Rail transit vehicle inspection robot and positioning system and method thereof

Abstract

The invention discloses a rail transit vehicle inspection robot and a positioning system and method.The rail transit vehicle inspection robot comprises a peripheral sensing unit, an execution unit and a body sensing unit, and the peripheral sensing unit is used for scanning and obtaining spatial data of the current inspection robot and sending the spatial data to an external industrial control host; the industrial control host carries out environment mapping according to the spatial data and sends a control signal according to the environment mapping information and the position data of the to-be-detected piece; the execution unit is used for sending driving signals for adjusting poses of the inspection robot according to the control signals; and the body sensing unit is used for adjusting the pose of the inspection robot under the driving of the driving signal, so that the inspection robot walks and moves to the position of the to-be-inspected part to inspect the to-be-inspected part. According to the invention, through acquisition, processing analysis and real-time feedback of the spatial position data of the inspection robot, high-precision mapping and positioning of the inspection robot are realized, and the intelligent level and the collaborative operation level are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transit vehicle maintenance, and in particular to a rail transit vehicle inspection robot and a positioning system and method thereof. Background Art

[0002] With the vigorous development of urban rail transit in my country, the number of subway vehicles and their maintenance pressure are increasing. The daily inspection of urban rail transit vehicles in the depot / parking lot is a key link to ensure its safe operation. The high density of urban rail transit vehicles and the large number of inspection points lead to a huge amount of inspection work. At the same time, the current inspection of urban rail vehicles in my country is mainly manual, which forces each operating unit to invest a lot of manpower in the inspection.

[0003] In recent years, intelligent inspection robots have been widely used in related industries at home and abroad due to their significant technical advantages. However, due to technical difficulties such as the low positioning accuracy of robots, the application of intelligent inspection robots in the field of rail transit vehicle operation and maintenance is still immature. Therefore, improving the positioning accuracy of inspection robots can provide a basis for multi-track operations and collaborative operations, and thus realize high-precision, high-efficiency and intelligent inspection of urban rail transit vehicles. Summary of the invention

[0004] The present invention aims to solve the technical problems in the related art at least to a certain extent. To this end, the first object of the present invention is to provide a rail transit vehicle inspection robot, which can achieve high-precision, high-efficiency and intelligent inspection.

[0005] A second object of the present invention is to provide a rail transit vehicle inspection robot positioning system.

[0006] The third object of the present invention is to provide a positioning method for a rail transit vehicle inspection robot.

[0007] To achieve the above object, the present invention is implemented through the following technical solutions:

[0008] A rail transit vehicle inspection robot, comprising:

[0009] The peripheral sensing unit is used to scan and obtain the spatial data of the current inspection robot and send it to an external industrial control host so that the industrial control host can map the environment according to the spatial data and send a control signal according to the environmental mapping information and the position data of the object to be inspected;

[0010] An execution unit, used for sending a driving signal for adjusting the posture of the inspection robot according to the control signal;

[0011] The proprioceptive sensing unit is used to adjust the posture of the inspection robot under the drive of the driving signal, realize the walking of the inspection robot, and move it to the position of the object to be inspected to inspect the object to be inspected.

[0012] Preferably, the spatial data includes distance data and image data of the space where the inspection robot is located.

[0013] Preferably, the distance data includes distance data between the inspection robot and buildings in the maintenance depot, subway vehicles and the parts to be inspected; and the image data includes image data of environmental information in the space where the inspection robot is located.

[0014] Preferably, the peripheral perception unit includes a laser radar and a Kinect, wherein the laser radar is used to scan and obtain distance data of the space where the inspection robot is located; and the Kinect is used to scan and obtain image data of the space where the inspection robot is located.

[0015] Preferably, the execution unit includes a robot controller and a drive motor, and the robot controller is used to receive the control signal and control the drive motor to send the drive signal.

[0016] Preferably, the proprioceptive sensing unit includes a gyroscope and an odometer, and the gyroscope and the odometer are respectively used to adjust the posture of the inspection robot and determine the displacement information of the inspection robot after receiving the driving signal.

[0017] Preferably, the proprioceptive perception unit is also used to upload the position and displacement information of the inspection robot to realize the storage of the working trajectory of the inspection robot.

[0018] To achieve the above-mentioned object, a second aspect of the present invention provides a rail transit vehicle inspection robot positioning system, comprising: an industrial control host; and the rail transit vehicle inspection robot described above.

[0019] Preferably, the industrial control host adopts ROS operating system.

[0020] To achieve the above object, the third aspect of the present invention provides a rail transit vehicle inspection robot positioning method, comprising:

[0021] Scan and obtain the spatial data of the current inspection robot;

[0022] Performing environmental mapping according to the spatial data, and sending a control signal according to the environmental mapping information and the position data of the object to be inspected;

[0023] Sending a drive signal for adjusting the posture of the inspection robot according to the control signal;

[0024] Driven by the driving signal, the inspection robot is adjusted in position and posture to realize walking of the inspection robot, and moves to the position of the object to be inspected to inspect the object to be inspected.

[0025] The present invention has at least the following technical effects:

[0026] (1) The present invention can achieve high-precision positioning of the inspection robot, which facilitates the accurate determination of the fault location during the inspection work of the inspection robot.

[0027] (2) The present invention can provide high-precision environmental mapping and positioning for the inspection robot, and can provide support for the coordinated operation of the inspection robot's steering gear.

[0028] (3) The application of the present invention can improve the inspection efficiency and reliability of the inspection robot, which is conducive to the promotion and application of the inspection robot in the field of urban rail transit.

[0029] (4) The present invention can digitally store the working trajectories and states of all inspection robots, which can give full play to the advantages of big data and provide a reference basis for further optimization of the inspection robot maintenance work, thereby increasing the added value of the technical solution of the present invention and improving the potential economic benefits.

[0030] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 4 is a structural block diagram of a rail transit vehicle inspection robot according to an embodiment of the present invention.

[0032] Figure 2 Schematic diagram of the structure of a rail transit vehicle inspection robot positioning system according to an embodiment of the present invention.

[0033] Figure 3 The present invention is a flow chart of a method for positioning a rail transit vehicle inspection robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The present embodiment is described in detail below, and examples of the embodiment are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0035] The rail transit vehicle inspection robot and its positioning system and method of this embodiment are described below with reference to the accompanying drawings.

[0036] Figure 1FIG. 1 is a structural block diagram of a rail transit vehicle inspection robot according to an embodiment of the present invention. Figure 1 As shown, the rail transit vehicle inspection robot 100 includes a peripheral perception unit 10, an execution unit 20 and a body perception unit 30. Among them, the peripheral perception unit 10 is used to scan and obtain the spatial data of the current rail transit vehicle inspection robot 100, and send it to the external industrial control host 200, so that the industrial control host 200 can map the environment according to the spatial data, and send a control signal according to the environmental mapping information and the position data of the object to be inspected and the current posture information of the rail transit vehicle inspection robot 100; the execution unit 20 is used to send a driving signal for adjusting the posture of the rail transit vehicle inspection robot 100 according to the control signal; the body perception unit 30 is used to adjust the posture of the rail transit vehicle inspection robot 100 under the drive of the driving signal, so as to realize the movement of the rail transit vehicle inspection robot 100, and move to the position of the object to be inspected to inspect the object to be inspected.

[0037] In this embodiment, the peripheral perception unit 10 may include a laser radar and a Kinect (camera device), wherein the laser radar is used to scan and obtain distance data of the space where the inspection robot is located; and the Kinect is used to scan and obtain image data of the space where the inspection robot is located.

[0038] Specifically, the rail transit vehicle inspection robot 100 enters the maintenance warehouse. Since the maintenance warehouse is an unknown environment for the rail transit vehicle inspection robot 100, the unknown environment data can be scanned and obtained through the peripheral sensing unit 10 and transmitted to the industrial control host 200 to provide data input for the rail transit vehicle inspection robot positioning system.

[0039] The spatial data obtained by scanning includes distance data and image data of the space where the rail transit vehicle inspection robot 100 is located. The distance data includes the distance data between the rail transit vehicle inspection robot 100 and the buildings in the maintenance depot, subway vehicles, parts to be inspected, and other irregular objects; the image data is the image data of the environmental information in the space where the rail transit vehicle inspection robot 100 is located.

[0040] After the external industrial control host 200 obtains the unknown environmental data, it integrates and processes the unknown environmental data, performs environmental mapping, and sends a control signal to the execution unit 20 based on the environmental mapping information, the position data of the inspected object, and the current posture information of the rail transit vehicle inspection robot 100.

[0041] The execution unit 20 includes a robot controller, a drive motor and other auxiliary hardware structures. The robot controller receives a control signal and then controls the drive motor to send a drive signal to the proprioception unit 30 .

[0042] The proprioceptive sensing unit 30 includes posture sensors such as a gyroscope and an odometer. The gyroscope can be used to adjust the posture of the rail transit vehicle inspection robot 100 after receiving a driving signal, so as to realize its walking and move to the position of the object to be inspected to realize the inspection of the object to be inspected. Among them, the displacement information can also be determined by the odometer.

[0043] In this way, high-precision positioning of the rail transit vehicle inspection robot 100 can be achieved, which facilitates the rail transit vehicle inspection robot 100 to accurately determine the fault location during maintenance work.

[0044] After the posture of the rail transit vehicle inspection robot 100 changes, the proprioception unit 30 can also determine its latest posture information through posture sensors such as gyroscopes and odometers, and send it to the execution unit 20, which is then transmitted to the industrial control host 200 by the robot controller in the execution unit 20 to realize work trajectory storage.

[0045] Therefore, this embodiment can also digitally store the working tracks and states of all rail transit vehicle inspection robots 100, which can give play to the advantages of big data and provide a reference basis for further optimization of the maintenance work of the rail transit vehicle inspection robots 100.

[0046] Figure 2 FIG. 1 is a schematic diagram of the structure of a rail transit vehicle inspection robot positioning system according to an embodiment of the present invention. Figure 2 As shown, the rail transit vehicle inspection robot positioning system includes the above-mentioned rail transit vehicle inspection robot 100 and an industrial control host 200.

[0047] The peripheral sensing unit 10, the industrial control host 200, the execution unit 20, and the main sensing unit 30 in the system are connected in sequence and have stable and reliable data transmission capabilities. The industrial control host adopts ROS (a robot operating system) operating system.

[0048] Figure 3 FIG. 1 is a flow chart of a method for positioning a rail transit vehicle inspection robot according to an embodiment of the present invention. Figure 3 As shown, the method includes:

[0049] Step S1: Scan and obtain the spatial data of the current inspection robot.

[0050] Step S2: mapping the environment according to the spatial data, and sending a control signal according to the environment mapping information and the position data of the object to be inspected.

[0051] Step S3: Sending a drive signal for adjusting the posture of the inspection robot according to the control signal.

[0052] Step S4: Under the drive of the driving signal, the inspection robot is adjusted in position to realize the walking of the inspection robot, and the inspection robot is moved to the position of the object to be inspected to inspect the object to be inspected.

[0053] Specifically, the peripheral perception unit in the rail transit vehicle inspection robot scans and obtains the spatial data of the current inspection robot, and then sends the spatial data of the current inspection robot to the industrial control host. The industrial control host maps the environment based on the spatial data, and sends a control signal to the execution unit based on the environment mapping information, the position data of the object to be inspected, and the posture information of the current inspection robot. The execution unit sends a drive signal for adjusting the posture of the inspection robot to the main perception unit based on the control signal. Driven by the drive signal, the main perception unit adjusts the posture of the inspection robot, realizes the walking of the inspection robot, and moves to the position of the object to be inspected to inspect the object to be inspected.

[0054] It should be noted that the specific implementation of the rail transit vehicle inspection robot positioning method of this embodiment can refer to the specific working method of the rail transit vehicle inspection robot mentioned above, and will not be repeated here to avoid redundancy.

[0055] To sum up, the present invention can achieve high-precision positioning of the inspection robot, which is convenient for the accurate determination of the fault location during the inspection robot's maintenance work; the present invention can provide high-precision environmental mapping and positioning for the inspection robot, and can provide support for the coordinated operation of the inspection robot's servo; the application of the present invention can improve the inspection robot's maintenance efficiency and reliability, which is conducive to the promotion and application of inspection robots in the field of urban rail transit; the present invention can digitally store the working trajectories and states of all inspection robots, which can give play to the advantages of big data and provide a reference basis for further optimization of the inspection robot's maintenance work, thereby increasing the added value of the technical solution of the present invention and improving the potential economic benefits.

[0056] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0057] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A rail transit vehicle inspection robot, characterized in that: include: The peripheral sensing unit is used to scan and obtain the spatial data of the current inspection robot and send it to an external industrial control host so that the industrial control host can map the environment according to the spatial data and send a control signal according to the environmental mapping information and the position data of the object to be inspected; An execution unit, used for sending a driving signal for adjusting the posture of the inspection robot according to the control signal; The proprioceptive sensing unit is used to adjust the posture of the inspection robot under the drive of the driving signal, realize the walking of the inspection robot, and move it to the position of the object to be inspected to inspect the object to be inspected.

2. The rail transit vehicle inspection robot according to claim 1, characterized in that: The spatial data includes distance data and image data of the space where the inspection robot is located.

3. The rail transit vehicle inspection robot according to claim 2, characterized in that: The distance data includes the distance data between the inspection robot and the buildings in the maintenance depot, the subway vehicles and the parts to be inspected; the image data includes the image data of the environmental information in the space where the inspection robot is located.

4. The rail transit vehicle inspection robot according to claim 3, characterized in that: The peripheral perception unit includes a laser radar and a Kinect, wherein the laser radar is used to scan and obtain distance data of the space where the inspection robot is located; and the Kinect is used to scan and obtain image data of the space where the inspection robot is located.

5. The rail transit vehicle inspection robot according to claim 1, characterized in that: The execution unit includes a robot controller and a drive motor. The robot controller is used to receive the control signal and control the drive motor to send the drive signal.

6. The rail transit vehicle inspection robot according to claim 1, characterized in that: The proprioceptive sensing unit includes a gyroscope and an odometer, and the gyroscope and the odometer are respectively used to adjust the posture of the inspection robot and determine the displacement information of the inspection robot after receiving the driving signal.

7. The rail transit vehicle inspection robot according to claim 6, characterized in that: The proprioceptive sensing unit is also used to upload the position and displacement information of the inspection robot to realize the storage of the working trajectory of the inspection robot.

8. A rail transit vehicle inspection robot positioning system, characterized in that: include: Industrial control host; as well as A rail transit vehicle inspection robot as described in any one of claims 1 to 7.

9. The rail transit vehicle inspection robot positioning system according to claim 8, characterized in that: The industrial control host adopts the ROS operating system.

10. A method for positioning a rail transit vehicle inspection robot, characterized in that: include: Scan and obtain the spatial data of the current inspection robot; Performing environmental mapping according to the spatial data, and sending a control signal according to the environmental mapping information and the position data of the object to be inspected; Sending a drive signal for adjusting the posture of the inspection robot according to the control signal; Driven by the driving signal, the inspection robot is adjusted in position and posture to realize walking of the inspection robot, and moves to the position of the object to be inspected to inspect the object to be inspected.

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