Subway bottom inspection intelligent robot

Abstract

The invention provides a subway bottom inspection intelligent robot, and particularly relates to the technical field of detection equipment, the subway bottom inspection intelligent robot comprises a cooperative mechanical arm module, a transverse moving module, a lifting module and a control module, the transverse moving module comprises a linear module and a linear guide rail, the linear module and the linear guide rail are fixedly connected with the top of the control module, the number of the transverse moving modules is at least two, and the two transverse moving modules are arranged on the two sides of the top of the control module correspondingly; the two lifting modules are arranged at the tops of the two transverse moving modules and movably connected with the linear module and the linear guide rail, the cooperative mechanical arm module comprises two mechanical arms, and the bottoms of the two mechanical arms are fixed to the two lifting modules correspondingly. The control module is used for driving the transverse moving module and the lifting module to operate and driving the two mechanical arms to work, the robot can adapt to different areas of the bottom of a vehicle and vehicles of different models, and inspection can be conducted within the whole range of the bottom of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of detection equipment, and in particular to an intelligent robot for subway bottom inspection. Background Art

[0002] As an important part of fast and convenient urban rail transit, the subway is one of the important means of transportation that is indispensable for people's daily life, work and production. It has the characteristics of dense lines, a large number of running vehicles and huge passenger flow.

[0003] At present, the bottom inspection of most urban transportation vehicles is still mainly completed manually, and the bottom inspection of subway vehicles is still in the layout planning stage. Inspection robots have appeared for subway bottom inspection, but most of them are still in the experimental stage. The relevant functions and technologies are not very mature, and can only cover a partial range of the bottom of subway vehicles.

[0004] In view of this, the present invention provides an intelligent inspection robot capable of performing full-range inspection on the bottom of a subway vehicle. Summary of the invention

[0005] In order to solve the problem that the existing subway bottom inspection intelligent robot can only inspect a partial range, the present invention proposes a subway bottom inspection intelligent robot.

[0006] The present invention is achieved through the following technical solutions:

[0007] The present invention proposes that the subway bottom inspection intelligent robot includes a collaborative mechanical arm module, a lateral movement module, a lifting module and a control module, wherein:

[0008] The lateral movement module includes a linear module and a linear guide rail, the linear module and the linear guide rail are fixedly connected to the top of the control module, at least two lateral movement modules are provided, and the two lateral movement modules are respectively provided on both sides of the top of the control module;

[0009] The two lifting modules are arranged on the top of the two lateral moving modules and are movably connected to the linear module and the linear guide rail. The collaborative robot arm module includes two robot arms, and the bottoms of the two robot arms are fixed to the two lifting modules respectively.

[0010] Furthermore, it also includes a chassis module, which is arranged at the bottom of the control module, the chassis module is fixedly connected to the control module, and a plurality of sensors are arranged on the chassis module.

[0011] Furthermore, it also includes a cleaning module, which includes a motor and a brush. The motor is fixed to an output end of one of the robot arms, and the brush is fixed to a driving end of the motor.

[0012] Furthermore, it also includes a vision module, which includes a structured light camera, a light source and a binocular vision camera, and the structured light camera, the light source and the binocular vision camera are respectively fixed to the output end of another of the robotic arms.

[0013] Furthermore, the control module is used for automatic control and data collection of the robot.

[0014] Furthermore, the robotic arm has at least six degrees of freedom.

[0015] Beneficial effects of the present invention:

[0016] (1) The subway bottom inspection intelligent robot proposed in the present invention can use the control module to drive the lateral movement module, the lifting module to operate and drive the two mechanical arms to operate, can adapt to different areas and different models of vehicles under the vehicle, and can inspect the entire range of the vehicle bottom.

[0017] (2) The subway bottom inspection intelligent robot proposed in the present invention utilizes two robotic arms to collaborate, one robotic arm is equipped with a visual module, and the other robotic arm is equipped with a cleaning module. The visual module identifies problems such as loose bolts, cracks, foreign matter, and loss of worn parts, and the cleaning module identifies and cleans dust, thereby better completing vehicle inspections.

[0018] (3) The subway bottom inspection intelligent robot proposed in the present invention has a high-accuracy 2D and 3D vision module, and also has a chassis module with high-precision autonomous positioning and navigation functions, which can enable the robot to have higher positioning accuracy and better environmental adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is the overall structure diagram of the subway bottom inspection intelligent robot of the present invention;

[0020] In the figure: chassis module 1, control module 2, lateral movement module 3, linear module 31, linear guide rail 32, lifting module 4, collaborative robot arm module 5, vision module 6, binocular vision camera 61, light source 62, structured light camera 63, cleaning module 7, brush 71, motor 72;

[0021] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0022] In order to more clearly and completely illustrate the technical solution of the present invention, the present invention is further described below in conjunction with the accompanying drawings.

[0023] Please refer to Figure 1 The present invention proposes a subway bottom inspection intelligent robot including a collaborative mechanical arm module 5, a lateral movement module 3, a lifting module 4 and a control module 2, wherein:

[0024] The lateral movement module 3 includes a linear module 31 and a linear guide rail 32. The linear module 31 and the linear guide rail 32 are fixedly connected to the top of the control module 2. At least two lateral movement modules 3 are provided. The two lateral movement modules 3 are respectively provided on both sides of the top of the control module 2.

[0025] The two lifting modules 4 are arranged on the top of the two lateral moving modules 3 and are movably connected with the linear module 31 and the linear guide rail 32 . The collaborative robot arm module 5 includes two robot arms, and the bottoms of the two robot arms are fixed to the two lifting modules 4 respectively.

[0026] In a specific embodiment, the robotic arm is installed on the lifting module 4, and the lifting module 4 is installed on the lateral moving module 3. The lifting module 4 can drive the robotic arm to move vertically to increase the vertical operating range of the robotic arm. The lateral moving module 3 can drive the robotic arm to move horizontally to increase the lateral operating range of the robotic arm. The control module 2 drives the lateral moving module 3, the lifting module 4 and the two robotic arms to operate, which can adapt to different areas and different models of vehicles at the bottom of the vehicle, and can inspect the entire range of the bottom of the vehicle.

[0027] Furthermore, it also includes a chassis module 1, which is arranged at the bottom of the control module 2, the chassis module 1 is fixedly connected to the control module 2, and a plurality of sensors are arranged on the chassis module 1.

[0028] In a specific implementation, the chassis module 1, i.e., the AGV cart, can move. The chassis module 1 can map the robot's working environment in advance based on sensors, and then realize robot posture estimation and path planning through real-time perception of the environment by various sensors, thereby finally realizing autonomous positioning and navigation of the subway bottom detection robot.

[0029] Furthermore, a cleaning module 7 is included. The cleaning module 7 includes a motor 72 and a brush 71 . The motor 72 is fixed to an output end of a robot arm, and the brush 71 is fixed to a driving end of the motor 72 .

[0030] In a specific implementation, the motor 72 drives the brush 71 to clean the dust accumulation at the bottom of the vehicle, so as to facilitate more accurate identification and inspection by the visual module 6.

[0031] Furthermore, it also includes a vision module 6, which includes a structured light camera 63, a light source 62 and a binocular vision camera 61, and the structured light camera 63, the light source 62 and the binocular vision camera 61 are respectively fixed to the output end of another robot arm.

[0032] In a specific embodiment, the light source 62 is used to provide illumination for the structured light camera 63 and the binocular vision camera 61, and the structured light camera 63 and the binocular vision camera 61 recognize the image. The visual module 6 has high-accuracy 2D and 3D visual detection. At the same time, it is mainly used to identify related problems such as loose bolts, cracks, foreign objects, wear and tear, and missing parts. The visual module 6 is used to inspect the bottom of the vehicle.

[0033] In one embodiment, the present invention utilizes two robotic arms to collaborate, one robotic arm is equipped with a vision module 6, and the other robotic arm is equipped with a cleaning module 7. The vision module 6 identifies problems such as loose bolts, cracks, foreign matter, and loss of worn parts, and the cleaning module 7 identifies and cleans dust, thereby better completing vehicle inspections.

[0034] Furthermore, the control module 2 is used for automatic control and data collection of the robot.

[0035] In a specific implementation, the control module 2 is an industrial computer, which is connected to the chassis module 1, the lifting module 4, the lateral movement module 3, the visual module 6 and the cleaning module 7 to complete the automatic control of the entire robot and the collection of inspection data.

[0036] Furthermore, the robotic arm has at least six degrees of freedom.

[0037] In a specific implementation, the robotic arm in this application adopts two six-axis collaborative robotic arms, and the two six-axis collaborative robotic arms are arranged on both sides for collaboration. In the specific implementation, robotic arms with other degrees of freedom and a larger number of robotic arms can be selected according to actual conditions. The two robotic arms are physically coupled, and through communication or control, one robotic arm makes corresponding motion decisions for the actions of the other, thereby achieving collaborative completion of the task.

[0038] In summary, the subway bottom inspection intelligent robot proposed in the present invention can not only perform full-range inspection coverage on the bottom of subway vehicles, but also clean the dust on the bottom of the vehicle, reduce leaks caused by dust, replace manual inspection, and improve the inspection accuracy, subway safety and service life.

[0039] Of course, the present invention may have many other implementations. Based on this implementation, other implementations obtained by ordinary technicians in this field without any creative work are all within the scope of protection of the present invention.

Claims

1. A subway bottom inspection intelligent robot, characterized in that: It includes a collaborative robot arm module, a lateral movement module, a lifting module and a control module, wherein: The lateral movement module includes a linear module and a linear guide rail, the linear module and the linear guide rail are fixedly connected to the top of the control module, at least two lateral movement modules are provided, and the two lateral movement modules are respectively provided on both sides of the top of the control module; The two lifting modules are arranged on the top of the two lateral moving modules and are movably connected to the linear module and the linear guide rail. The collaborative robot arm module includes two robot arms, and the bottoms of the two robot arms are fixed to the two lifting modules respectively.

2. The subway bottom inspection intelligent robot according to claim 1 is characterized in that: It also includes a chassis module, which is arranged at the bottom of the control module, the chassis module is fixedly connected to the control module, and a plurality of sensors are arranged on the chassis module.

3. The subway bottom inspection intelligent robot according to claim 1 is characterized in that: It also includes a cleaning module, which includes a motor and a brush. The motor is fixed on an output end of the robot arm, and the brush is fixed on a driving end of the motor.

4. The subway bottom inspection intelligent robot according to claim 3 is characterized in that: It also includes a vision module, which includes a structured light camera, a light source and a binocular vision camera. The structured light camera, the light source and the binocular vision camera are respectively fixed to the output end of another of the robotic arms.

5. The subway bottom inspection intelligent robot according to claim 1 is characterized in that: The control module is used for automatic control and data collection of the robot.

6. The subway bottom inspection intelligent robot according to claim 1 is characterized in that: The robotic arm has at least six degrees of freedom.

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