Robot for operation and maintenance of railway station steel structure canopy and corrosion treatment method

Abstract

The invention relates to the technical field of railway station canopy operation and maintenance, aims to solve the problems of potential safety hazards, low efficiency and difficulty in quality control in manual canopy maintenance, and provides a robot for railway station steel structure canopy operation and maintenance and a corrosion treatment method. The robot for operation and maintenance of the railway station steel structure canopy comprises an aerial work platform and an execution assembly. The aerial work platform comprises a moving platform and a climbing arm, and the moving platform moves the climbing arm. The execution assembly is connected with the climbing arm and comprises a visual part, a laser cleaning part and a spraying part, the visual part comprises a 2D camera and a 3D laser camera, the 3D laser camera is used for scanning the steel structure canopy to generate a local three-dimensional model, the 2D camera is used for photographing and identifying a disease area of the steel structure canopy, and the laser cleaning part is used for derusting the disease area; the spraying part is used for spraying anticorrosive paint to the disease area, manual operation is reduced, and the effects of reducing potential safety hazards existing in manual maintenance, improving the operation quality and improving the maintenance efficiency are achieved.

Description

Technical Field

[0001] The present application relates to the technical field of railway station canopy operation and maintenance, and in particular to a robot and a rust treatment method for operation and maintenance of steel structure canopies at railway passenger stations. Background Art

[0002] After more than 20 years of rapid development, high-speed railways have entered a critical period of "big development, big construction, big operation, and big maintenance". With the increase in service time, the steel structure canopies of railway passenger stations are prone to rust and other diseases in the atmospheric environment. The problem of outdoor steel structures, especially the steel structure canopies between railway lines, is prominent, which will bring certain potential threats to the safe operation of railways and the safety of passengers' lives.

[0003] The maintenance of steel structure canopies at railway stations currently relies mainly on manual treatment of defects. The traditional method of operation is to manually carry out aerial work on machinery and equipment to the defective part of the steel structure canopy during the "window time", use an angle grinder to treat it, and then use a painting tool to apply anti-corrosion paint.

[0004] In the prior art, the operation method of canopy maintenance has the following shortcomings:

[0005] Safety hazards: Since high-altitude operations are required, there are safety risks such as equipment and human falls. Despite safety protection measures, high-altitude operations always bring great safety pressure.

[0006] Low efficiency: The "window time" is usually in the early morning hours, and the mental fatigue of the operators cannot be ignored. In addition, the high-altitude working environment, poor operating accuracy, and low manual operation efficiency can easily cause missed coating or uneven coating, leading to rework.

[0007] Difficulty in quality control: In manual operations, it is difficult to control the quality of the work. Especially when dealing with large-area steel structures, it is impossible to spray each part evenly manually, and the coating thickness is difficult to control. In addition, the quality of the work is limited by the experience and skills of the operator, and the accuracy and consistency of the work are poor. Summary of the invention

[0008] The present application provides a robot and a rust treatment method for the operation and maintenance of steel structure canopies at railway passenger stations, so as to solve the problems of reducing the safety hazards of manual maintenance, improving the quality of work, and increasing the maintenance efficiency.

[0009] In the first aspect, an embodiment of the present application provides a robot for the operation and maintenance of steel structure canopies at railway passenger stations, including an aerial work platform and an execution component. The aerial work platform includes a mobile platform and a climbing arm, the climbing arm can be movably arranged on the mobile platform, and the mobile platform is used to move the climbing arm on the ground. The execution component is arranged on the climbing arm, and the climbing arm is used to move the execution component. The execution component includes a visual component, a laser cleaning component and a spraying component. The visual component includes a 2D camera and a 3D laser camera. The 3D laser camera is used to scan the steel structure canopy to generate a local three-dimensional model. The 2D camera is used to take pictures and identify the diseased area of ​​the steel structure canopy. The laser cleaning component is used to remove rust from the diseased area, and the spraying component is used to spray anti-corrosion paint on the diseased area.

[0010] Compared with the prior art, the robot for operation and maintenance of steel structure canopies of railway passenger stations provided in this embodiment moves to the bottom of the steel structure canopy of the railway passenger station through a mobile platform, and the climbing arm is connected to the execution component and moves the visual part, laser cleaning part and spraying part to a suitable height. According to the recognition of the defective area of ​​the steel structure canopy by the 2D camera and the 3D laser camera, the laser cleaning part removes rust from the defective area, and the spraying part sprays anti-corrosion paint on the defective area, thereby reducing manual work, so as to achieve the effect of reducing the safety hazards of manual maintenance, improving work quality, and improving maintenance efficiency.

[0011] In a possible embodiment, the execution component also includes a robotic arm and a flange connecting frame, the flange connecting frame is rotatably connected to the flange plate of the robotic arm, the flange connecting frame includes a first connecting plate, a second connecting plate and a third connecting plate, the first connecting plate, the second connecting plate and the third connecting plate are sequentially spaced apart in the circumference of the flange plate of the robotic arm, the first connecting plate is fixedly connected to the laser of the laser cleaning part, the second connecting plate is respectively fixedly connected to the 2D camera and the 3D laser camera, and the third connecting plate is fixedly connected to the sprayer of the spray part.

[0012] The flange connection frame integrates the 2D camera, 3D laser camera, laser cleaning parts and spray-painting parts together. The robotic arm moves and rotates the flange connection frame to enable the 2D camera, 3D laser camera, laser cleaning parts and spray-painting parts to work in coordination, thereby reducing manual work.

[0013] In a possible embodiment, the execution component also includes a cabinet, one end of the cabinet is fixedly connected to the climbing arm, and the other end is fixedly connected to the robotic arm, the cabinet is used to place an industrial computer, a laser controller and a paint supply tank for the sprayed part, the industrial computer is electrically connected to the robotic arm, the 2D camera, the 3D laser camera, the laser cleaning part and the sprayed part, respectively, and the laser controller is electrically connected to the industrial computer.

[0014] The cabinet is used to place the industrial computer, laser controller, and paint cans for laser cleaning parts and spraying parts, which helps to reduce the load of the robot arm and improve the working efficiency of the robot arm. The industrial computer integrates artificial intelligence algorithms, which can intelligently plan the path of the robot arm; intelligently coordinate and control the operation of the robot arm, 2D camera, 3D laser camera, laser cleaning parts and the spraying parts to reduce manual work. The laser controller adjusts the laser parameters such as laser power, repetition frequency, pulse width, focal length, etc. of the laser cleaning parts.

[0015] In a possible implementation, the second connecting plate includes a first plate body and a second plate body that are connected, the first plate body and the second plate body are perpendicular to each other, the 2D camera is fixedly connected to the first plate body, and the 3D laser camera is fixedly connected to the second plate body.

[0016] In a possible implementation, the robot used for operation and maintenance of steel structure canopies at railway passenger stations further includes a remote control system, which is electrically connected to the industrial computer and is used to send instructions to the industrial computer to remotely control the robot arm to perform operations.

[0017] The remote control system is used to manually monitor the operating status in real time and intervene appropriately to improve the operating stability of the robots operating and maintaining the steel structure canopies at railway passenger stations.

[0018] In a second aspect, an embodiment of the present application provides a rust treatment method for the operation and maintenance of steel structure canopies of railway passenger stations, including providing a robot for the operation and maintenance of steel structure canopies of railway passenger stations, the mobile platform moves the climbing arm to the bottom of the steel structure canopy of the railway passenger station, the climbing arm moves the 3D laser camera, the 2D camera, the laser cleaning part and the spraying part to appropriate heights in sequence, the 3D laser camera scans the steel structure canopy of the railway passenger station to generate a local three-dimensional model, the 2D camera takes a picture of a local area of ​​the steel structure canopy of the railway passenger station and identifies the diseased area, the laser cleaning part removes rust from the diseased area, and the spraying part sprays anti-corrosion paint on the diseased area.

[0019] In a possible embodiment, a robotic arm and a flange connecting frame are provided, wherein the flange of the robotic arm is connected to the flange connecting frame, and the robotic arm moves the 3D laser camera, the 2D camera, the laser cleaning part and the spraying part in sequence to the positions corresponding to the steel structure canopy of the railway passenger station through the flange connecting frame to perform maintenance on the steel structure canopy of the railway passenger station.

[0020] In a possible implementation, an industrial computer is provided, and the industrial computer is electrically connected to the robot arm, the 3D laser camera, the 2D camera, the laser cleaning part, and the spraying part, respectively, to perform automated operations.

[0021] In a possible implementation, a remote control system is provided, which is electrically connected to the industrial computer. The remote control system is used to inspect the diseased area. For diseased areas that fail to be treated, the remote control system sends instructions to the industrial computer to remotely control the robotic arm to perform operations.

[0022] In a possible implementation, the image data collected by the 3D laser camera and the 2D camera are transmitted to the remote control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 This is a three-dimensional schematic diagram of a robot and a steel structure canopy for operation and maintenance of a railway passenger station steel structure canopy according to an embodiment of the present application;

[0025] Figure 2 for Figure 1 A three-dimensional schematic diagram of the execution components of a robot used for operation and maintenance of steel structure canopies at railway passenger stations;

[0026] Figure 3 for Figure 1 A three-dimensional schematic diagram of some parts of the actuator assembly of a robot used for operation and maintenance of steel structure canopies at railway passenger stations;

[0027] Figure 4 This is a flow chart of a corrosion treatment method for operation and maintenance of steel structure canopies in railway passenger stations according to another embodiment of the present application.

[0028] Description of main component symbols:

[0029] 1. Robot used for operation and maintenance of steel structure canopies at railway passenger stations; 11. Aerial work platform; 111. Mobile platform; 112. Climbing arm; 12. Actuator; 121. Visual parts; 1211. 2D camera; 1212. 3D laser camera; 122. Laser cleaning parts; 1221. Laser; 1222. Industrial computer; 1223. Cooling system; 1224. Laser controller; 123. Spraying parts; 1231. Sprayer; 1232. Paint supply tank; 124. Robotic arm; 125. Flange connecting frame; 1251. First connecting plate; 1252. Second connecting plate; 1253. First plate body; 1254. Second plate body; 1255. Third connecting plate; 126. Cabinet; 2. Steel structure canopy. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0031] Some embodiments of the present application are described in detail. In the absence of conflict, the following embodiments and features of the embodiments can be combined with each other.

[0032] Example

[0033] See also Figures 1 to 3 As shown, the embodiment of the present application provides a robot 1 for operation and maintenance of steel structure canopies of railway passenger stations, including an aerial work platform 11 and an execution component 12. The aerial work platform 11 includes a mobile platform 111 and a climbing arm 112, the climbing arm 112 is movably arranged on the mobile platform 111, and the mobile platform 111 is used to move the climbing arm 112 on the ground. The execution component 12 is arranged on the climbing arm 112, and the climbing arm 112 is used to move the execution component 12. The execution component 12 includes a visual component 121, a laser cleaning component 122 and a spraying component 123. The visual component 121 includes a 2D camera 1211 and a 3D laser camera 1212. The 3D laser camera 1212 is used to scan the steel structure canopy 2 to generate a local three-dimensional model. The 2D camera 1211 is used to take pictures and identify the damaged area of ​​the steel structure canopy 2. The laser cleaning component 122 is used to remove rust from the damaged area, and the spraying component 123 is used to spray anti-corrosion paint on the damaged area.

[0034] See also Figure 4 As shown, an embodiment of the present application also provides a rust treatment method for operation and maintenance of steel structure canopies of railway passenger stations, including providing a robot 1 for operation and maintenance of steel structure canopies of railway passenger stations, a mobile platform 111 moves a climbing arm 112 to the bottom of the steel structure canopy 2 of the railway passenger station, the climbing arm 112 moves the 3D laser camera 1212, the 2D camera 1211, the laser cleaning part 122 and the spraying part 123 to appropriate heights in sequence, the 3D laser camera 1212 scans the steel structure canopy 2 of the railway passenger station to generate a local three-dimensional model, the 2D camera 1211 takes a picture of a local area of ​​the steel structure canopy 2 of the railway passenger station and identifies the diseased area, the laser cleaning part 122 removes rust from the diseased area, and the spraying part 123 sprays anti-corrosion paint on the diseased area.

[0035] The robot 1 for operation and maintenance of the steel structure canopy of the railway passenger station provided in this embodiment is moved to the bottom of the steel structure canopy 2 of the railway passenger station through the mobile platform 111, the climbing arm 112 is connected to the execution component 12 and the climbing arm 112 moves the visual component 121, the laser cleaning component 122 and the spraying component 123 to a suitable height, the 2D camera 1211 and the 3D laser camera 1212 identify the defective area of ​​the steel structure canopy 2, the laser cleaning component 122 removes rust from the defective area, and the spraying component 123 sprays anti-corrosion paint on the defective area, thereby reducing the safety hazards of manual maintenance, improving the work quality, and improving the maintenance efficiency.

[0036] In this embodiment, the climbing arm 112 of the aerial work platform 11 can be a scissor-type, curved arm type or straight arm type aerial work machinery, so as to deliver the execution assembly 12 to the target position where the steel structure canopy 2 is damaged. The mobile platform 111 of the aerial work platform 11 can be a mobile trolley or a vehicle, and the mobile platform 111 has the ability to move flexibly between the platform and the railway line, so that the climbing arm 112 can efficiently cover and treat the steel structure canopy 2 between the railway platform and the line.

[0037] The laser cleaning part 122 includes a laser 1221 and a cooling system 1223. The laser 1221 can emit a high-energy laser beam, thereby accurately treating the surface defects of the steel structure canopy 2. The cooling system 1223 includes a water cooling system, and the cooling system 1223 is used to cool the laser 1221, which is conducive to the laser cleaning part 122 to maintain stable operation during long-term continuous operation, thereby improving the efficiency and safety of the rust removal process.

[0038] The spraying part 123 includes a sprayer 1231 and a paint supply tank 1232. The spraying part 123 sprays the anti-corrosion paint on the surface of the steel structure. The spraying part 123 adjusts the spraying angle, spraying pressure, spraying thickness, etc., so that the coating of the defective area of ​​the steel structure canopy 2 is uniform, thereby extending the service life of the steel structure canopy 2.

[0039] In a possible embodiment, the actuator 12 also includes a robotic arm 124 and a flange connecting frame 125, the flange connecting frame 125 is rotatably connected to the flange of the robotic arm 124, the flange connecting frame 125 includes a first connecting plate 1251, a second connecting plate 1252 and a third connecting plate 1255, the first connecting plate 1251, the second connecting plate 1252 and the third connecting plate 1255 are sequentially spaced around the flange of the robotic arm 124, the first connecting plate 1251 is fixedly connected to the laser 1221 of the laser cleaning part 122, the second connecting plate 1252 is respectively fixedly connected to the 2D camera 1211 and the 3D laser camera 1212, and the third connecting plate 1255 is fixedly connected to the sprayer 1231 of the spraying part 123.

[0040] In this embodiment, the 3D laser camera 1212 is used to scan the steel structure canopy 2 to generate a local three-dimensional model. The 3D laser camera has a ranging function, which is used to determine the distance between the robotic arm 124 and the steel structure canopy 2 and transmit it to the operator to prevent the robotic arm 124 from colliding with the steel structure canopy 2 during operation.

[0041] The robot arm 124 moves the 3D laser camera 1212 , the 2D camera 1211 , the laser 1221 and the sprayer 1231 to the positions corresponding to the steel structure canopy 2 of the railway passenger station in sequence through the flange connecting frame 125 to perform maintenance on the steel structure canopy 2 of the railway passenger station.

[0042] The flange connection frame 125 integrates the 2D camera 1211, the 3D laser camera 1212, the laser 1221 and the sprayer 1231. The robot arm 124 moves and rotates the flange connection frame 125 to enable the 2D camera 1211, the 3D laser camera 1212, the laser 1221 and the sprayer 1231 to work in coordination, thereby reducing manual work.

[0043] In a possible embodiment, the execution component 12 also includes a cabinet 126, one end of the cabinet 126 is fixedly connected to the climbing arm 112, and the other end is fixedly connected to the robotic arm 124. The cabinet 126 is used to place an industrial computer 1222, a laser controller 1224 and a paint supply tank 1232 for the spraying part 123. The industrial computer 1222 is electrically connected to the robotic arm 124, the 2D camera 1211, the 3D laser camera 1212, the laser cleaning part 122 and the spraying part 123, respectively, and the laser controller 1224 is electrically connected to the industrial computer 1222 to perform automated operations.

[0044] In this embodiment, the cabinet 126 is used to place the industrial computer 1222, the laser controller 1224 and the paint supply tank 1232 of the spraying part 123, which is conducive to reducing the load of the mechanical arm 124 and improving the working efficiency of the mechanical arm 124. The industrial computer 1222 has built-in program instructions, integrated artificial intelligence algorithms, and has intelligent path planning and obstacle avoidance functions. It can automatically adjust the working path according to the working environment. The industrial computer 1222 controls the mechanical arm 124, the 2D camera 1211, the 3D laser camera 1212, the laser cleaning part 122 and the spraying part 123 to work together.

[0045] The laser controller 1224 is used to plan the path of the robot arm 124, and the laser controller 1224 adjusts the laser parameters such as the laser power, repetition frequency, pulse width, and focal length of the laser 1221. The laser controller 1224 transmits data with the industrial computer 1222. The laser controller 1224 adjusts the laser power of the laser 1221 according to the degree of corrosion of the steel structure canopy 2. The higher the degree of corrosion of the steel structure canopy 2, the higher the laser power required. The laser controller 1224 cooperates with the industrial computer 1222 to improve the flexibility and efficiency of high-altitude operations and reduce manual operations.

[0046] In a possible embodiment, the second connecting plate 1252 includes a first plate body 1253 and a second plate body 1254 that are connected, the first plate body 1253 and the second plate body 1254 are perpendicular to each other, the 2D camera 1211 is fixedly connected to the first plate body 1253, and the 3D laser camera 1212 is fixedly connected to the second plate body 1254.

[0047] In this embodiment, the 2D camera 1211 and the 3D laser camera 1212 scan the working area, collect images of the working area in real time, and generate a local three-dimensional model. The industrial computer 1222 automatically identifies the defective area of ​​the steel structure canopy 2 based on the scanning results, evaluates the severity of the defect (such as rust, coating peeling, etc.), marks the location of the problem area, and plans the movement and path of the robot arm 124, the laser 1221, and the sprayer 1231.

[0048] In a possible implementation, the robot 1 used for operation and maintenance of steel structure canopies at railway passenger stations also includes a remote control system, which is electrically connected to the industrial computer 1222. The remote control system is used to send instructions to the industrial computer 1222 to remotely control the robotic arm 124 to perform operations.

[0049] In this embodiment, the 2D camera 1211 is used to take pictures and identify the defective area of ​​the steel structure canopy 2. During the movement path of the robotic arm 124, the 2D camera 1211 records the image within the field of view and transmits it to the remote control system in real time through the industrial computer 1222, and identifies defects such as rust on the steel structure canopy 2.

[0050] The operator can also control the laser cleaning equipment, automatic spraying equipment and the motion posture of the robot arm 124 at the platform ground position through the remote control system. The remote control system includes a remote control handle, and the spatial position and posture of the remote control handle are mapped to the coordinate system of the robot arm 124. When the control posture of the handle is sent to move, the coordinate information is output to the industrial computer 1222 in real time through Ethernet to synchronize the coordinate information of the robot arm 124, thereby remotely controlling the robot arm 124. The remote control system is operated through a touch interface, and based on the remote video feedback of the 3D laser camera 1212 and the 2D camera 1211, the operator can monitor the working status of the robot arm 124 in real time.

[0051] The remote control system is electrically connected to the industrial computer 1222. The remote control system is used to inspect the diseased area. For the diseased area that is not treated properly, the remote control system sends instructions to the industrial computer 1222 to perform remote operations. The image data collected by the 3D laser camera 1212 and the 2D camera 1211 are transmitted to the remote control system. The remote control system is used to manually monitor the operation status in real time and intervene appropriately to improve the operation stability of the robot 1 used for the operation and maintenance of the steel structure canopy of the railway passenger station.

[0052] The rust treatment method used for the operation and maintenance of the steel structure canopy of the railway passenger station includes the following steps:

[0053] S1: Install and fix the robot arm 124, flange connection frame 125, laser cleaning part 122, spraying part 123, 2D camera 1211, and 3D laser camera 1212 according to the predetermined requirements, install and fix the cabinet 126 to the climbing arm 112, and check that each device is firmly fixed;

[0054] S2: System self-check and test, check the status of each hardware device to ensure that all devices are working properly;

[0055] S3: Start the aerial work platform 11, the mobile platform 111 moves to the bottom of the steel structure canopy 2 of the railway passenger station, and the climbing arm 112 lifts the actuator 12 to a preset working height, so that the mechanical arm 124 can reach the target position;

[0056] S4: Start the execution component 12, the robot arm 124 moves the flange connection frame 125, and uses the 2D camera 1211 and the 3D laser camera 1212 to scan the working area and collect images of the working area in real time;

[0057] S5: The industrial computer 1222 automatically identifies the damaged area of ​​the steel structure canopy 2 according to the scanning results, evaluates the severity of the damage (such as rust, coating peeling, etc.), and marks the location of the damaged area;

[0058] S6: Manually determine whether it is necessary to treat the diseased area; if it is necessary, proceed to S7; if it is not necessary, proceed to S13;

[0059] S7: The industrial computer 1222 generates a local three-dimensional model;

[0060] S8: Planning the cleaning path, including automatic path planning by the industrial computer 1222 and manual supplementary planning of the path. The industrial computer 1222 identifies the working surface of the steel structure canopy 2 that needs to be cleaned, and plans the working path for automatic cleaning. The industrial computer 1222 adjusts the cleaning parameters of the laser 1221 (such as the focal length and power of the laser beam), and the robotic arm 124 starts to perform the cleaning of the surface defects of the steel structure canopy 2 according to the automatically planned path. At the same time, the 2D camera 1211 and the 3D laser camera 1212 collect the working images in real time, and the industrial computer 1222 records and feeds back to the ground display in real time; manually check the path automatically planned by the industrial computer 1222 through the ground display, view the working images in real time, and confirm the working status. For the defective areas where the path is not planned, manually control the robotic arm 124 and the laser 1221 through the remote control system to perform the cleaning operation;

[0061] S9: After completing the cleaning of all steel structure canopies 2 in the defective area, the industrial computer 1222 automatically confirms that the task is completed, stops the cleaning operation, and records the operation data;

[0062] S10: After the surface of the steel structure canopy 2 cools down, the 2D camera 1211 and the 3D laser camera 1212 are used again to scan the working area, collect images of the working area, and generate a local three-dimensional model;

[0063] S11: Planning the spraying path, including automatic path planning by the industrial computer 1222 and manual supplementary path planning. The industrial computer 1222 identifies the working surface of the steel structure canopy 2 that needs to be sprayed, and plans the working path of the automatic sprayer 1231. The industrial computer 1222 adjusts the spraying parameters of the sprayer 1231 (automatically adjusts the spraying angle, spraying pressure, spraying thickness and other parameters according to the working area and paint product parameters), and the robotic arm 124 starts to spray the steel structure canopy 2 according to the automatically planned path. At the same time, the 2D camera 1211 and the 3D laser camera 1212 collect the working images in real time, and the industrial computer 1222 records and feeds back to the ground display in real time; manually check the path automatically planned by the industrial computer 1222 through the ground display, view the working image in real time, and confirm the working status. For the spraying area where the path is not planned, manually control the robotic arm 124 and the sprayer 1231 through the remote control system to perform the spraying operation;

[0064] S12: After the spraying operation is completed, the industrial computer 1222 automatically confirms that the task is completed, stops the spraying operation, and records the operation data;

[0065] S13: The operation is completed and the industrial computer 1222 generates a work report.

[0066] In summary, the robot 1 for operation and maintenance of the steel structure canopy of the railway passenger station provided in this embodiment is moved to the bottom of the steel structure canopy 2 of the railway passenger station through the mobile platform 111, the climbing arm 112 is connected to the execution component 12 and the climbing arm 112 moves the visual component 121, the laser cleaning component 122 and the spraying component 123 to a suitable height, the 2D camera 1211 and the 3D laser camera 1212 identify the defective area of ​​the steel structure canopy 2, the laser cleaning component 122 removes rust from the defective area, and the spraying component 123 sprays anti-corrosion paint on the defective area, thereby reducing manual work, reducing the safety hazards of manual maintenance, improving work quality, and improving maintenance efficiency.

[0067] The above implementation modes are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the above preferred implementation modes, a person skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A robot for operation and maintenance of steel structure canopies at railway passenger stations, characterized in that: include: An aerial work platform comprises a mobile platform and a climbing arm, wherein the climbing arm is movably arranged on the mobile platform, and the mobile platform is used to move the climbing arm on the ground; An execution component is arranged on the climbing arm, and the climbing arm is used to move the execution component. The execution component includes a visual component, a laser cleaning component and a spraying component. The visual component includes a 2D camera and a 3D laser camera. The 3D laser camera is used to scan the steel structure canopy to generate a local three-dimensional model. The 2D camera is used to take pictures and identify the defective area of ​​the steel structure canopy. The laser cleaning component is used to remove rust from the defective area. The spraying component is used to spray anti-corrosion paint on the defective area.

2. The robot for operation and maintenance of steel structure canopies at railway passenger stations according to claim 1, characterized in that: The execution component also includes a robotic arm and a flange connecting frame, the flange connecting frame is rotatably connected to the flange of the robotic arm, the flange connecting frame includes a first connecting plate, a second connecting plate and a third connecting plate, the first connecting plate, the second connecting plate and the third connecting plate are sequentially spaced apart in the circumference of the flange of the robotic arm, the first connecting plate is fixedly connected to the laser of the laser cleaning part, the second connecting plate is respectively fixedly connected to the 2D camera and the 3D laser camera, and the third connecting plate is fixedly connected to the sprayer of the spraying part.

3. The robot for operation and maintenance of steel structure canopies of railway passenger stations according to claim 2 is characterized in that: The execution component also includes a cabinet, one end of the cabinet is fixedly connected to the climbing arm, and the other end is fixedly connected to the mechanical arm. The cabinet is used to place an industrial computer, a laser controller and a paint supply tank for the sprayed part. The industrial computer is electrically connected to the mechanical arm, the 2D camera, the 3D laser camera, the laser cleaning part and the sprayed part respectively, and the laser controller is electrically connected to the industrial computer.

4. The robot for operation and maintenance of steel structure canopies at railway passenger stations according to claim 2, characterized in that: The second connecting plate includes a first plate body and a second plate body that are connected, the first plate body and the second plate body are perpendicular to each other, the 2D camera is fixedly connected to the first plate body, and the 3D laser camera is fixedly connected to the second plate body.

5. The robot for operation and maintenance of steel structure canopies of railway passenger stations according to claim 3 is characterized in that: The robot used for operation and maintenance of steel structure canopies at railway passenger stations also includes a remote control system, which is electrically connected to the industrial computer. The remote control system is used to send instructions to the industrial computer to remotely control the robot arm to perform operations.

6. A method for treating rust in operation and maintenance of steel structure canopies at railway passenger stations, characterized in that: include: A robot for operation and maintenance of a steel structure canopy of a railway passenger station according to any one of claims 1 to 5 is provided, wherein the mobile platform moves the climbing arm to the bottom of the steel structure canopy of the railway passenger station, the climbing arm moves the 3D laser camera, the 2D camera, the laser cleaning unit and the spraying unit to appropriate heights in sequence, the 3D laser camera scans the steel structure canopy of the railway passenger station to generate a local three-dimensional model, the 2D camera takes a picture of a local area of ​​the steel structure canopy of the railway passenger station and identifies the defective area, the laser cleaning unit removes rust from the defective area, and the spraying unit sprays anti-corrosion paint on the defective area.

7. The method for treating rust in operation and maintenance of steel structure canopies of railway passenger stations according to claim 6, characterized in that: A robotic arm and a flange connecting frame are provided, wherein the flange of the robotic arm is connected to the flange connecting frame, and the robotic arm moves the 3D laser camera, the 2D camera, the laser cleaning part and the spraying part in sequence to the positions corresponding to the steel structure canopy of the railway passenger station through the flange connecting frame to perform maintenance on the steel structure canopy of the railway passenger station.

8. The method for treating rust in operation and maintenance of steel structure canopies of railway passenger stations according to claim 7, characterized in that: An industrial computer is provided, and the industrial computer is electrically connected to the robot arm, the 3D laser camera, the 2D camera, the laser cleaning part and the spraying part respectively to perform automated operations.

9. The method for treating rust in operation and maintenance of steel structure canopies of railway passenger stations according to claim 8, characterized in that: A remote control system is provided, which is electrically connected to the industrial computer. The remote control system is used to inspect the diseased area. For diseased areas that fail to be treated, the remote control system sends instructions to the industrial computer to remotely control the robotic arm to perform operations.

10. The method for treating rust in operation and maintenance of steel structure canopies of railway passenger stations according to claim 9, characterized in that: The image data collected by the 3D laser camera and the 2D camera are transmitted to the remote control system.

Images