A four-legged walking inspection robot used in subway vehicle inspection depot

Abstract

The present invention discloses a four-legged walking inspection robot applied in a subway vehicle inspection depot, comprising a main control box, a six-degree-of-freedom mechanical arm, an image acquisition module and four running mechanisms, one end of the six-degree-of-freedom mechanical arm is mounted on the main control box and the other end is mounted on the image acquisition module; for each running mechanism, each includes a waist joint motor, a waist joint, a connecting seat, a hip joint motor, a hip joint, a thigh, a knee joint motor, a knee joint and a calf, the waist joint motor is mounted on the main control box, the waist joint motor is connected to the connecting seat through the waist joint, the hip joint motor is mounted on the connecting seat, the hip joint motor is connected to the thigh through the hip joint, the knee joint motor is mounted on the thigh, the knee joint motor is connected to the calf through the knee joint, the waist joint is vertically arranged, and the hip joint and the knee joint are both horizontally arranged. The present invention is small in size, flexible in movement and can be automatically inspected in the upper and lower trenches.

Description

Technical Field

[0001] The present invention belongs to the field of robots, and more specifically, relates to an inspection robot. Background Art

[0002] At present, the daily maintenance of urban rail subway vehicles in my country is complicated and repetitive, and mainly adopts manual visual inspection with simple tools. There are problems such as night shift maintenance, fatigue of operators, misdetection and missed inspection, low maintenance efficiency, strong dependence on experience, many repetitive maintenance items, high labor intensity, and large demand for operators. Therefore, there is a real need for robots to replace manual labor in the daily inspection and maintenance of urban rail subway vehicles, which is very necessary to reduce the impact of human factors on quality control, improve work efficiency and reduce personnel costs.

[0003] At present, no similar products have been found to be used in urban rail transit subway vehicle bases. Similar products are unable to adapt to the complex environment of urban rail transit subway vehicle bases with narrow trenches and steps in the parking and inspection warehouses, as well as the needs for flexible and convenient transfer between maintenance trenches. Summary of the invention

[0004] In view of the above defects or improvement needs of the prior art, the present invention provides a four-legged walking inspection robot for use in a subway vehicle inspection depot. The robot is small in size, flexible in movement, and can automatically inspect the upper and lower trenches.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present invention, a four-legged walking inspection robot for use in a subway vehicle inspection depot is provided, characterized in that it includes a main control box, a six-degree-of-freedom mechanical arm, an image acquisition module, a waist mechanism and four walking mechanisms, wherein:

[0006] One end of the six-degree-of-freedom mechanical arm is mounted on the main control box and the other end is mounted on the image acquisition module, so as to drive the image acquisition module to move to acquire images of target components on the bottom and side of the subway vehicle;

[0007] The waist mechanism is provided with two and they are arranged at the front end of the main control box respectively;

[0008] Each waist mechanism comprises a waist joint motor and a waist joint, wherein the waist joint motor is mounted on the main control box and the motor shaft of the waist joint motor is connected to the waist joint, and the waist joint is vertically arranged;

[0009] For each walking mechanism, each of them includes a connecting seat, a hip joint motor, a hip joint, a thigh, a knee joint motor, a knee joint and a calf, wherein the hip joint motor is installed on the connecting seat, and the hip joint motor is connected to the thigh through the hip joint, and is used to drive the thigh to rotate, the knee joint motor is installed on the thigh, and the knee joint motor is connected to the calf through the knee joint, and is used to drive the calf to rotate, wherein the hip joint and the knee joint are both arranged horizontally;

[0010] A connecting seat of the running mechanism is respectively installed on the waist joint of each waist mechanism, and the connecting seats of the other two running mechanisms are installed on the main control box, and the connecting seats of the four running mechanisms are arranged in a rectangular shape.

[0011] Preferably, the main control box includes a box shell and a robot mainboard, acquisition system hardware, motor driver and main controller installed in the box shell. The main controller is connected to the robot mainboard, acquisition system hardware and motor driver respectively to coordinate the operations among the running mechanisms, the six-degree-of-freedom robotic arm and the image acquisition module, and to enable the inspection robot to accurately locate the parking position of the inspected subway vehicle. The main controller is connected to the comprehensive data detection service platform to transmit the image data to the comprehensive data detection service platform in real time for analysis and processing.

[0012] Preferably, the main controller transmits the image data to the comprehensive data detection service platform in real time via a wireless AP.

[0013] Preferably, the comprehensive data detection service platform analyzes and identifies the image data transmitted from the main controller, identifies the abnormal conditions of the target components under and on the sides of the vehicle through pattern recognition, feature matching and deep learning, thereby generating a maintenance report and a corresponding work plan, and arranges relevant operating personnel or inspection robots to perform re-inspection tasks according to the work plan, and finally writes the maintenance report into the subway vehicle file management system of the comprehensive data detection service platform for record.

[0014] Preferably, the main control box also includes an intermediate mounting seat, the waist joint motors of each running mechanism are mounted on the intermediate mounting seat, and the six-degree-of-freedom robotic arm is also mounted on the intermediate mounting seat.

[0015] Preferably, the image acquisition module comprises an image collector, and the image collector comprises a two-dimensional image collector and / or a three-dimensional image collector.

[0016] Preferably, the image acquisition module also includes a searchlight.

[0017] Preferably, it also includes a panoramic scanning camera, which is installed on the main control box to cooperate with the main control box to locate the position of the subway vehicle and control the movement of the running mechanism to avoid obstacles and go up and down the ditch through the running mechanism.

[0018] Preferably, after completing image acquisition of a subway vehicle, the inspection robot receives the maintenance task for the next subway vehicle from the comprehensive data detection service platform, and the main control box generates the shortest route for transferring the trench, determines the nearest maintenance column through the panoramic scanning camera and reaches the maintenance column, then the inspection robot turns on the spot, climbs up the steps next to the maintenance column through the running mechanism, passes through the aisle between the two maintenance lines, goes down from the steps of the other maintenance line into the other trench to start the maintenance task of the trench.

[0019] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0020] 1) The inspection robot receives the maintenance tasks of the comprehensive detection service platform. Without human intervention, it can automatically move, accurately locate, and automatically detect in the subway vehicle maintenance trench. It can also cross the maintenance trench, realize autonomous transportation between different trenches, and detect deformation, looseness, foreign matter, missing and other faults of target components on the bottom and side of the vehicle, and send images and fault data to the maintenance task of the comprehensive detection service platform for analysis and processing.

[0021] 2) The robot can move flexibly up and down the trench steps and between trenches. The robot runs in the trench, and uses a six-degree-of-freedom robotic arm and an image acquisition module to detect target parts on the bottom and side of the vehicle in units of carriages, and wirelessly transmits the detection data to the comprehensive data detection service platform for analysis and processing.

[0022] 3) Compared with traditional manual operations, the inspection robot reduces the missed detection rate, improves the efficiency and quality of detection, and saves labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic diagram of the present invention;

[0024] Figure 2 It is a schematic diagram of one of the running mechanisms of the present invention being installed on the middle mounting seat;

[0025] Figure 3 It is a schematic diagram of the inspection robot of the present invention in a trench. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0027] like Figure 1 to Figure 3 As shown, a four-legged walking inspection robot 20 used in a subway vehicle inspection depot is characterized in that it includes a main control box 1, a six-degree-of-freedom mechanical arm 2, an image acquisition module 3, a waist mechanism and four walking mechanisms 4, wherein:

[0028] One end of the six-degree-of-freedom mechanical arm 2 (i.e., the base of the six-degree-of-freedom mechanical arm 2) is installed on the main control box 1, and the other end (i.e., the end of the six-degree-of-freedom mechanical arm 2) is installed with the image acquisition module 3, so as to drive the image acquisition module 3 to move to acquire images of target components under and on the side of the subway vehicle; the six-degree-of-freedom mechanical arm 2 can adjust the posture of the image acquisition module 3 by rotating each axis, so as to ensure that the inspection robot 20 can perform a full range of inspections on the target components under and on the side of the subway vehicle;

[0029] The waist mechanism is provided with two and they are arranged at the front end of the main control box 1 respectively;

[0030] Each waist mechanism comprises a waist joint motor and a waist joint 5. The waist joint motor is installed on the main control box 1 and the motor shaft of the waist joint motor is connected to the waist joint 5. The waist joint 5 is vertically arranged.

[0031] For each running mechanism 4, each of them includes a connecting seat 6, a hip joint motor 7, a hip joint 8, a thigh 9, a knee joint motor 10, a knee joint 11 and a calf 12, wherein the hip joint motor 7 is installed on the connecting seat 6, and the hip joint motor 7 is connected to the thigh 9 through the hip joint 8, and is used to drive the thigh 9 to rotate, the knee joint motor 10 is installed on the thigh, and the knee joint motor 10 is connected to the calf 12 through the knee joint 11, and is used to drive the calf 12 to rotate, wherein the hip joint 8 and the knee joint 11 are both arranged horizontally;

[0032] A connecting seat 6 of the running mechanism 4 is respectively installed on the waist joint 5 of each waist mechanism, and the connecting seats 6 of the other two running mechanisms 4 are installed on the main control box 1, and the connecting seats 6 of the four running mechanisms 4 are arranged in a rectangular shape.

[0033] The structure of the four-legged walking inspection robot 20 of the present invention is similar to that of a four-legged animal, and its walking is also similar to that of a four-legged animal. The hip joint motor 7 and the knee joint motor drive the thigh 9 and the calf 12 to lift and fall, so that the inspection robot 20 can move forward and backward, and the two waist joint motors at the front end of the inspection robot 20 can drive the two running mechanisms 4 at the front end to rotate, thereby realizing the turning of the inspection robot 20, so that the inspection robot 20 can move up and down the ditch 18 in the column inspection warehouse and walk in the ditch 18 to realize image acquisition.

[0034] Furthermore, the main control box 1 includes a housing and a robot mainboard, acquisition system hardware, motor driver and main controller installed in the housing. The main controller is connected to the robot mainboard, acquisition system hardware and motor driver respectively, so as to coordinate the operation between each running mechanism 4, the six-degree-of-freedom robot arm 2 and the image acquisition module 3, and to enable the inspection robot 20 to accurately locate the parking position of the inspected subway vehicle. The main controller is connected to the comprehensive data detection service platform to transmit the image data to the comprehensive data detection service platform in real time for analysis and processing. In addition, the main control box 1 also includes an intermediate mounting seat 13, on which the waist joint motors of each running mechanism 4 are mounted, and the six-degree-of-freedom robot arm 2 is also mounted.

[0035] Furthermore, the image acquisition module 3 includes an image collector 14 and a searchlight 15, and the image collector 14 includes a two-dimensional image collector 14 and / or a three-dimensional image collector 14. The front end of the six-degree-of-freedom mechanical arm 2 is provided with an image acquisition module 3 mounting seat, on which the image acquisition module 3 is installed. The two-dimensional image collector 14 and the three-dimensional image collector 14 can obtain two-dimensional and three-dimensional image monitoring data of a specific target object, and the searchlight 15 is mainly used to provide a light source. When the inspection robot 20 runs in the trench 18, the six-degree-of-freedom mechanical arm 2 and the image acquisition module 3 are used to detect the target components on the bottom and side of the subway vehicle in units of carriages.

[0036] When the subway vehicle enters the track above the ditch 18 to wait for inspection, the inspection robot 20 leaves the parking space after receiving the inspection task, and uses the main controller and the panoramic scanning camera set on the main control box 1 to locate the subway vehicle and control the inspection robot 20 to move and avoid obstacles, and then goes down the ditch 18 through the four running mechanisms 4.

[0037] The main controller of the inspection robot 20 sends the monitoring data to the comprehensive data detection service platform through a wireless AP. The comprehensive data detection service platform analyzes and judges the transmitted data, and identifies the abnormal state of the target components under the vehicle and on the side of the vehicle through pattern recognition, feature matching and deep learning, thereby generating a maintenance report and a corresponding operation plan, and arranging relevant operators or inspection robots 20 to implement the re-inspection task according to the operation plan. Finally, the maintenance report is written into the subway vehicle archive management system of the comprehensive data detection service platform for record. After the maintenance of a subway vehicle is completed, the inspection robot 20 will receive the maintenance task of the next subway vehicle from the comprehensive data detection service platform, and generate the nearest route for transferring the trench 18. Through the panoramic scanning camera, the nearest maintenance column 17 is determined and reaches the maintenance column 17. The inspection robot 20 turns around on the spot, climbs up the steps next to the maintenance column 17 through the running mechanism 4, passes through the aisle 19 between the two maintenance lines, and goes down from the steps of another maintenance line into another trench 18 to start the maintenance task of the trench 18.

[0038] The four running mechanisms 4 of the present invention form the four limbs of the inspection robot 20. The coordination between the four running mechanisms 4 enables the robot to walk and turn. The four-legged mechanism enables the inspection robot 20 to go up and down stairs, go down the trench 18 and transfer the trench 18, and realize flexible transportation between trenches 18. The four-legged walking inspection robot 20 can realize panoramic image scanning of target parts under and on the side of the vehicle through the panoramic scanning camera 16. The panoramic scanning camera 16 cooperates with the main controller to enable the robot to accurately locate, identify obstacles in the train inspection warehouse and perform avoidance actions.

[0039] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A four-legged walking inspection robot used in a subway vehicle inspection depot, characterized in that: It includes a main control box, a six-degree-of-freedom robotic arm, an image acquisition module, a waist mechanism and four walking mechanisms, among which: One end of the six-degree-of-freedom mechanical arm is mounted on the main control box and the other end is mounted on the image acquisition module, so as to drive the image acquisition module to move to acquire images of target components on the bottom and side of the subway vehicle; The waist mechanism is provided with two and they are arranged at the front end of the main control box respectively; Each waist mechanism comprises a waist joint motor and a waist joint, wherein the waist joint motor is mounted on the main control box and the motor shaft of the waist joint motor is connected to the waist joint, and the waist joint is vertically arranged; For each walking mechanism, each of them includes a connecting seat, a hip joint motor, a hip joint, a thigh, a knee joint motor, a knee joint and a calf, wherein the hip joint motor is installed on the connecting seat, and the hip joint motor is connected to the thigh through the hip joint, and is used to drive the thigh to rotate, the knee joint motor is installed on the thigh, and the knee joint motor is connected to the calf through the knee joint, and is used to drive the calf to rotate, wherein the hip joint and the knee joint are both arranged horizontally; A connecting seat of the running mechanism is respectively installed on the waist joint of each waist mechanism, and the connecting seats of the other two running mechanisms are installed on the main control box, and the connecting seats of the four running mechanisms are arranged in a rectangular shape; The main control box includes a box shell and a robot mainboard, acquisition system hardware, motor driver and main controller installed in the box shell. The main controller is connected to the robot mainboard, acquisition system hardware and motor driver respectively to coordinate the operation of each running mechanism, the six-degree-of-freedom mechanical arm and the image acquisition module, and to enable the inspection robot to accurately locate the parking position of the inspected subway vehicle. The main controller is connected to the comprehensive data detection service platform to transmit the image data to the comprehensive data detection service platform in real time for analysis and processing; and The comprehensive data detection service platform analyzes and identifies the image data transmitted from the main controller, and identifies the abnormal status of the target components under and on the side of the vehicle through pattern recognition, feature matching and deep learning, thereby generating a maintenance report and a corresponding work plan, and arranging relevant operating personnel or inspection robots to perform re-inspection tasks according to the work plan, and finally writing the maintenance report into the subway vehicle file management system of the comprehensive data detection service platform for record.

2. The four-legged walking inspection robot used in a subway vehicle inspection depot according to claim 1 is characterized in that: The main controller transmits the image data to the comprehensive data detection service platform in real time through the wireless AP mode.

3. The four-legged walking inspection robot used in a subway vehicle inspection depot according to claim 1 is characterized in that: The main control box also includes an intermediate mounting seat, on which the waist joint motors of each running mechanism are mounted, and the six-degree-of-freedom robotic arm is also mounted.

4. The four-legged walking inspection robot used in a subway vehicle inspection depot according to claim 1 is characterized in that: The image acquisition module includes an image collector, and the image collector includes a two-dimensional image collector and / or a three-dimensional image collector.

5. The four-legged walking inspection robot used in a subway vehicle inspection depot according to claim 4 is characterized in that: The image acquisition module also includes a searchlight.

6. The four-legged walking inspection robot used in a subway vehicle inspection depot according to claim 1 is characterized in that: It also includes a panoramic scanning camera, which is installed on the main control box to cooperate with the main control box to locate the position of the subway vehicle and control the movement of the running mechanism to avoid obstacles and go up and down the ditch through the running mechanism.

7. The four-legged walking inspection robot used in a subway vehicle inspection depot according to claim 6 is characterized in that: After completing the image acquisition of a subway vehicle, the inspection robot receives the maintenance task for the next subway vehicle from the comprehensive data detection service platform. The main control box generates the shortest route for the transfer trench, determines the nearest maintenance column through the panoramic scanning camera and reaches the maintenance column. The inspection robot turns on the spot, climbs up the steps next to the maintenance column through the running mechanism, passes through the aisle between the two maintenance lines, and goes down from the steps of the other maintenance line into the other trench to start the maintenance task of the trench.

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