Dropper maintenance equipment and maintenance method

Abstract

The invention provides dropper maintenance equipment and a dropper maintenance method. The dropper overhauling equipment comprises an adjusting device, a first imaging device, a first measuring device and an overhauling robot, the first imaging device, the first measuring device and the overhauling robot are arranged on the adjusting device, the adjusting device can move in the horizontal direction and the vertical direction and can rotate around the vertical direction, and the first imaging device is used for obtaining an image of a dropper; the first measuring device is used for measuring a carrier cable and a contact line, and the maintenance robot is used for disassembling and assembling a wire clamp. According to the dropper maintenance equipment, the adjusting device moves in the horizontal direction according to the image of the first imaging device so as to correct the position deviation of the adjusting device and the dropper in the horizontal direction, and moves in the vertical direction according to the measurement result of the first measuring device so as to correct the position deviation of the adjusting device and the dropper in the vertical direction; and rotating around the vertical direction according to the image and the measurement result so as to correct the rotation angle deviation formed by the orientation of the wire clamp and ensure that the overhauling robot can automatically disassemble and assemble the wire clamp of the dropper.

Description

Technical Field

[0001] The present invention relates to the field of train equipment, and particularly relates to a catenary inspection device and an inspection method. Background Art

[0002] A catenary is a connecting wire between a carrier cable and a contact wire, which is used to level the contact wire to ensure the smoothness and stability of the contact wire. One end of the catenary is provided with a clamp for connecting the carrier cable, and the other end is provided with a clamp for connecting the contact wire. The catenary can be installed and disassembled through the clamp. Since the position of the catenary will deviate during use, although the related art discloses determining the position of the catenary in the horizontal direction through image recognition, it is still necessary to carry an operator on a platform to manually inspect the catenary. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to some extent.

[0004] To this end, an embodiment of the present invention provides a catenary inspection device and a catenary inspection method implemented by applying the catenary inspection device.

[0005] The catenary inspection device according to an embodiment of the present invention includes:

[0006] An adjusting device that can move in both the horizontal and vertical directions and can rotate around the vertical direction;

[0007] A first imaging device provided on the adjusting device for acquiring an image of the catenary, so that the adjusting device moves in the horizontal direction and rotates around the vertical direction according to the image of the first imaging device;

[0008] A first measuring device provided on the adjusting device for measuring the carrier cable and the contact wire, so that the adjusting device moves in the vertical direction and rotates around the vertical direction according to the measurement result of the first measuring device;

[0009] An inspection robot provided on the adjusting device for disassembling and assembling the clamp of the catenary.

[0010] For the catenary inspection device according to an embodiment of the present invention, the adjusting device moves in the horizontal direction according to the image of the first imaging device to correct the position deviation between the adjusting device and the catenary in the horizontal direction, moves in the vertical direction according to the measurement result of the first measuring device to correct the position deviation between the adjusting device and the catenary in the vertical direction, and rotates around the vertical direction according to the image of the first imaging device and the measurement result of the first measuring device to correct the angular deviation formed by the clamp orientation, so as to ensure that the inspection robot can automatically disassemble and assemble the clamp of the catenary.

[0011] In some embodiments, the maintenance robot includes a multi-axis robotic arm, a wire clamp disassembly and assembly tooling, and a second imaging device. The wire clamp disassembly and assembly tooling and the second imaging device are provided at the end of the multi-axis robotic arm. The second imaging device is configured to acquire an image of the wire clamp, so that the multi-axis robotic arm drives the wire clamp disassembly and assembly tooling to move according to the image of the second imaging device.

[0012] In some embodiments, the maintenance robot further includes a bracket and a third imaging device. The bracket is provided at the end of the multi-axis robotic arm or on the wire clamp disassembly and assembly tooling, and is configured to acquire images of the wire clamp and the wire clamp disassembly and assembly tooling, so that the multi-axis robotic arm drives the wire clamp disassembly and assembly tooling to move according to the image of the third imaging device, and the wire clamp disassembly and assembly tooling performs disassembly and assembly according to the image of the third imaging device.

[0013] In some embodiments, the image accuracies of the first imaging device, the second imaging device, and the third imaging device increase in sequence.

[0014] In some embodiments, both the first imaging device and the third imaging device are 2D cameras, the second imaging device is a 3D camera, and the first measurement device is a lidar.

[0015] In some embodiments, the maintenance robot includes a first maintenance robot and a second maintenance robot. The first maintenance robot is configured to disassemble and assemble the wire clamp for connecting the carrier cable of the suspension string, and the second maintenance robot is configured to disassemble and assemble the wire clamp for connecting the contact wire of the suspension string.

[0016] In some embodiments, at least four first imaging devices are provided. The first first imaging device and the second first imaging device are located on a first virtual straight line, and the third first imaging device and the fourth first imaging device are located on a second virtual straight line. The first virtual straight line is orthogonal to the second virtual straight line.

[0017] In some embodiments, the first virtual straight line is parallel to the extending direction of the carrier cable, and the second virtual straight line is orthogonal to the extending direction of the carrier cable.

[0018] In some embodiments, the adjusting device includes a lateral moving device, a longitudinal moving device, a vertical moving device and a turntable. The lateral moving device is arranged on the vertical moving device to move in the vertical direction driven by the vertical moving device. The longitudinal moving device is arranged on the lateral moving device to move in the lateral direction driven by the lateral moving device. The turntable is arranged on the longitudinal moving device to move in the longitudinal direction driven by the longitudinal moving device. The turntable rotates around the vertical direction relative to the longitudinal moving device. The turntable is provided with the first imaging device, the first measuring device and the maintenance robot. The lateral direction and the longitudinal direction are orthogonal, and one of the lateral direction and the longitudinal direction is the extending direction of the catenary.

[0019] The catenary maintenance method according to an embodiment of the present invention is implemented based on the catenary maintenance equipment described in any one of the above embodiments. The catenary maintenance method includes:

[0020] Obtain an image of the catenary through the first imaging device, drive the adjusting device to move in the horizontal direction according to the image of the first imaging device, so that the catenary is located at the center line position of the image of the first imaging device, obtain the orientation of the clamp according to the image of the first imaging device, and drive the adjusting device to rotate around the vertical direction according to the orientation of the clamp;

[0021] Measure the catenary and the contact wire through the first measuring device to obtain the height and pose of the catenary and obtain the height and pose of the contact wire. Drive the adjusting device to move in the vertical direction according to the height of the catenary and the height of the contact wire, and drive the adjusting device to rotate around the vertical direction according to the pose of the catenary and the pose of the contact wire;

[0022] Drive the maintenance robot to disassemble and assemble the clamp.

[0023] In the catenary maintenance method according to an embodiment of the present invention, the adjusting device moves in the horizontal direction according to the image of the first imaging device to correct the position deviation between the adjusting device and the catenary in the horizontal direction, moves in the vertical direction according to the measurement result of the first measuring device to correct the position deviation between the adjusting device and the catenary in the vertical direction, and rotates around the vertical direction according to the image of the first imaging device and the measurement result of the first measuring device to correct the angular deviation formed by the clamp orientation, so as to ensure that the maintenance robot can automatically disassemble and assemble the clamp of the catenary.

[0024] In some embodiments, the step of driving the maintenance robot to disassemble and assemble the clamp specifically includes:

[0025] Obtain an image of the clamp through the second imaging device of the inspection robot, obtain the pose of the clamp according to the image of the second imaging device, drive the multi-axis robotic arm of the inspection robot according to the pose of the clamp, so that the multi-axis robotic arm drives the clamp disassembly and assembly tooling of the inspection robot to move, so that the clamp disassembly and assembly tooling and the clamp are simultaneously within the viewing angle of the third imaging device of the inspection robot;

[0026] Obtain images of the clamp and the clamp disassembly and assembly tooling through the third imaging device, obtain the pose of the clamp and the pose of the clamp disassembly and assembly tooling according to the images of the third imaging device, drive the multi-axis robotic arm to drive the clamp disassembly and assembly tooling to move according to the pose of the clamp and the pose of the clamp disassembly and assembly tooling, and drive the clamp disassembly and assembly tooling to perform disassembly and assembly. Description of the Drawings

[0027] Figure 1 is a schematic diagram of the use of the suspension string inspection equipment according to an embodiment of the present invention Figure 1 ;

[0028] Figure 2 is a schematic diagram of the use of the suspension string inspection equipment according to an embodiment of the present invention Figure 2 ;

[0029] Figure 3 is a schematic diagram of the use of the suspension string inspection equipment according to an embodiment of the present invention Figure 3 ;

[0030] Figure 4 is a schematic diagram of the use of the suspension string inspection equipment according to an embodiment of the present invention Figure 4 ;

[0031] Figure 5 is a schematic diagram of the use of the suspension string inspection equipment according to an embodiment of the present invention Figure 5 。

[0032] Reference Signs:

[0033] 1. Adjusting device; 11. Transverse moving device; 12. Longitudinal moving device; 13. Vertical moving device; 14. Turntable; 2. First imaging device; 3. Suspension string; 31. Clamp; 4. First measuring device; 5. Carrier cable; 6. Contact wire; 7. Inspection robot; 71. Multi-axis robotic arm; 72. Clamp disassembly and assembly tooling; 73. Second imaging device; 74. Bracket; 75. Third imaging device; 76. First inspection robot; 77. Second inspection robot. Detailed Embodiments

[0034] The following describes in detail the embodiments of the present invention, and the examples of the embodiments are shown in the drawings. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0035] The following will refer to Figures 1 - 5 describe the suspension string maintenance equipment and maintenance method according to an embodiment of the present invention.

[0036] As Figures 1 - 5 shown, the suspension string maintenance equipment according to an embodiment of the present invention includes an adjusting device 1, a first imaging device 2, a first measuring device 4, and a maintenance robot 7.

[0037] The adjusting device 1 is movable in both the horizontal and vertical directions and rotatable about the vertical direction. As Figure 1 shown, the movement of the adjusting device 1 in the horizontal direction preferably but not limited to includes moving in the transverse direction (such as Figure 1 the front-back direction shown) and moving in the longitudinal direction (such as Figure 1 the left-right direction shown), wherein the transverse direction is parallel to the extending direction of the catenary 5, and the longitudinal direction is orthogonal to the extending direction of the catenary 5. The adjusting device 1 is preferably but not limited to arranged on the train platform, and the train platform is preferably but not limited to a maintenance train.

[0038] The first imaging device 2 is arranged on the adjusting device 1 and is used to acquire the image of the suspension string 3, so that the adjusting device 1 moves in the horizontal direction and rotates about the vertical direction according to the image of the first imaging device 2. Specifically, when the suspension string maintenance equipment is in use, the image of the suspension string 3 is acquired through the first imaging device 2, the adjusting device 1 is driven to move in the horizontal direction according to the image of the first imaging device 2, so that the suspension string 3 is located at the center line position of the image of the first imaging device 2, the orientation of the clamp 31 is acquired according to the image of the first imaging device 2, and the adjusting device 1 is driven to rotate about the vertical direction according to the orientation of the clamp 31.

[0039] The first measuring device 4 is arranged on the adjusting device 1 and is used to measure the catenary 5 and the contact wire 6, so that the adjusting device 1 moves in the vertical direction and rotates about the vertical direction according to the measurement result of the first measuring device 4. Specifically, when the suspension string maintenance equipment is in use, the catenary 5 and the contact wire 6 are measured through the first measuring device 4 to obtain the height and pose of the catenary 5 and the height and pose of the contact wire 6, the adjusting device 1 is driven to move in the vertical direction according to the height of the catenary 5 and the height of the contact wire 6, and the adjusting device 1 is driven to rotate about the vertical direction according to the pose of the catenary 5 and the pose of the contact wire 6.

[0040] The maintenance robot 7 is arranged on the adjusting device 1 and is used to disassemble and assemble the clamp 31 of the suspension string 3.

[0041] The catenary maintenance equipment according to the embodiment of the present invention, the adjusting device 1 moves along the horizontal direction according to the image of the first imaging device 2 to correct the position deviation between the adjusting device 1 and the catenary 3 in the horizontal direction, including the lateral position deviation between the adjusting device 1 and the catenary 3 caused by the train platform parking, and the longitudinal position deviation between the adjusting device 1 and the catenary 3 caused by the extended value of the catenary 3, moves along the vertical direction according to the measurement result of the first measuring device 4 to correct the position deviation between the adjusting device 1 and the catenary 3 in the vertical direction, and rotates around the vertical direction according to the image of the first imaging device 2 and the measurement result of the first measuring device 4 to correct the angular deviation formed by the orientation of the clamp 31, so as to ensure that the maintenance robot 7 can automatically disassemble and assemble the clamp 31 of the catenary 3.

[0042] In some embodiments, the maintenance robot 7 includes a multi-axis robotic arm 71, a clamp disassembly and assembly tooling 72, and a second imaging device 73. The clamp disassembly and assembly tooling 72 and the second imaging device 73 are arranged at the end of the multi-axis robotic arm 71. The second imaging device 73 is used to acquire the image of the clamp 31, so that the multi-axis robotic arm 71 drives the clamp disassembly and assembly tooling 72 to move according to the image of the second imaging device 73.

[0043] As Figure 1 and Figure 4 shown, the multi-axis robotic arm 71 is arranged on the adjusting device 1. The end of the multi-axis robotic arm 71 different from the end connecting the adjusting device 1 is the end of the multi-axis robotic arm 71. The clamp disassembly and assembly tooling 72 and the second imaging device 73 are arranged at the end of the multi-axis robotic arm 71. The second imaging device 73 can be directly arranged at the end of the multi-axis robotic arm 71, or can be directly or indirectly arranged on the clamp disassembly and assembly tooling 72 through a frame, and thus indirectly arranged at the end of the multi-axis robotic arm 71 to avoid blocking the imaging of the second imaging device 73.

[0044] The clamp disassembly and assembly tooling 72 is used to contact and disengage from the clamp 31 and can perform disassembly and assembly actions, so as to disassemble and assemble the clamp 31.

[0045] The second imaging device 73 is used to acquire the image of the clamp 31, obtain the pose of the clamp 31 according to the image of the second imaging device 73, and drive the multi-axis robotic arm 71 according to the pose of the clamp 31, so that the multi-axis robotic arm 71 drives the clamp disassembly and assembly tooling 72 to move near the clamp 31, so that the clamp disassembly and assembly tooling 72 can disassemble and assemble the clamp 31.

[0046] During the use of the suspension string maintenance equipment, first drive the adjustment device 1 to move and rotate. Among them, driving the adjustment device 1 to move horizontally makes the suspension string 3 located at the central position above the adjustment device 1, and driving the adjustment device 1 to move vertically makes the clamp 31 within the vertical operation range of the maintenance robot 7. Preferably, driving the adjustment device 1 to move vertically makes the clamp 31 within the viewing angle of the second imaging device 73. Driving the adjustment device 1 to rotate around the vertical direction to correct the angular deviation formed by the orientation of the clamp 31 is all for facilitating the disassembly and assembly operations of the maintenance robot 7.

[0047] During the process of the multi-axis robotic arm 71 driving the clamp disassembly and assembly tooling 72 to move, it will also cause the clamp disassembly and assembly tooling 72 to have movement amounts in the horizontal and vertical directions, and at the same time, it can also adjust the pose of the clamp disassembly and assembly tooling 72. However, the accuracy of the multi-axis robotic arm 71 driving the clamp disassembly and assembly tooling 72 to move and rotate is higher than that of the adjustment device 1. At the same time, the process of the multi-axis robotic arm 71 driving the clamp disassembly and assembly tooling 72 to move is based on the image of the second imaging device 73 that is closer to the clamp 31, so as to perform more precise adjustment with the support of the image of the second imaging device 73. Therefore, the adjustment device 1 performs rough adjustment, and the multi-axis robotic arm 71 performs fine adjustment, so as to improve the operation efficiency of the suspension string maintenance equipment while ensuring the disassembly and assembly of the clamp 31.

[0048] The multi-axis robotic arm 71 is preferably but not limited to a six-axis robotic arm for flexible operation.

[0049] In some embodiments, the maintenance robot 7 further includes a bracket 74 and a third imaging device 75. The bracket 74 is provided at the end of the multi-axis robotic arm 71 or on the clamp disassembly and assembly tooling 72, and is used to obtain images of the clamp 31 and the clamp disassembly and assembly tooling 72, so that the multi-axis robotic arm 71 drives the clamp disassembly and assembly tooling 72 to move according to the image of the third imaging device 75, and the clamp disassembly and assembly tooling 72 performs disassembly and assembly according to the image of the third imaging device 75.

[0050] As Figure 1 and Figure 5 shown, a bracket 74 is provided at the end of the multi-axis robotic arm 71 or on the clamp disassembly and assembly tooling 72. A third imaging device 75 is provided on the bracket 74. The third imaging device 75 is used to obtain images of the clamp 31 and the clamp disassembly and assembly tooling 72. The bracket 74 is used to ensure that the clamp 31 and the clamp disassembly and assembly tooling 72 can be simultaneously displayed in the image of the third imaging device 75.

[0051] Obtain the pose of the wire clamp 31 and the pose of the wire clamp disassembly and assembly tooling 72 according to the image of the third imaging device 75. In other words, obtain the relative position and relative pose of the wire clamp 31 and the wire clamp disassembly and assembly tooling 72 according to the image of the third imaging device 75, so as to drive the multi-axis robotic arm 71 to drive the wire clamp disassembly and assembly tooling 72 to move to contact and disengage from the wire clamp 31, and drive the wire clamp disassembly and assembly tooling 72 to perform disassembly and assembly actions, so as to disassemble and assemble the wire clamp 31.

[0052] During the use of the dropper maintenance equipment, the multi-axis robotic arm 71 moves the wire clamp disassembly and assembly tooling 72 to the vicinity of the wire clamp 31 according to the image of the second imaging device 73. Preferably but not limited to, move the wire clamp disassembly and assembly tooling 72 to a position where both the wire clamp disassembly and assembly tooling 72 and the wire clamp 31 are located in the image of the third imaging device 75. Then, the multi-axis robotic arm 71 further moves the wire clamp disassembly and assembly tooling 72 to contact and disengage from the wire clamp 31 according to the image of the third imaging device 75. Since the image of the third imaging device 75 can simultaneously display the wire clamp 31 and the wire clamp disassembly and assembly tooling 72, it is more convenient to drive the wire clamp disassembly and assembly tooling 72 to contact and disengage from the wire clamp 31, and can also monitor the states of the wire clamp disassembly and assembly tooling 72 and the wire clamp 31 during the disassembly and assembly actions, ensuring the smooth disassembly and assembly of the wire clamp 31.

[0053] Further, when the multi-axis robotic arm 71 moves the wire clamp disassembly and assembly tooling 72 to the vicinity of the wire clamp 31 according to the image of the second imaging device 73, the current-carrying loop formed by the wire clamp disassembly and assembly tooling 72 and the wire clamp 31 is symmetrically arranged with respect to the wire clamp 31. In other words, the current-carrying loop formed by the wire clamp 31 is located on one side of the wire clamp 31, and the wire clamp disassembly and assembly tooling 72 is located on the other side of the wire clamp 31. And the height positions of the current-carrying loop and the wire clamp disassembly and assembly tooling 72 are generally the same. To ensure that both the wire clamp disassembly and assembly tooling 72 and the wire clamp 31 are located within the image of the third imaging device 75, and at the same time facilitate the further movement of the wire clamp disassembly and assembly tooling 72 to contact and disengage from the wire clamp 31.

[0054] In some embodiments, the image accuracies of the first imaging device 2, the second imaging device 73, and the third imaging device 75 increase in sequence.

[0055] Specifically, during the use of the dropper maintenance equipment, it includes three sequential movement processes of the adjustment device 1 moving based on the image of the first imaging device 2, the multi-axis robotic arm 71 moving based on the image of the second imaging device 73, and the multi-axis robotic arm 71 moving based on the image of the third imaging device 75. The movement accuracies of the three sequential movement processes increase. Therefore, the image accuracies of the first imaging device 2, the second imaging device 73, and the third imaging device 75 are set to increase in sequence to ensure that images meeting the requirements can be provided during the corresponding movement processes.

[0056] In some embodiments, both the first imaging device 2 and the third imaging device 75 are 2D cameras. Figure 5As shown, the third imaging device 75 is preferably but not limited to a micro camera, which is convenient for installation on the bracket 74 at the end of the multi-axis robotic arm 71 and avoids interfering with the disassembly and assembly operations. Both the first imaging device 2 on the adjustment device 1 and the third imaging device 75 on the multi-axis robotic arm 71 are preferably but not limited to being provided in multiple numbers to provide images from multiple angles, thereby ensuring the accuracy of the movement and rotation of the adjustment device 1 and the multi-axis robotic arm 71.

[0057] The second imaging device 73 is a 3D camera, which can be a monocular camera or a binocular camera, to provide compliant images for the multi-axis robotic arm 71 during the movement based on the images of the second imaging device 73, as Figure 4 shown.

[0058] It can be understood that the second imaging device 73 is not limited to a 3D camera. In some other embodiments, the second imaging device 73 can also be a 2D camera.

[0059] The first measuring device 4 is a lidar. As Figure 3 shown, the point cloud maps of the catenary 5 and the contact wire 6 are obtained by lidar scanning, and based on the point cloud maps, the height and pose of the catenary 5 and the height and pose of the contact wire 6 are preferably but not limited to be obtained through template matching operations.

[0060] In some embodiments, the maintenance robot 7 includes a first maintenance robot 76 and a second maintenance robot 77. The first maintenance robot 76 is used for disassembling and assembling the clamp 31 for connecting the catenary 5 of the suspension 3, and the second maintenance robot 77 is used for disassembling and assembling the clamp 31 for connecting the contact wire 6 of the suspension 3.

[0061] As Figure 1 、 Figure 4 and Figure 5 shown, the first maintenance robot 76 and the second maintenance robot 77 are arranged at intervals on the adjustment device 1.

[0062] The suspension 3 has a first end and a second end which are oppositely arranged. The first end has a first clamp 31 for connecting the catenary 5, and the second end has a second clamp 31 for connecting the contact wire 6. When the suspension 3 is installed between the catenary 5 and the contact wire 6, the first end is the top end of the suspension 3, and the second end is the bottom end of the suspension 3.

[0063] In the first maintenance robot 76, the second imaging device 73 is used to acquire an image of the first clamp 31, obtain the pose of the first clamp 31 based on the image of the second imaging device 73, drive the multi-axis robotic arm 71 according to the pose of the first clamp 31, so that the multi-axis robotic arm 71 drives the clamp disassembly and assembly tooling 72 to move near the first clamp 31. The third imaging device 75 is used to acquire images of the first clamp 31 and the clamp disassembly and assembly tooling 72, thereby driving the multi-axis robotic arm 71 to drive the clamp disassembly and assembly tooling 72 to move to contact and disengage from the first clamp 31 according to the image of the third imaging device 75, and driving the clamp disassembly and assembly tooling 72 to perform disassembly and assembly actions, so as to disassemble and assemble the first clamp 31 on the catenary 5.

[0064] In the second maintenance robot 77, the second imaging device 73 is used to acquire an image of the second clamp 31, obtain the pose of the second clamp 31 based on the image of the second imaging device 73, drive the multi-axis robotic arm 71 according to the pose of the second clamp 31, so that the multi-axis robotic arm 71 drives the clamp disassembly and assembly tooling 72 to move near the second clamp 31. The third imaging device 75 is used to acquire images of the second clamp 31 and the clamp disassembly and assembly tooling 72, thereby driving the multi-axis robotic arm 71 to drive the clamp disassembly and assembly tooling 72 to move to contact and disengage from the second clamp 31 according to the image of the third imaging device 75, and driving the clamp disassembly and assembly tooling 72 to perform disassembly and assembly actions, so as to disassemble and assemble the second clamp 31 on the contact wire 6.

[0065] Therefore, the first maintenance robot 76 is used to disassemble and assemble the first clamp 31 connecting the catenary 5, and the second maintenance robot 77 is used to disassemble and assemble the second clamp 31 connecting the contact wire 6. The adjusting device 1 drives the first maintenance robot 76 and the second maintenance robot 77 to move and rotate at the same time. The first maintenance robot 76 and the second maintenance robot 77 preferably but not limited to perform disassembly and assembly synchronously, so as to facilitate the disassembly and assembly of the suspension 3.

[0066] In some embodiments, the first imaging device 2 is set to at least four. The first first imaging device 2 and the second first imaging device 2 are located on a first virtual straight line (not shown in the figure), and the third first imaging device 2 and the fourth first imaging device 2 are located on a second virtual straight line (not shown in the figure). The first virtual straight line is orthogonal to the second virtual straight line.

[0067] Specifically, the first imaging device 2 is preferably but not limited to being set in two groups. Each group includes two first imaging devices 2 arranged at intervals along a straight line direction. The connection line of the two first imaging devices 2 in the first group is the first virtual straight line, and the connection line of the two first imaging devices 2 in the second group is the second virtual straight line. The first virtual straight line is orthogonal to the second virtual straight line. In other words, the four first imaging devices 2 are arranged at the four corners of a rectangle. In other words, the four first imaging devices 2 are arranged in a cross shape.

[0068] When the catenary maintenance equipment is in use, each first imaging device 2 acquires an image of the catenary 3. According to the images of the four first imaging devices 2, the adjustment device 1 is driven to move horizontally so that the catenary 3 is located at the center line position of the images of the four first imaging devices 2, ensuring that the catenary 3 is at the central position above the adjustment device 1, thus facilitating the disassembly and assembly of the clamp 31 by the maintenance robot 7. At the same time, according to the images of the four first imaging devices 2, the orientation of the clamp 31 is obtained, and the adjustment device 1 is driven to rotate around the vertical direction to ensure the correction of the angular deviation formed by the orientation of the clamp 31.

[0069] In some embodiments, the first virtual line is parallel to the extending direction of the carrier cable 5, and the second virtual line is orthogonal to the extending direction of the carrier cable 5.

[0070] Specifically, the first virtual line is parallel to the extending direction of the carrier cable 5. In other words, the two first imaging devices 2 in the first group are arranged at intervals along the extending direction of the carrier cable 5. In still other words, the two first imaging devices 2 in the first group are arranged at intervals in the horizontal direction.

[0071] The second virtual line is orthogonal to the extending direction of the carrier cable 5. In other words, the two first imaging devices 2 in the second group are arranged at intervals along the direction orthogonal to the extending direction of the carrier cable 5. In still other words, the two first imaging devices 2 in the second group are arranged at intervals in the vertical direction.

[0072] According to the images of the two first imaging devices 2 in the first group, the adjustment device 1 is driven to move vertically so that the catenary 3 is located at the center line position of the images of the two first imaging devices 2 in the first group. At this time, the catenary 3 is at the middle position along the vertical direction above the adjustment device 1. According to the images of the two first imaging devices 2 in the second group, the adjustment device 1 is driven to move horizontally so that the catenary 3 is located at the center line position of the images of the two first imaging devices 2 in the second group. At this time, the catenary 3 is at the middle position along the horizontal direction above the adjustment device 1. Thus, the catenary 3 is at the central position above the adjustment device 1.

[0073] In some embodiments, the adjustment device 1 includes a horizontal movement device 11, a vertical movement device 12, a vertical movement device 13 and a turntable 14. The horizontal movement device 11 is arranged on the vertical movement device 13 to move vertically under the drive of the vertical movement device 13. The vertical movement device 12 is arranged on the horizontal movement device 11 to move horizontally under the drive of the horizontal movement device 11. The turntable 14 is arranged on the vertical movement device 12 to move vertically under the drive of the vertical movement device 12. The turntable 14 rotates around the vertical direction relative to the vertical movement device 12. The turntable 14 is provided with a first imaging device 2, a first measuring device 4 and a maintenance robot 7. The horizontal and vertical directions are orthogonal, and one of the horizontal and vertical directions is the extending direction of the carrier cable 5.

[0074] As shown Figure 1 in FIG. 1, the adjusting device 1 is provided with two vertical moving devices 13 arranged at intervals in the transverse direction. The vertical moving device 13 is telescopable in the vertical direction, preferably but not limited to a telescopic cylinder. The transverse moving device 11 extends in the transverse direction and is arranged on the two vertical moving devices 13 to move in the vertical direction driven by the vertical moving device 13. The longitudinal moving device 12 extends in the longitudinal direction and is arranged on the transverse moving device 11 to move in the transverse direction driven by the transverse moving device 11. The turntable 14 is arranged on the longitudinal moving device 12 to move in the longitudinal direction driven by the longitudinal moving device 12. The transverse moving device 11 and the longitudinal moving device 12 are preferably but not limited to linear sliding devices.

[0075] The turntable 14 is arranged on the longitudinal moving device 12 and is rotatable about the vertical direction drivenly, preferably but not limited to being driven to rotate by a rotating motor. The turntable 14 is provided with a first maintenance robot 76, a second maintenance robot 77, four first imaging devices 2 and a first measuring device 4, wherein the four first imaging devices 2 are arranged at intervals along the circumferential direction of the turntable 14.

[0076] As shown Figures 1 - 5 in FIG. 2, the suspension string maintenance method according to the embodiment of the present invention is implemented based on the suspension string maintenance equipment according to the embodiment of the present invention. The suspension string maintenance method includes:

[0077] Obtaining an image of the suspension string 3 through the first imaging device 2, driving the adjusting device 1 to move in the horizontal direction according to the image of the first imaging device 2 so that the suspension string 3 is located at the center line position of the image of the first imaging device 2, obtaining the orientation of the clamp 31 according to the image of the first imaging device 2, and driving the adjusting device 1 to rotate about the vertical direction according to the orientation of the clamp 31. Specifically, preferably but not limited to, deep learning object recognition is used to recognize the suspension string 3 and the clamp 31 from the image of the first imaging device 2, so as to automatically drive the adjusting device 1 to move in the horizontal direction and rotate about the vertical direction.

[0078] Measuring the carrier cable 5 and the contact wire 6 through the first measuring device 4 to obtain the height and pose of the carrier cable 5 and the height and pose of the contact wire 6, driving the adjusting device 1 to move in the vertical direction according to the height of the carrier cable 5 and the height of the contact wire 6, and driving the adjusting device 1 to rotate about the vertical direction according to the pose of the carrier cable 5 and the pose of the contact wire 6.

[0079] Driving the maintenance robot 7 to disassemble and assemble the clamp 31.

[0080] In the method for overhauling a suspension insulator according to an embodiment of the present invention, the adjusting device 1 moves horizontally according to the image of the first imaging device 2 to correct the position deviation between the adjusting device 1 and the suspension insulator 3 in the horizontal direction, moves vertically according to the measurement result of the first measuring device 4 to correct the position deviation between the adjusting device 1 and the suspension insulator 3 in the vertical direction, and rotates around the vertical direction according to the image of the first imaging device 2 and the measurement result of the first measuring device 4 to correct the angular deviation formed by the orientation of the clamp 31, so as to ensure that the overhaul robot 7 can automatically disassemble and assemble the clamp 31 of the suspension insulator 3.

[0081] Further, the steps of driving the overhaul robot 7 to disassemble and assemble the clamp 31 specifically include:

[0082] Obtain the image of the clamp 31 through the second imaging device 73 of the overhaul robot 7, obtain the pose of the clamp 31 according to the image of the second imaging device 73, drive the multi-axis robotic arm 71 according to the pose of the clamp 31, so that the multi-axis robotic arm 71 drives the clamp disassembly and assembly tooling 72 to move, so that the clamp disassembly and assembly tooling 72 and the clamp 31 are both within the viewing angle of the third imaging device 75 of the overhaul robot 7.

[0083] Obtain the images of the clamp 31 and the clamp disassembly and assembly tooling 72 through the third imaging device 75, obtain the pose of the clamp 31 and the pose of the clamp disassembly and assembly tooling 72 according to the images of the third imaging device 75, drive the multi-axis robotic arm 71 to drive the clamp disassembly and assembly tooling 72 to move according to the pose of the clamp 31 and the pose of the clamp disassembly and assembly tooling 72, and drive the clamp disassembly and assembly tooling 72 to disassemble and assemble.

[0084] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "axial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0085] In addition, the terms "first" and "second" are only used for distinction, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0086] In the present invention, unless otherwise clearly specified or limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed broadly. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection, an electrical connection, or capable of communicating with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0087] In the present invention, unless otherwise clearly specified or limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0088] In the present invention, the terms "one embodiment", "some embodiments", "exemplary", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0089] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A catenary inspection device, characterized in that, Comprising: An adjusting device (1), which is movable both horizontally and vertically and rotatable about the vertical direction; A first imaging device (2), which is arranged on the adjusting device (1) and is used to acquire an image of the suspension clamp (3), so that the adjusting device (1) moves horizontally and rotates about the vertical direction according to the image of the first imaging device (2); A first measuring device (4), which is arranged on the adjusting device (1) and is used to measure the carrier cable (5) and the contact wire (6), so that the adjusting device (1) moves vertically and rotates about the vertical direction according to the measurement result of the first measuring device (4); An overhaul robot (7), which is arranged on the adjusting device (1) and is used to disassemble and assemble the clamp (31) of the suspension clamp (3).

2. The catenary overhaul equipment according to claim 1, characterized in that The overhaul robot (7) includes a multi-axis robotic arm (71), a clamp disassembly and assembly tooling (72) and a second imaging device (73). The clamp disassembly and assembly tooling (72) and the second imaging device (73) are arranged at the end of the multi-axis robotic arm (71). The second imaging device (73) is used to acquire an image of the clamp (31), so that the multi-axis robotic arm (71) drives the clamp disassembly and assembly tooling (72) to move according to the image of the second imaging device (73).

3. The catenary overhaul equipment according to claim 2, characterized in that The overhaul robot (7) further includes a bracket (74) and a third imaging device (75). The bracket (74) is arranged at the end of the multi-axis robotic arm (71) or on the clamp disassembly and assembly tooling (72) and is used to acquire an image of the clamp (31) and the clamp disassembly and assembly tooling (72), so that the multi-axis robotic arm (71) drives the clamp disassembly and assembly tooling (72) to move according to the image of the third imaging device (75), and the clamp disassembly and assembly tooling (72) disassembles and assembles according to the image of the third imaging device (75).

4. The catenary overhaul device according to claim 3, characterized in that, The image accuracies of the first imaging device (2), the second imaging device (73) and the third imaging device (75) increase in sequence.

5. The catenary overhaul device according to claim 1, characterized in that, The overhaul robot (7) includes a first overhaul robot (76) and a second overhaul robot (77). The first overhaul robot (76) is used to disassemble and assemble the clamp (31) of the suspension clamp (3) for connecting the carrier cable (5), and the second overhaul robot (77) is used to disassemble and assemble the clamp (31) of the suspension clamp (3) for connecting the contact wire (6).

6. The catenary overhaul equipment according to claim 1, wherein, The first imaging device (2) is arranged to be at least four. The first first imaging device (2) and the second first imaging device (2) are located on a first virtual straight line, and the third first imaging device (2) and the fourth first imaging device (2) are located on a second virtual straight line. The first virtual straight line is orthogonal to the second virtual straight line.

7. The suspension string maintenance equipment according to claim 6, characterized in that, The first virtual straight line is parallel to the extending direction of the carrier cable (5), and the second virtual straight line is orthogonal to the extending direction of the carrier cable (5).

8. The catenary overhaul equipment according to claim 1, characterized in that The adjusting device (1) includes a lateral movement device (11), a longitudinal movement device (12), a vertical movement device (13), and a turntable (14). The lateral movement device (11) is arranged on the vertical movement device (13) to move in the vertical direction driven by the vertical movement device (13). The longitudinal movement device (12) is arranged on the lateral movement device (11) to move in the lateral direction driven by the lateral movement device (11). The turntable (14) is arranged on the longitudinal movement device (12) to move in the longitudinal direction driven by the longitudinal movement device (12). The turntable (14) rotates around the vertical direction relative to the longitudinal movement device (12). The turntable (14) is provided with the first imaging device (2), the first measuring device (4), and the maintenance robot (7). The lateral direction and the longitudinal direction are orthogonal, and one of the lateral direction and the longitudinal direction is the extending direction of the catenary (5).

9. A method for overhauling a suspension string, characterized in that, Implemented based on the catenary maintenance equipment according to any one of claims 1-8, the catenary maintenance method includes: Obtain an image of the catenary (3) through the first imaging device (2), drive the adjusting device (1) to move in the horizontal direction according to the image of the first imaging device (2) so that the catenary (3) is located at the center line position of the image of the first imaging device (2), obtain the orientation of the clamp (31) according to the image of the first imaging device (2), and drive the adjusting device (1) to rotate around the vertical direction according to the orientation of the clamp (31); Measure the catenary (5) and the contact wire (6) through the first measuring device (4) to obtain the height and pose of the catenary (5) and obtain the height and pose of the contact wire (6). Drive the adjusting device (1) to move in the vertical direction according to the height of the catenary (5) and the height of the contact wire (6), and drive the adjusting device (1) to rotate around the vertical direction according to the pose of the catenary (5) and the pose of the contact wire (6); Drive the maintenance robot (7) to disassemble and assemble the clamp (31).

10. The method for overhauling a dropper according to claim 9, characterized in that, The step of driving the maintenance robot (7) to disassemble and assemble the clamp (31) specifically includes: Obtain an image of the clamp (31) through the second imaging device (73) of the maintenance robot (7), obtain the pose of the clamp (31) according to the image of the second imaging device (73), drive the multi-axis robotic arm (71) of the maintenance robot (7) according to the pose of the clamp (31), so that the multi-axis robotic arm (71) drives the clamp disassembly and assembly tooling (72) of the maintenance robot (7) to move, so that the clamp disassembly and assembly tooling (72) and the clamp (31) are both within the viewing angle of the third imaging device (75) of the maintenance robot (7); Obtain images of the wire clamp (31) and the wire clamp disassembly and assembly tooling (72) through the third imaging device (75), obtain the pose of the wire clamp (31) and the pose of the wire clamp disassembly and assembly tooling (72) according to the images of the third imaging device (75), drive the multi-axis robotic arm (71) to drive the wire clamp disassembly and assembly tooling (72) to move according to the pose of the wire clamp (31) and the pose of the wire clamp disassembly and assembly tooling (72), and drive the wire clamp disassembly and assembly tooling (72) to perform disassembly and assembly.

Images