A detachable mother-child structure robot system and inspection method

Abstract

The present invention belongs to the field of EMU inspection and robot technology, and discloses a detachable mother-child structure robot system and inspection method. The detachable mother-child structure robot system includes a rail trolley and a mobile mechanical arm. The rail trolley is provided with a first inspection component and a first positioning component, and the rail trolley performs bottom inspection on the EMU; the mobile mechanical arm is provided with a second inspection component, a second positioning component and a third inspection component; during bottom inspection, the two mobile mechanical arms are respectively located at the front and rear ends of the rail trolley, and during side inspection, the two mobile mechanical arms are separated from the rail trolley and walk along the two sides of the EMU for side inspection. The present invention realizes that the mobile mechanical arm and its second inspection component are shared by the bottom inspection and the side inspection by arranging a detachable mobile mechanical arm on the rail trolley, thereby solving the problems of high cost and single function of rail transit inspection robots.

Description

Technical Field

[0001] The invention relates to the field of train inspection and robot technology, and in particular to a detachable mother-child structure robot system and an inspection method. Background Art

[0002] With the continuous development of the rail transit industry, the demand for railway safety inspections has increased. For EMUs, both the bottom and sides need to be inspected, and the operating range is large. If manual inspections are used, the efficiency is relatively low and the on-site environment is relatively harsh. Therefore, a more intelligent inspection system and method is needed.

[0003] In the prior art, inspection robots are usually used to inspect EMUs, and acquisition sensors are used to collect and analyze images of inspection points during the inspection process. However, for the inspection system and method of the bottom and side of the EMU, the prior art uses two independent systems and two inspection methods to realize the bottom and side inspections respectively. Such a system not only has a great waste of hardware resources and a complex device, but also the development cost of the two systems and inspection methods is also very high, which greatly increases the maintenance cost of rail transit vehicles. Summary of the invention

[0004] The first object of the present invention is to provide a detachable mother-child structure robot system to solve the problems of high cost and single function of rail transit inspection robots.

[0005] The second object of the present invention is to provide a detachable mother-child structure robot inspection method to solve the problem of high inspection costs caused by the need for two sets of equipment to inspect the bottom and sides of the EMU respectively during the rail transit inspection process.

[0006] To achieve the first objective, the present invention provides a detachable mother-child structure robot system, comprising:

[0007] A rail trolley, wherein the rail trolley is provided with a first inspection component and a first positioning component, and the rail trolley is located on an inspection track below the EMU to perform bottom inspection on the EMU;

[0008] The mobile mechanical arms are provided with two, and the mobile mechanical arms are provided with a second inspection component, a second positioning component and a third inspection component; when conducting a bottom inspection of the EMU, the two mobile mechanical arms are respectively located at the front end and the rear end of the rail-mounted trolley; when conducting a side inspection of the EMU, the two mobile mechanical arms are separated from the rail-mounted trolley and move along the two sides of the EMU for side inspection.

[0009] Optionally, two groups of retractable pads are respectively provided at the front and rear ends of the rail trolley. When the mobile robotic arm is located on the rail trolley, the two groups of retractable pads are in a retracted state. When the two groups of retractable pads are unfolded and extended toward both sides of the rail trolley, a connecting channel can be established between the road surfaces on both sides of the inspection track. The mobile robotic arm can reach both sides of the EMU through the connecting channel to perform side inspection.

[0010] Optionally, the detachable mother-child structure robot system also includes a vehicle-mounted computing platform, which is arranged on the rail-mounted trolley, and the vehicle-mounted computing platform can be communicatively connected with the first inspection component, the first positioning component and the second inspection component.

[0011] Optionally, the detachable mother-child structure robot system further includes a cleaning mechanism, which is fixed on the rail-mounted trolley and arranged at the front end and the rear end of the rail-mounted trolley, and the cleaning mechanism is arranged corresponding to the inspection track.

[0012] Optionally, the mobile mechanical arm is provided with a mobile computing platform, and the mobile computing platform is communicatively connected with the second inspection component, the second positioning component and the third inspection component.

[0013] Optionally, the first positioning component and the second positioning component both include multiple 2D cameras, multiple 3D cameras and multiple ranging sensors.

[0014] Optionally, the first inspection component, the second inspection component and the third inspection component all include a microphone, a plurality of the 2D cameras and a plurality of the 3D cameras.

[0015] Optionally, the second inspection component is arranged at the top end of the mobile mechanical arm, the second positioning component and the third inspection component are arranged at the base of the mobile mechanical arm, and the bottom end of the mobile mechanical arm is fixed on the base.

[0016] The detachable mother-child structure robot system of the present invention has a detachable mobile mechanical arm arranged on the rail trolley. During side inspection, the mobile mechanical arm can leave the rail trolley, so that the mobile mechanical arm and its second inspection component are shared by the undercarriage inspection and the side inspection, thereby solving the problems of high cost and single function of rail transit inspection robots.

[0017] To achieve the second purpose, the present invention provides a detachable mother-child structure robot inspection method. According to the detachable mother-child structure robot system provided by the present invention, the detachable mother-child structure robot inspection method comprises the following steps:

[0018] S1, the rail car moves along the inspection track from the starting point under the vehicle to the end point under the vehicle, the first positioning component locates the starting point under the vehicle and the end point under the vehicle respectively, and the first inspection component performs a single inspection on the vehicle bottom;

[0019] S2, the rail trolley moves forward to the end point under the vehicle and then moves backward, the first positioning component locates the undercarriage inspection position of the EMU, and the second inspection component performs a secondary undercarriage inspection on the undercarriage inspection position;

[0020] S3, the rail trolley moves in the reverse direction and stops after reaching the starting point of the bottom of the vehicle, and the mobile mechanical arm separates from the rail trolley and moves to the side of the EMU;

[0021] S4, the mobile mechanical arm moves from the side starting point to the side end point, the second positioning component positions the side starting point and the side end point of the EMU respectively, and the third inspection component performs a side inspection of the EMU;

[0022] S5, the mobile mechanical arm moves in the reverse direction after reaching the side end point, the second positioning component positions the side inspection position of the EMU, and the second inspection component performs a secondary side inspection on the side inspection position;

[0023] S6, the mobile mechanical arm moves in the reverse direction to the starting point of the side surface and then stops, and the mobile mechanical arm returns to the rail trolley.

[0024] Optionally, in step S1 and step S2, when the rail-guided trolley is moving forward and backward, the cleaning mechanisms at both ends of the rail-guided trolley are in an activated state, and the cleaning mechanisms clean the inspection track.

[0025] Beneficial effects of the present invention:

[0026] The detachable mother-child structure robot inspection method of the present invention is achieved by arranging a detachable mobile mechanical arm on the rail car. During the under-vehicle inspection, the second inspection component on the mobile mechanical arm can perform a secondary under-vehicle inspection on the under-vehicle inspection position. During the side inspection, the second inspection component on the mobile mechanical arm can perform a secondary side inspection on the side inspection position. Therefore, the utilization rate of the mobile mechanical arm is realized, which is convenient for reducing the total cost of under-vehicle inspection and side inspection and improving the inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of a detachable mother-child structure robot system of the present invention (the retractable pad is extended);

[0028] Figure 2It is a structural schematic diagram of a detachable mother-child structure robot system of the present invention (the retractable pad is retracted);

[0029] Figure 3 It is a structural schematic diagram of a mobile mechanical arm in a detachable mother-child structure robot system of the present invention;

[0030] Figure 4 It is a flow chart of a detachable mother-child structure robot inspection method of the present invention.

[0031] In the figure:

[0032] 1. Rail-mounted trolley; 11. First positioning assembly; 12. First inspection assembly; 13. Retractable pad; 14. Cleaning mechanism; 15. Anti-collision laser radar;

[0033] 2. Mobile robotic arm; 21. Second positioning component; 22. Second inspection component; 23. Third inspection component; 24. Base; 25. Six-axis robotic arm. DETAILED DESCRIPTION

[0034] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0035] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0037] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0038] The embodiment of the present invention provides a detachable mother-child structure robot system and an inspection method. Through the detachable mother-child structure robot, when inspecting a high-speed train, a set of equipment can be used to separate functional modules as needed to realize separate inspections of the bottom and sides of the high-speed train, thereby helping to reduce the total cost of bottom and side inspections, reduce equipment costs, reduce manual participation, and improve inspection efficiency.

[0039] like Figure 1 As shown, an embodiment of the present invention provides a detachable mother-child structure robot system, including a rail trolley 1 and a mobile robotic arm 2. The rail trolley 1 is provided with a first inspection component 12 and a first positioning component 11, and the rail trolley 1 is located on the inspection track below the EMU to perform a bottom inspection of the EMU; two mobile robotic arms 2 are provided, and the mobile robotic arms 2 are provided with a second inspection component 22, a second positioning component 21 and a third inspection component 23; when performing a bottom inspection of the EMU, the two mobile robotic arms 2 are respectively located at the front and rear ends of the rail trolley 1, and when performing a side inspection of the EMU, the two mobile robotic arms 2 are separated from the rail trolley 1 and walk along the two sides of the EMU to perform a side inspection.

[0040] It should be explained that the rail trolley 1 is also called a rail guided vehicle, or RGV (Rail Guided Vehicle). The front end and rear end of the rail trolley 1 are respectively the front and rear ends relative to the walking direction of the rail trolley 1 along the inspection track. Since the rail trolley 1 has forward and reverse walking during the inspection process, the front end and rear end are symmetrically arranged and can be interchanged. The detachable mother-child structure robot system of the present invention is provided with a detachable mobile mechanical arm 2 on the rail trolley 1. During the side inspection, the mobile mechanical arm 2 can leave the rail trolley 1, so that the mobile mechanical arm 2 and the second inspection component 22 arranged thereon are shared for the underbody inspection and the side inspection, thereby solving the problems of high cost and single function of the rail transit inspection robot. According to the inspection needs of the EMU, a trench is set at the bottom of the EMU, and an inspection track is set in the trench. The railcar 1 is set on the inspection track and can move along the inspection track. The first positioning component 11 is used to locate the starting point and the end point of the bottom of the vehicle during the bottom inspection, so as to determine the two ends of the bottom inspection, and is also used to locate the bottom inspection position, that is, the bogie position, during the vehicle inspection; the first inspection component 12 performs a bottom inspection during the forward movement of the railcar 1, including collecting image information and voiceprint data, etc. The second inspection component 22 can locate the bottom inspection position, that is, the bogie position. The bogie performs a secondary inspection on the bottom of the vehicle, including collecting detailed inspection information of the bogie; when it is necessary to inspect the side of the EMU, the mobile mechanical arm 2 is separated from the rail trolley 1, and the mobile mechanical arm 2 moves to the side of the EMU. The second positioning component 21 locates the side starting point and the side end point, and locates the side inspection position. The mobile mechanical arm 2 walks along the side of the EMU and performs a primary side inspection through the third inspection component 23. The second inspection component 22 can perform a secondary side inspection on the side inspection position to obtain detailed inspection information of the side inspection position. Furthermore, the mobile mechanical arm 2 has its own mobile drive mechanism, which is not described in detail in this embodiment. When the mobile mechanical arm 2 is located at both ends of the rail trolley 1, a simple fixing device can be used to fix the mobile mechanical arm 2 so that it can be stably and reliably installed and fixed during the inspection under the vehicle. The specific installation and positioning method can adopt conventional technology, which is not specifically limited in the embodiment of the present invention.

[0041] Optionally, two groups of retractable pads 13 are respectively provided at the front and rear ends of the rail trolley 1. When the mobile robotic arm 2 is located on the rail trolley 1, the two groups of retractable pads 13 are in a retracted state. When the two groups of retractable pads 13 are unfolded and extended toward both sides of the rail trolley 1, a connecting channel can be established between the road surfaces on both sides of the inspection track. The mobile robotic arm 2 can reach both sides of the EMU through the connecting channel to perform side inspections.

[0042] It can be understood that the retractable pad 13 is a part of the rail trolley 1, which is unfolded or extended when the mobile robotic arm 2 is separated from the rail trolley 1, and retracted when the mobile robotic arm 2 returns to the rail trolley 1. During the inspection of the bottom of the vehicle, the rail trolley 1 is located on the inspection track in the ditch. To achieve side inspection, it is necessary to separate the mobile robotic arm 2 in the ditch from the rail trolley 1 and move it to the side of the EMU. By setting a retractable pad 13 on the rail trolley 1, when the mobile robotic arm 2 needs to move, the retractable pad 13 is controlled to extend to both sides of the rail trolley 1 to the road surface on both sides to establish a connecting channel, which is convenient for the movement of the mobile robotic arm 2. As a preferred solution, the retractable pad 13 is set at the same height as the rail trolley 1 and the road surface on both sides of the inspection track, so that when the retractable pad 13 is extended, a horizontal connecting channel between the road surface and the retractable pad 13 is formed, which is convenient for the movement of the mobile robotic arm 2. Figure 1 FIG. 1 is a schematic diagram showing the extended state of the retractable pad 13. Figure 2 The telescopic pad 13 is a schematic diagram of the retracted state. The telescopic control of the telescopic pad 13 can be conventional manual control or electric drive control sliding control, which is not limited in the embodiment of the present invention. The extension distance of the telescopic pad 13 is set based on the distance between the inspection track and the road surface. Generally, the telescopic pad 13 can be overlapped on the road surface on both sides after being extended. The two mobile mechanical arms 2 move to the two sides of the EMU respectively.

[0043] Optionally, the detachable mother-child structure robot system also includes a vehicle-mounted computing platform, which is arranged on the rail vehicle 1 and can be communicated with the first inspection component 12, the first positioning component 11 and the second inspection component 22.

[0044] The information collected by the first inspection component 12, the first positioning component 11 and the second inspection component 22 are all uploaded to the on-board computing platform. The on-board computing platform can obtain the starting point and the end point of the bottom of the vehicle of the EMU based on the information collected by the first positioning component 11, so as to control the travel distance of the rail vehicle 1. After the rail vehicle 1 starts to move, the on-board computing platform controls the first inspection component 12 to start a bottom inspection, including image collection of the bottom of the vehicle, and saves it. After the rail vehicle 1 moves in the reverse direction, the on-board computing platform controls the first inspection component 12 to stop working, and starts the second inspection component 22 to perform a second bottom inspection, mainly for the bottom inspection positions such as the bogie at the bottom of the vehicle to perform more detailed and comprehensive inspection information collection, including but not limited to image collection and voiceprint data collection, and saves it. The on-board platform can control the bottom inspection process of the rail vehicle 1, and at the same time, the on-board computing platform can communicate with the remote control center for remote monitoring. As a supplementary explanation, the front and rear ends of the rail car 1 are respectively provided with anti-collision laser radars 15, and are communicatively connected to the on-board computing platform. The anti-collision laser radars 15 can detect obstacles at the front and rear ends of the rail car 1, so as to facilitate timely alarm and disposal of obstacles, thereby improving the safety of the rail car 1 during the inspection process.

[0045] Optionally, the detachable mother-child structure robot system further includes a cleaning mechanism 14, which is fixed on the rail-mounted trolley 1 and disposed at the front and rear ends of the trolley, and the cleaning mechanism 14 is disposed corresponding to the inspection track.

[0046] like Figure 1 As shown, the cleaning mechanism 14 is activated during the movement of the rail trolley 1. The cleaning mechanism 14 is arranged at the front and rear ends of the rail trolley 1, and can clean and polish the inspection track when the rail trolley 1 is moving forward and backward, so as to keep the inspection track rust-free, clean and free of impurities. The cleaning mechanism 14 operates synchronously with the rail trolley 1, and there is no need for manual cleaning of the inspection track, which saves labor and improves inspection efficiency.

[0047] Optionally, the mobile mechanical arm 2 is provided with a mobile computing platform, and the mobile computing platform is communicatively connected with the second inspection component 22 , the second positioning component 21 and the third inspection component 23 .

[0048] When the mobile manipulator 2 performs a side inspection of the EMU, the mobile computing platform acts as a control center and works in the same way as the on-board computing platform. It is used to control the movement of the mobile manipulator 2 and the operation of the second positioning component 21, the second inspection component 22, and the third inspection component 23, and processes and saves the inspection information. The mobile computing platform communicates with the remote control center to facilitate remote monitoring of the mobile manipulator 2. Both the on-board computing platform and the mobile computing platform deploy a lightweight target detection network to achieve positioning calculations during the inspection process.

[0049] Optionally, the first positioning component 11 and the second positioning component 21 each include a plurality of 2D cameras, a plurality of 3D cameras and a plurality of ranging sensors.

[0050] like Figure 1 As shown, the first positioning component 11 is used to position the bottom of the EMU, so the first positioning component 11 is arranged on the top of the rail car 1 and is symmetrically arranged along both sides. When multiple distance measuring sensors are used for positioning, the multiple distance measuring sensors are laser distance measuring sensors, and the laser beam is vertically directed upward to the bottom of the car, or two laser beams are directed to each other to position the bogie wheels. The second positioning component 21 is used to position the side of the EMU, so the second positioning component 21 is arranged on the side of the mobile mechanical arm 2, and is positioned during the walking process of the mobile mechanical arm 2, so as to facilitate the inspection operation of the second inspection component 22 and the third inspection component 23. When multiple distance measuring sensors are used, the distance measuring sensors are laser distance measuring sensors, and the laser beam is directed to the side of the EMU.

[0051] Optionally, the first inspection component 12, the second inspection component 22 and the third inspection component 23 all include multiple 2D cameras and multiple 3D cameras, and also include microphones. It is possible to collect images and voiceprint data from the bottom and sides of the EMU to achieve bottom inspection and side inspection. The first inspection component 12 is arranged on the top of the rail vehicle 1, the third inspection component 23 and the second positioning component 21 are arranged on the same side of the mobile mechanical arm 2, and the second inspection component 22 is arranged on the top of the mobile mechanical arm 2. The number and position of multiple 2D cameras, multiple 3D cameras, and microphones are not limited and can be set according to inspection needs.

[0052] Optionally, the second inspection component 22 is disposed at the top of the mobile mechanical arm 2 , the second positioning component 21 and the third inspection component 23 are disposed at the base 24 of the mobile mechanical arm 2 , and the bottom end of the mobile mechanical arm 2 is fixed on the base 24 .

[0053] like Figure 3 As shown, the mobile robot 2 includes a base 24 and a six-axis robot 25. The bottom end of the six-axis robot 25 is fixed on the base 24. The base 24 is provided with moving wheels for the overall movement of the mobile robot 2. The top of the six-axis robot 25 is provided with a second inspection component 22, which is convenient for adjusting and controlling the multi-position inspection of the second inspection component 22 and collecting information parameters such as multi-angle images.

[0054] According to the detachable mother-child structure robot system provided by the present invention, in order to simultaneously inspect the bottom and side of the rail transit EMU, as shown in FIG. Figure 4 As shown, this embodiment also provides a detachable mother-child structure robot inspection method, comprising the following steps:

[0055] S1, the rail vehicle 1 moves along the inspection track from the starting point under the vehicle to the end point under the vehicle, the first positioning component 11 locates the starting point under the vehicle and the end point under the vehicle respectively, and the first inspection component 12 performs a single inspection on the vehicle bottom;

[0056] S2, the rail vehicle 1 moves forward to the end point under the vehicle and then moves backward, the first positioning component 11 locates the undercarriage inspection position of the EMU, and the second inspection component 22 performs a secondary undercarriage inspection on the undercarriage inspection position;

[0057] S3, the rail trolley 1 moves in the reverse direction and stops after reaching the starting point at the bottom of the vehicle, and the mobile mechanical arm 2 separates from the rail trolley 1 and moves to the side of the EMU;

[0058] S4, the mobile mechanical arm 2 moves from the side starting point to the side end point, the second positioning component 21 positions the side starting point and the side end point of the EMU respectively, and the third inspection component 23 performs a side inspection of the EMU;

[0059] S5, the mobile robot arm 2 moves in the opposite direction after reaching the side end point, the second positioning component 21 positions the side inspection position of the EMU, and the second inspection component 22 performs a secondary side inspection on the side inspection position;

[0060] S6, the mobile robot arm 2 moves in the opposite direction to the starting point on the side and then stops, and the mobile robot arm 2 returns to the rail vehicle 1.

[0061] A detachable mother-child structure robot inspection method of the present embodiment is achieved by setting a detachable mobile robotic arm 2 on the rail car 1. During the under-vehicle inspection, the second inspection component 22 on the mobile robotic arm 2 can perform a secondary under-vehicle inspection on the under-vehicle inspection position. During the side inspection, the second inspection component 22 on the mobile robotic arm 2 can perform a secondary side inspection on the side inspection position. Therefore, the utilization rate of the mobile robotic arm 2 is realized, which is convenient for reducing the total cost of under-vehicle inspection and side inspection and improving the inspection efficiency.

[0062] It should be noted that the forward walking of the rail trolley 1 and the mobile robotic arm 2 is a continuous walking process. The first inspection component 12 continuously collects multiple images and voiceprint data of the bottom of the vehicle, and the third inspection component 23 continuously collects multiple images and voiceprint data of the side, and uploads them to the vehicle-mounted computing platform and the mobile computing platform respectively, so as to provide the information of the starting point and the end point for the reverse walking inspection, thereby improving the inspection efficiency. The reverse walking of the rail trolley 1 and the mobile robotic arm 2 is an intermittent walking process. The rail trolley 1 interrupts the walking at the bottom inspection position. At this time, the second inspection component 22 performs a secondary inspection of the bottom of the vehicle on the bottom inspection position to obtain detailed inspection information, and each bottom inspection position performs a separate secondary inspection of the bottom of the vehicle. The mobile robotic arm 2 interrupts the walking at the side inspection position. At this time, the second inspection component 22 performs a secondary inspection of the side inspection position to obtain detailed inspection information, and each side inspection position performs a separate secondary inspection of the side.

[0063] Optionally, in step S1 and step S2, when the railcar 1 is moving forward and backward, the cleaning mechanisms 14 at both ends of the railcar 1 are in the start-up state, and the cleaning mechanisms 14 clean the inspection track. It can be understood that this embodiment realizes cleaning during the inspection process, saves the preparatory work before the inspection and the post-inspection post-inspection post-processing work, greatly improves the inspection efficiency, helps to reduce the labor intensity of manual labor, and reduces the inspection cost.

[0064] The detachable parent-child structure robot inspection method provided by the present invention can simultaneously meet the requirements of bottom and side inspection tasks of rail transit vehicles, realize dual use of one machine, and reduce the maintenance cost of rail transit vehicles.

[0065] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. 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 claims of the present invention.

Claims

1. A detachable mother-child structure robot system, characterized in that: include: A rail trolley (1), wherein the rail trolley (1) is provided with a first inspection component (12) and a first positioning component (11), and the rail trolley (1) is located on an inspection track below a motor vehicle group to perform bottom inspection on the motor vehicle group; The mobile mechanical arm (2) is provided with two mobile mechanical arms (2), and the mobile mechanical arms (2) are provided with a second inspection component (22), a second positioning component (21) and a third inspection component (23); when performing a bottom inspection of the EMU, the two mobile mechanical arms (2) are respectively located at the front end and the rear end of the rail-mounted trolley (1); when performing a side inspection of the EMU, the two mobile mechanical arms (2) are separated from the rail-mounted trolley (1) and move along the two sides of the EMU to perform a side inspection. Inspection; the front and rear ends of the rail trolley (1) are respectively provided with two groups of retractable pads (13); when the mobile mechanical arm (2) is located on the rail trolley (1), the two groups of retractable pads (13) are in a retracted state; when the two groups of retractable pads (13) are extended toward both sides of the rail trolley (1), a connection channel can be established between the road surfaces on both sides of the inspection track, and the mobile mechanical arm (2) can reach both sides of the EMU through the connection channel to perform side inspection; A cleaning mechanism (14), the cleaning mechanism (14) being fixed on the rail-mounted trolley (1) and arranged at the front end and the rear end of the rail-mounted trolley (1), the cleaning mechanism (14) being arranged corresponding to the inspection track, the cleaning mechanism (14) and the rail-mounted trolley (1) operating synchronously, eliminating the need for manual cleaning of the inspection track, thereby saving manpower and improving inspection efficiency; The second inspection component (22) is arranged at the top end of the mobile mechanical arm (2), the second positioning component (21) and the third inspection component (23) are arranged at the base (24) of the mobile mechanical arm (2), and the bottom end of the mobile mechanical arm (2) is fixed on the base (24).

2. The detachable mother-child structure robot system according to claim 1, characterized in that: The detachable mother-child structure robot system also includes a vehicle-mounted computing platform, which is arranged on the rail vehicle (1) and is capable of communicating with the first inspection component (12), the first positioning component (11) and the second inspection component (22).

3. The detachable mother-child structure robot system according to claim 1, characterized in that: The mobile mechanical arm (2) is provided with a mobile computing platform, and the mobile computing platform is communicatively connected with the second inspection component (22), the second positioning component (21) and the third inspection component (23).

4. The detachable mother-child structure robot system according to claim 1, characterized in that: The first positioning component (11) and the second positioning component (21) both include a plurality of 2D cameras, a plurality of 3D cameras and a plurality of distance measuring sensors.

5. The detachable mother-child structure robot system according to claim 4, characterized in that: The first inspection component (12), the second inspection component (22) and the third inspection component (23) all include a microphone, a plurality of the 2D cameras and a plurality of the 3D cameras.

6. A detachable mother-child structure robot inspection method, characterized in that: According to the detachable mother-child structure robot system according to any one of claims 1 to 5, the detachable mother-child structure robot inspection method comprises the following steps: S1, the rail vehicle (1) moves along the inspection track from the starting point under the vehicle to the end point under the vehicle, the first positioning component (11) respectively locates the starting point under the vehicle and the end point under the vehicle, and the first inspection component (12) performs a first inspection on the vehicle under the EMU; S2, the rail vehicle (1) moves forward and reaches the end point under the vehicle and then moves backward, the first positioning component (11) locates the undercarriage inspection position of the EMU, and the second inspection component (22) performs a secondary undercarriage inspection on the undercarriage inspection position; S3, the rail trolley (1) moves in the reverse direction and stops after reaching the starting point of the bottom of the vehicle, and the mobile mechanical arm (2) separates from the rail trolley (1) and moves to the side of the EMU; S4, the mobile mechanical arm (2) moves from the side starting point to the side end point, the second positioning component (21) respectively positions the side starting point and the side end point of the EMU, and the third inspection component (23) performs a side inspection on the EMU; S5, the mobile mechanical arm (2) moves in the reverse direction after reaching the side end point, the second positioning component (21) positions the side inspection position of the EMU, and the second inspection component (22) performs a secondary side inspection on the side inspection position; S6, the mobile mechanical arm (2) moves in the reverse direction to the starting point of the side surface and then stops, and the mobile mechanical arm (2) returns to the rail-mounted trolley (1).

7. The inspection method of the detachable parent-child structure robot according to claim 6, characterized in that: In step S1 and step S2, when the rail-guided trolley (1) moves forward and backward, the cleaning mechanisms (14) at both ends of the rail-guided trolley (1) are in an activated state, and the cleaning mechanisms (14) clean the inspection track.

Images