073] The model first preprocesses the collected images, such as denoising and enhancement, and then extracts key features in the images, such as color, texture, shape, etc. Finally, the model uses these features for fault classification and recognition. With its powerful feature extraction and classification capabilities, the deep learning algorithm can accurately identify faults such as corrosion of steel components, weld cracking, missing fasteners, leakage, and blockage. At the same time, combined with on-site actual situations, statistical analysis, and threat warning and other interaction methods, the model can output a complete monitoring report in one stop, thus simplifying the comprehensive management of the operation and maintenance process in industrial scenarios.

[0074] The intelligent inspection robot realizes automatic form expansion through a multi-axis robotic arm, significantly improving the coverage range of the high-definition camera and effectively avoiding the problem of obstacle occlusion. In addition, the robot is also equipped with: 1) The inspection robot is equipped with an intelligent follow-up lighting system and an intelligent dimming system, which can automatically adjust the brightness according to the ambient light, thus ensuring the shooting effect of the camera in the grid space; 2) Select a camera with high resolution and equip it with a 30x optical zoom lens to ensure that the output video image is clearer, thereby improving the recognition and analysis accuracy of AI; 3) To ensure the acquisition coverage rate of three-dimensional images, the members are divided into multiple regional bands according to the acquisition range of the camera, such as A01-01. Each band is further divided into four acquisition surfaces in the four directions of east, south, west, and north, such as A01-01-01. To ensure the clarity of the images, whenever the inspection robot reaches the inspection point, the camera will perform focused acquisition and transmit the captured images to the background. The background will integrate the images according to the numbers and determine the coverage rate by comparing with the three-dimensional model.

[0075] 4. Autonomous navigation and positioning: Such as Figure 18As shown, based on an accurate environmental map and a clear operation path, the robot calculates the arrival at the target position through a navigation and positioning algorithm to achieve autonomous navigation and positioning. The navigation control node is the key to the navigation control service. The navigation control node publishes robot control messages based on the robot's current pose message and the target point pose. The drive control node subscribes to the message, parses it into the rotational speed of the driving wheels, and transmits it to the servo motor drive.

[0076] Positioning technology: Calibrate the cumulative error of the robot, and comprehensively use radio frequency positioning, magnetic guide switches, positioning calibration of machine vision, and motion control methods to improve the reliability of the robot positioning system. The robot uses an optoelectronic pulse encoder and installs a reset magnet at the head of the track to zero the displacement coordinates of the encoder. The integrated navigation and positioning technology based on the fusion of multiple navigation and positioning technologies is the guarantee for the stable and normal operation of the inspection robot and also the basis for realizing unmanned inspection.

[0077] 5. System business process: When using this system, the robot can be triggered for inspection according to different situations. The main modes include: automatic routine inspection, manual remote control inspection, special inspection, etc., and various modes support mutual switching.

[0078] The execution process of the inspection logic is as Figure 19 shown, and the abnormal handling program process is as Figure 20 shown.

[0079] Application Example 1: A method for automatically inspecting steel structure diseases in the hidden space of a railway passenger station provided by the above embodiment can also run on a computer device. The computer device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor. When the processor executes the computer program, the method in the above embodiment is implemented.

[0080] Application Example 2: A method for automatically inspecting steel structure diseases in the hidden space of a railway passenger station provided by the above embodiment can also run on a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in the above embodiment can be implemented.

[0081] Application Example 3: A method for automatically inspecting steel structure diseases in the hidden space of a railway passenger station provided by the above embodiment can also run on an information data processing terminal. When the information data processing terminal is used to implement on an electronic device, a user input interface is provided to implement the method in the above embodiment. The information data processing terminal is not limited to mobile phones, computers, and switches.

[0082] Application Example 4: A method for automatically inspecting steel structure diseases in hidden spaces of railway passenger stations provided by the above embodiments can also run on a server, and the server is used to provide a user input interface to implement the method in the above embodiments when executed on an electronic device.

[0083] Application Example 5: A method for automatically inspecting steel structure diseases in hidden spaces of railway passenger stations provided by the above embodiments can also run on a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the method in the above embodiments when executed.

[0084] To implement all or part of the steps in the method of the above embodiments of the present invention, it can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the photographing device / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk, or an optical disc, etc.

[0085] The above description is only a preferred embodiment of the present invention. It should be understood that the described embodiments are part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention. The present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications, and environments. As long as the changes and alterations made by those skilled in the art do not depart from the spirit and scope of the present invention, they should all be within the protection scope of the appended claims of the present invention.

Claims

1. An automatic inspection method for steel structure diseases in the concealed space of a railway passenger station, characterized in that: It includes the following steps: S1. Route autonomous planning: Conduct route inspection according to the preset inspection route or based on the inspection task; S2. Task inspection: Trigger the robot to conduct inspections according to different situations. The inspection modes include remote automatic inspection, manual remote control inspection, and special inspection. All inspection modes support mutual switching. Among them: After switching to the remote automatic inspection mode, the inspection is started remotely without intervention. The robot automatically conducts inspections according to the planned route and generates an inspection report to upload to the ground monitoring base station; S3. Periodic timed inspection: According to the set inspection period, collect pictures at the preset inspection points. The robot automatically completes the inspection task and generates an inspection report to upload to the ground monitoring base station; S4. Precise automatic obstacle avoidance: During inspection, the robot measures distances through the collector, quickly and accurately identifies the surrounding objects, and realizes rapid and precise obstacle avoidance; S5. Intelligent problem identification: Deploy automatic identification software at the station end to identify and upload engineering defects, potential safety hazards, or suspected engineering defects and potential safety hazards to the ground monitoring base station; S6. Automatic data analysis: The collected inspection data is connected to the comprehensive processing and analysis system for trend analysis and judgment of the data; The robot is a grid operation robot. The grid operation robot includes a fuselage and also includes: A walking mechanism, which includes a group of power limb mechanisms arranged diagonally at the bottom of the fuselage and a group of passive limb mechanisms arranged diagonally at the bottom of the fuselage. A power wheel mechanism is provided at the end of the power limb mechanism, and a passive wheel mechanism is provided at the end of the passive limb mechanism; The power wheel mechanism includes a power wheel frame, a power wheel motor, and a conical rubber wheel. The passive wheel mechanism includes a magnetic attraction wheel frame and a magnetic wheel. The magnetic wheel is a conical wheel structure composed of several magnetic wheel monomers sharing a common axle and having gradually increasing diameters. Each of the magnetic wheel monomers is arranged and fixed on the axle at equal intervals; A swing mechanism, which includes two groups of multi-axis robotic arms arranged diagonally at the top of the fuselage; A height adjustment mechanism, which includes folding arms arranged at the middle bottom of each bottom edge of the fuselage; A detection and collection device, which is mounted on the fuselage.

2. The automatic inspection method for steel structure diseases in the concealed space of a railway passenger station according to claim 1, wherein: Based on an accurate environmental map and a clear inspection route, the robot calculates the arrival at the target position through a navigation and positioning algorithm. Among them: The navigation and positioning algorithm includes the following steps: S101. Collect environmental and robot motion data through lidar nodes and encoder nodes; S102. Use the map service node to construct a global map and achieve real-time positioning through the Monte Carlo localization node; S103. The navigation control node issues a robot control message according to the current pose message of the robot and the target point pose. The drive control node subscribes to the message, parses it into the rotational speed of the power wheel, and transmits it to the servo motor drive for motion control execution; S104. Achieve time and space synchronization of multi-source sensor data through the coordinate transformation node; S105. The robot status publishing node real-time feeds back the system operation status to complete closed-loop control.

3. The automatic inspection method for steel structure diseases in the concealed space of a railway passenger station according to claim 1, characterized in that: When the robot makes a patrol inspection, it measures the distance through a collector, quickly and accurately identifies the surrounding objects, and controls the operation of the robot by checking the running speed and position of the robot, planning the inspection route, modifying the inspection points and speed. The robot realizes the expansion of its form through the cooperation of the walking mechanism, the swinging mechanism and the height adjustment mechanism, achieves rapid and precise obstacle avoidance, and at the same time adjusts the camera angle of view through the cooperation of the walking mechanism, the swinging mechanism and the height adjustment mechanism to achieve a full - range and dead - angle - free shooting of the detection object, and automatically tracks the specified key targets to achieve directional video acquisition.

4. The automatic inspection method for steel structure diseases in the concealed space of a railway passenger station according to claim 1, wherein: In step S5, a model is constructed that can automatically identify various engineering defects and potential safety hazards, or suspected engineering defects and potential safety hazards on the steel structure of the high - speed railway station roof. The method for constructing the model is as follows: First, pre - process the collected images, then extract the key features in the images, and finally the model uses the above - mentioned features for fault classification and identification.

5. The automatic inspection method for steel structure diseases in the concealed space of a railway passenger station according to claim 1, wherein: The automatic inspection system for implementing the automatic inspection method for steel structure diseases in the concealed space of railway passenger stations includes: a robot system, an integrated control system, detection equipment, a power line carrier communication system, a video server, and a ground monitoring base station.

6. The automatic inspection method for steel structure diseases in the concealed space of a railway passenger station according to claim 5, characterized in that: The robot system includes a control module, a communication transmission module, a positioning and navigation module, a power control module, a temperature control module, an obstacle avoidance module, and a vision module; The robot system communicates with the ground monitoring base station through the communication transmission module for data interaction, makes decisions according to the pre - set model information and environmental conditions to achieve high - reliable control operation of the robot; the control module communicates with the ground monitoring base station to obtain control instructions, and controls, executes, and completes functions such as precise positioning, autonomous navigation, obstacle avoidance, charging, and temperature control, while performing data analysis, judging the equipment and environmental status, and giving an alarm in time when abnormalities are found.

7. A method for automatically inspecting diseases of steel structures in hidden spaces of railway passenger stations according to claim 1, characterized in that: The power limb mechanism includes a rotating limb one, a rotating motor one, a rotating joint, a rotating motor two, a rotating motor three, a rotating limb two, and a shock absorber. The structural composition of the passive limb mechanism is the same as that of the power limb mechanism.

8. The automatic inspection method for steel structure diseases in the concealed space of a railway passenger station according to claim 7, wherein: The folding arm includes a movable limb, a telescopic mechanism, a shock absorber, and a rotating motor four. The telescopic mechanism includes a number of long rods and short rods connected in a scissor - like manner. A power wheel mechanism is arranged at the end of the folding arm.

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