Subway chassis inspection robot system based on side drive flat plate type base and continuum mechanical arm

Abstract

The invention discloses a metro chassis inspection robot system based on a side-drive flat plate type base and a continuum mechanical arm, and provides the side-drive flat plate type base attached to a track, the side-drive flat plate type base is matched with the lightweight and miniaturized continuum mechanical arm suitable for a metro inspection scene, and the metro chassis inspection robot system is suitable for being used for metro inspection on the premise of ensuring functional integrity. The size and the occupied space of each module of the mechanical arm are reduced as much as possible, so that the mechanical arm can give full play to the advantages of flexibility and flexibility and go deep into a narrow space to complete inspection tasks, dependence of an inspection robot on inspection objective scenes is reduced, design and use of complex auxiliary operation mechanisms such as a lifting platform, a trench ramp and an inspection vehicle track are avoided, and the inspection robot is convenient to use. Under the condition of ensuring the inspection efficiency, the requirement of the system on the positioning precision is reduced, the inspection efficiency and accuracy are improved, and a solid support is provided for the safe operation of a subway system.

Description

Technical Field

[0001] The present invention belongs to the field of subway inspection, and in particular relates to a subway chassis inspection robot system based on a side-driven flat plate base and a continuum mechanical arm. Background Art

[0002] During subway inspections, the underside of vehicles often presents a highly unstructured environment with small inspection areas and complex, variable structures. This makes pre-planning inspection routes difficult and requires frequent adjustments to accommodate actual on-site conditions, significantly inconvenient for maintenance work. During manual inspections, inspectors must rely heavily on their expertise and extensive experience to determine the status of each component. However, prolonged work can easily lead to fatigue, and spatial constraints and insufficient lighting severely limit vision, exacerbating the difficulty of inspection work. These factors, combined, increase the likelihood of misdetection and missed detection, posing significant challenges to the efficiency, accuracy, and safety of manual inspections.

[0003] In recent years, industrial inspection robot technology has seen initial application in the subway industry. However, existing robotic systems still have limitations when operating in unstructured, confined spaces with poor lighting conditions. Current subway inspection robots are commonly used for trench inspections. These robots utilize a mobile cart coupled with a rigid robotic arm. These robots are bulky and heavy, move relatively slowly, and require advanced navigation, positioning, and collision avoidance capabilities. Inspections require movement from a starting position to an automated lifting platform located within the designated trench inspection area. The robot then enters the trench via the platform or uses a pre-defined ramp to enter and exit the trench. This approach has high initial construction costs, limited application scenarios, and significantly increases the complexity of the mobile base design. Furthermore, traditional rigid robotic arms may be unable to reach certain key inspection points due to their limited degrees of freedom and inherent shape, resulting in inefficient or even complete failure.

[0004] At present, there are no relevant reports and patent documents on subway chassis inspection robot systems based on side-drive flat-plate bases and continuum robotic arms in China. Summary of the Invention

[0005] In response to the above problems, the purpose of the present invention is to provide a subway chassis inspection robot system based on a side-driven flat-plate base and a continuum robotic arm, so that the inspection robot base can adapt to the unstructured and narrow environment under the vehicle and reduce dependence on objective scenes; the robotic arm meets the design requirements of lightweight, miniaturization, and high dexterity, and can carry image acquisition devices to overcome obstructions and reach key inspection points, ensuring that it can flexibly and efficiently perform inspection tasks in a narrow and complex environment.

[0006] The specific technical solutions for achieving the purpose of the present invention are as follows:

[0007] A subway chassis inspection robot system based on a side-driven flat-plate base and a continuum robotic arm, comprising a flat-plate box frame, a support unit, a drive unit, a fusion sensing unit, and a line-driven continuum robotic arm unit;

[0008] The sides of the flat-plate box frame are respectively provided with a support unit and a drive unit, and the support unit and the drive unit cooperate to realize the driving of the system;

[0009] A line-driven continuum robotic arm unit and a fusion perception unit are provided on the flat-panel box frame. The perception unit and the line-driven continuum robotic arm unit cooperate to realize the perception of the subway chassis environment.

[0010] Further, the support unit includes a support wheel crank and a support wheel;

[0011] The support wheel crank is connected to the side of the flat box frame, and the support wheel and the support wheel crank are fixedly connected;

[0012] The drive unit includes a drive wheel crank and a drive wheel;

[0013] The driving wheel crank is connected to the side surface of the flat-plate box frame, and the driving wheel and the driving wheel crank are fixedly connected.

[0014] Furthermore, the fusion perception unit includes a base camera, a base slide rail, a laser radar and an arm-mounted binocular camera;

[0015] The base slide rail is arranged on the upper surface of the flat box frame, and the base camera is movably arranged on the base slide rail;

[0016] The laser radar is arranged at the center of the forward direction of the flat-panel box frame, and is used to realize scanning and modeling of the forward direction and part of the bottom area of the subway car;

[0017] The arm-mounted binocular camera is connected to a wire-driven continuum robotic arm unit.

[0018] Furthermore, the wire-driven continuum robotic arm unit includes a wire-driven continuum robotic arm and a robotic arm driving module;

[0019] The line-driven continuum robot arm is connected to the robot arm driving module and moves under the drive of the robot arm driving module. The robot arm driving module is arranged on the flat box frame;

[0020] The wire-driven continuum robotic arm includes multiple segments, and each segment is driven by multiple cables.

[0021] Furthermore, the wire-driven continuum manipulator comprises a central elastic rod, a spacer disk, a driving cable, an initial disk and an end disk;

[0022] The plurality of spacer disks are spaced apart and arranged on the central elastic rod, and the plurality of spacer disks are connected by a plurality of drive cables;

[0023] The multiple drive cables of each segment are fixed to the end disk of the segment and finally connected to the initial disk.

[0024] Furthermore, the robot arm drive module includes a drive motor, a drive motor cavity, a drive motor cavity cover and a winding reel;

[0025] There are multiple drive motors, which are placed in a drive motor cavity with different heights. A drive motor cavity cover is provided on the drive motor cavity.

[0026] The output end of the drive motor is coaxially equipped with a winding drum, which is used to assemble and limit the drive cable and directly transfer the drive cable to the initial drum.

[0027] Furthermore, the robotic arm driving module is arranged in a groove provided on the flat box frame.

[0028] The present invention also provides a subway chassis inspection method based on the above system, comprising the following steps:

[0029] S1. According to subway maintenance standards, the subway train to be inspected is brought into the maintenance area;

[0030] S2. Send inspection instructions to the subway chassis inspection robot system;

[0031] S3, the subway chassis inspection robot system obtains subway train parking lane information, train system number, and calls train model and map information;

[0032] S4: The subway chassis inspection robot system drives to the inspection starting point to determine the working conditions and conduct self-inspection;

[0033] S5, the subway chassis inspection robot system uses a base camera to scan the regular area of the subway chassis, and uses a wire-driven continuum robotic arm unit to control the arm-mounted binocular camera to penetrate into the narrow areas of the chassis for full coverage inspection;

[0034] S6. Complete chassis inspection tasks and obtain preliminary evaluation results based on inspection data;

[0035] S7. Determine key inspection areas based on the preliminary assessment results and repeatedly confirm areas where components may fail.

[0036] S8. After completing the inspection task, the inspection results are uploaded and archived. The subway chassis inspection robot system goes to the charging station or designated area to wait for the next instruction.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] (1) The solution of the present invention proposes a side-drive flat-plate base design that fits the track, which reduces the inspection robot's dependence on the objective inspection scene, avoids the design and use of complex auxiliary operating mechanisms such as lifting platforms, trench ramps, and inspection vehicle tracks, and reduces the system's requirements for positioning accuracy while ensuring inspection efficiency;

[0039] (2) The solution of the present invention proposes a lightweight and miniaturized continuum robot arm suitable for subway inspection scenarios. While ensuring functional integrity, the volume and occupied space of each module of the robot arm are minimized as much as possible, so that it can give full play to its own flexibility and flexibility advantages and penetrate into narrow spaces to complete inspection tasks;

[0040] (3) The inspection robot in the solution of the present invention can adapt to general standard tracks, so that the subway inspection robot system has universality and all-day intelligent inspection capabilities, which improves the efficiency and accuracy of inspections and provides solid support for the safe operation of the subway system.

[0041] The present invention will be further described below with reference to specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the overall structure of the subway chassis inspection robot system based on the side-drive flat base and continuum robotic arm of the present invention.

[0043] Figure 2 It is a structural schematic diagram of the support and drive units of the subway chassis inspection robot system based on the side-drive flat base and continuum robotic arm of the present invention.

[0044] Figure 3 It is a structural schematic diagram of a line-driven continuum robotic arm of a subway chassis inspection robot system based on a side-driven flat-plate base and a continuum robotic arm of the present invention.

[0045] Figure 4 It is a structural schematic diagram of a robotic arm drive module of a subway chassis inspection robot system based on a side-driven flat-plate base and a continuum robotic arm of the present invention.

[0046] Figure 5 This is a schematic diagram of the standard subway track structure in this embodiment.

[0047] Figure 6 The figure is a flow chart of the subway chassis inspection method in the embodiment of this scheme.

[0048] Figure 7 Schematic diagram of the system-integrated multi-objective motion planning algorithm flow in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] Example

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. The described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts are within the scope of protection of the present invention.

[0051] As used in this application and the claims, the words "a," "an," "an," and / or "the" are not intended to refer to the singular but may include the plural unless the context clearly indicates otherwise. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0052] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to actual proportional relationships. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values should be interpreted as being merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0053] Combine Figure 1 A subway chassis inspection robot system based on a side-driven flat-plate base and a continuum robotic arm includes a flat-plate box frame 10, a support unit 20, a drive unit 30, a fusion sensing unit, and a line-driven continuum robotic arm unit;

[0054] The side surfaces of the flat-plate box frame 10 are respectively provided with a support unit 20 for cooperating with the inner bottom surface of the rail to provide support, and a drive unit 30 for cooperating with the inner side surface of the rail to drive the base to move forward and backward. The support unit 20 and the drive unit 30 cooperate to realize the driving of the system.

[0055] The side of the side-drive flatbed box frame 10 moving on the linear track with the laser radar is the front side, and the other side is the rear side. When the side-drive flatbed base travels on the linear rail, the length of the linear rail is the length of the side-drive flatbed base, and the width of the linear rail is the width of the monorail inspection vehicle. The front-to-back direction, length direction, and width direction of each component in the subway undercar inspection robot system are consistent with the side-drive flatbed base. The support unit 20 and drive unit 30 are fixed in the slotted slide rails on the side of the frame 10 and have the ability to expand and contract in the width direction.

[0056] Specifically in this embodiment, there are two pairs of support units 20 and drive units 30 on each side of the flat box frame 10, arranged along the length direction of the flat box frame 10, and located at the lower ends.

[0057] The side-drive flat-bed box frame 10 of this solution adopts an overall design of a base structure that fits the track, which reduces the inspection robot's dependence on the objective inspection scene, avoids the design and use of complex auxiliary operating mechanisms such as lifting platforms, trench ramps, and inspection vehicle tracks, and at the same time reduces the system's requirements for positioning accuracy while ensuring inspection efficiency.

[0058] The flat-panel box frame 10 is provided with a line-driven continuum robotic arm unit and a fusion sensing unit, and the fusion sensing unit and the line-driven continuum robotic arm unit cooperate to realize the perception of the subway chassis environment.

[0059] The support unit 20 includes a support wheel crank 21 and a support wheel 22;

[0060] The support wheel crank 21 is connected to the side of the flat-bed frame 10, and the support wheel 22 is fixedly connected to the support wheel crank 21. In addition, the support wheel 22 adopts an inclined layout, a slot in the center, and six holes symmetrically punched along the center of the wheel axle to reduce the weight of the wheel body. The edge of the wheel body is thicker to ensure the strength of the contact area.

[0061] The driving unit 30 includes a driving wheel crank 31 and a driving wheel 32;

[0062] The driving wheel crank 31 is connected to the side of the flat box frame 10, and the driving wheel 32 is fixedly connected to the driving wheel crank 31. Preferably, the driving wheel 32 adopts a horizontal layout, and has four grooves symmetrically opened along the center of the wheel shaft to reduce the weight of the wheel body.

[0063] Combine Figure 1 、 Figure 2 and Figure 5In this embodiment, the support wheels 22 are in direct contact with the inner bottom surface 72 of the rail, and the drive wheels 32 are in direct contact with the inner surface 71 of the track. During travel, when encountering a large obstacle such as a track fastener 73 or track joint clamp 74, the active telescopic mechanism is activated, causing the support drive mechanism to retract along the width direction, and normal travel resumes after the obstacle is overcome. When encountering smaller obstacles or track unevenness, passive vibration reduction is achieved through the support drive mechanism's own telescopic ability.

[0064] This telescopic mechanism utilizes a dual active and passive telescopic mechanism to ensure effective contact with the track. The active telescopic mechanism uses a small, high-precision motor as the power source, controlling the extension and retraction of the support and drive wheels through the motor's forward and reverse rotation. Precision transmission devices such as gears, lead screws, or worm gears convert the motor's rotational motion into linear telescopic motion of the support and drive wheels, ensuring a smooth and precise telescopic process.

[0065] Preferably, considering that the working environment of the supporting driving mechanism is the track rail 70, the components of the driving support module are made of nylon material, which reduces the weight while ensuring the strength and avoids impact and wear on the track rail.

[0066] Combine Figure 3 The fusion perception unit includes a base camera 40, a base slide rail 41, a laser radar 42 and an arm-mounted binocular camera 43;

[0067] The base slide rail 41 is set on the upper surface of the flat-panel box frame 10, and the base camera 40 is movably set on the base slide rail 41; the base camera 40 is used in conjunction with the base slide rail 41 and is arranged along the width direction of the flat-panel box frame 10, with two groups arranged at the front and rear edge positions respectively, which can realize single-degree-of-freedom movement in the width direction.

[0068] The laser radar 42 is arranged at the center of the forward direction of the flat-panel box frame 10, and is used to scan and model the forward direction and the area under the subway car for working environment and obstacle detection;

[0069] The arm-mounted binocular camera 43 is connected to the wire-driven continuum robotic arm unit. The arm-mounted binocular camera 43 can be placed on the end plate of the wire-driven continuum robotic arm 50, and can follow the robotic arm around obstacles and penetrate into narrow spaces for target detection, while simultaneously acquiring two-dimensional images and depth information.

[0070] Combined with this fusion sensing unit, the status of the support and drive wheels can be adjusted in real time. When encountering large obstacles such as track fasteners or structural plywood, the control system immediately activates the active telescopic mechanism to adjust the position of the support and drive wheels, avoiding the obstacle while ensuring effective contact with the track. A passive telescopic mechanism adds passive elements such as springs or shock-absorbing forks to the active telescopic mechanism to cope with sudden impacts caused by track unevenness or small obstacles. When encountering changes in track height, the springs automatically adjust the position of the support and drive wheels to maintain effective contact with the track.

[0071] Furthermore, simulation analysis can be used to optimize the layout and parameters of the drive system, improving motion efficiency and stability. Highly efficient and energy-efficient motors and transmission systems, combined with intelligent control algorithms, enable precise control of the power system and reduce energy consumption.

[0072] Combine Figure 3 and Figure 4 , the line-driven continuum robot arm unit includes a line-driven continuum robot arm 50 and a robot arm driving module 60;

[0073] The line-driven continuum robot arm 50 is connected to the robot arm driving module 60 and moves under the drive of the robot arm driving module 60. The robot arm driving module 60 is provided on the flat box frame 10.

[0074] The wire-driven continuum robot arm 50 includes multiple segments, each of which is driven by multiple cables;

[0075] The wire-driven continuum manipulator 50 includes a central elastic rod 51, a spacer disk 52, a driving cable 53, an initial disk 54 and an end disk 55;

[0076] The plurality of spacer disks 52 are spaced apart and arranged on the central elastic rod 51 , and the plurality of spacer disks are further connected by a plurality of driving cables 53 ;

[0077] A plurality of driving cables 53 of each segment are fixed to the end disk 55 of the segment and are finally connected to the initial disk 54 .

[0078] In this embodiment, the wire-driven continuum robotic arm 50 adopts a two-segment design, each segment driven by three cables. Pulling the drive cables 53 can cause the central elastic rod 51 to bend and deform, thereby achieving the desired arm shape and completing the target detection task in narrow spaces.

[0079] Each section of the continuum robotic arm is of equal length, 40 cm. The support spacers on each section are equidistantly distributed. The drive cable of the first section is fixed to the end disk 55 of the first section through the spacer disk of the section, and the drive cable of the second section is fixed to the end disk 55 of the second section after passing through all the spacers.

[0080] The spacer disc 52 provides rigid support for the curved shape and also serves as a limiter for the drive cable 53, preventing deflection and twisting. Preferably, to improve the versatility of the spacer disc 52, six drive cable holes and one central elastic rod hole are evenly distributed on both segments of the spacer disc. The starter cable holes are evenly distributed along the disc axis, and the center distances between all cable holes and the central hole are equal.

[0081] In addition, in terms of material selection, the central elastic rod 51 in this embodiment is made of glass fiber material, the spacer disk 52, the initial disk 54 and the terminal disk 55 are made of titanium alloy material, and the drive cable 53 is made of nylon material, taking into account both strength and weight requirements.

[0082] The robot arm driving module 60 includes a driving motor 61, a driving motor cavity 62, a driving motor cavity cover 63 and a winding reel 64;

[0083] The drive motors 61 are arranged in a plurality of stepped vertical configurations, with the motors being arranged in a staggered manner in height within the drive motor cavity 62 to fully utilize the cavity space. A stepped drive motor cavity cover 63 is provided on the drive motor cavity 62, so that the installation position of each section of the drive rope is distributed in a stepped manner.

[0084] The output end of the driving motor 61 is coaxially equipped with a winding drum 64 . The winding drum 64 is used for assembling and limiting the driving cable 53 and directly transferring the driving cable 53 to the initial drum 54 .

[0085] In addition, the robot arm driving module 60 is arranged in a groove provided on the flat box frame 10, thereby reducing the space occupied by the inspection robot system in the height direction.

[0086] The present invention also provides a subway chassis inspection method based on the above system, comprising the following steps:

[0087] S1. According to subway maintenance standards, the subway train to be inspected is brought into the maintenance area;

[0088] S2. Send inspection instructions to the subway chassis inspection robot system;

[0089] S3, the subway chassis inspection robot system obtains subway train parking lane information, train system number, and calls train model and map information;

[0090] S4: The subway chassis inspection robot system drives to the inspection starting point to determine the working conditions and conduct self-inspection;

[0091] S5. The subway chassis inspection robot system uses the base camera 40 to scan the regular area of the subway chassis, and controls the arm-mounted binocular camera 43 through the wire-driven continuum robotic arm unit to penetrate into the narrow area of the chassis for full coverage inspection.

[0092] During this process, the subway chassis inspection robot system uses a wire-driven continuum robotic arm unit to control the arm-mounted binocular camera 43 to penetrate into the narrow area of the chassis for inspection. The wire-driven continuum robotic arm unit is controlled by an integrated multi-objective motion planning algorithm, specifically including:

[0093] Based on the piecewise constant curvature hypothesis, the kinematic model of the wire-driven continuum manipulator is derived. The mapping relationship between the joint space, the drive space, and the task space is established. The single degree of freedom of the side-driven flat base moving on the track is taken into consideration to obtain the kinematic model of the inspection robot system.

[0094] A continuum robot arm collision detection model was established. A flexible tubular model was used to simplify the robot arm. The radius of the tubular model was the same as the size of the continuum robot arm's spacer disc. The degree and direction of the tubular model's bending depended on the joint space posture of the robot arm.

[0095] Construct an optimization objective function under multiple constraints, including overall collision avoidance, end-point posture, manipulator morphology, energy consumption, and base-manipulator coordination coefficient, to fully utilize the speed and flexibility advantages of the base and manipulator, enabling them to work closely together.

[0096] A multi-objective solution strategy based on a multi-objective optimization algorithm is designed, and the convergence of the algorithm is improved by introducing adaptive inertia weights and non-dominated sorting mechanisms.

[0097] More specifically, when planning the motion of the robotic arm, you can refer to the following specific process:

[0098] Step 1: Iterative initialization, i.e. setting the desired trajectory and desired pose of the end of the wire-driven continuum manipulator unit, and setting the optimization parameters and constraint parameters;

[0099] Step 2: Dynamic error correction:

[0100] Step 2-1: Get the joint angle q of the current wire-driven continuum manipulator unit current ;

[0101] Step 2-2: Calculate the end pose X of the current wire-drive continuum manipulator unit based on the forward kinematics model tip =f(q current ), and calculate the error ΔX=X between the current end pose and the target pose d -X tip ;

[0102] Step 2-3: Calculate the joint angle correction Δq based on the system integration multi-objective value function and optimization method;

[0103] The system's integrated multi-objective value function is constructed based on the actual on-site operational requirements, and can be the weighted sum of functions such as position tracking accuracy, joint angle / rope length change, and robot-chassis trolley coordination coefficient.

[0104] Step 2-4: Update the joint angle parameters, let q previous =q current , and iteratively calculate q current =q previous +Δq;

[0105] Step 2-5: Determine whether the posture error ΔX is less than the preset threshold. If so, enter the trajectory point switching judgment. If not, repeat steps 2-1 to 2-4 until the posture error ΔX meets the preset threshold.

[0106] Step 3: Track point switching judgment and result output: Determine whether the current track point is the last track point. If so, output the global joint angle sequence q. If not, update the target pose X. d Go to the next position and restart the dynamic error correction cycle.

[0107] In this implementation, a strain energy-potential field coupling metric is proposed to uniformly quantify structural deformation energy and external collision avoidance, avoiding the separation of geometric constraints and mechanical objectives in traditional methods. Simultaneously, an artificial potential field method is incorporated to achieve dynamic obstacle avoidance path planning. Based on the Jacobian matrix pseudo-inverse method for solving inverse kinematics, a multi-objective Beluga algorithm is employed to solve the optimization problem, integrating joint limit constraints with drive line tension constraints to ensure the physical feasibility of the solution.

[0108] S6. Complete chassis inspection tasks and obtain preliminary evaluation results based on inspection data;

[0109] S7. Determine key inspection areas based on the preliminary assessment results and repeatedly confirm areas where components may fail.

[0110] S8. After completing the inspection task, the inspection results are uploaded and archived. The subway chassis inspection robot system goes to the charging station or designated area to wait for the next instruction.

[0111] In summary, with the technical solution of the subway chassis inspection robot system based on a side-drive flat-plate base and a continuum robotic arm, the inspection robot can adapt to the confined space and complex and variable structure of the subway car undercarriage inspection area, reducing its dependence on the objective inspection scene and avoiding the design and use of complex auxiliary operating mechanisms such as lifting platforms, trench ramps, and inspection vehicle tracks. This reduces the system's positioning accuracy requirements while ensuring inspection efficiency. In terms of the robotic arm, this solution proposes a lightweight, miniaturized continuum robotic arm suitable for subway inspection operations, reducing the size and space occupied by each module of the robotic arm while ensuring functional integrity.

[0112] The present invention enables the subway inspection robot system to have the ability to conduct intelligent inspections around the clock, which can make up for the shortcomings of traditional manual inspection methods in efficiency, accuracy and safety due to problems such as limited field of view and personnel fatigue, improve the working environment of practitioners, and provide solid support for the safe operation of the subway system.

[0113] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A subway chassis inspection robot system based on a side-drive flat-plate base and a continuum robotic arm, characterized in that: It comprises a flat box frame (10), a support unit (20), a drive unit (30), a fusion sensing unit and a line-driven continuum mechanical arm unit; A support unit (20) and a drive unit (30) are respectively provided on the side surfaces of the flat-plate box frame (10), and the support unit (20) and the drive unit (30) cooperate to realize the driving of the system; A line-driven continuum mechanical arm unit and a fusion perception unit are provided on the flat-plate box frame (10); the perception unit and the line-driven continuum mechanical arm unit cooperate to realize perception of the subway chassis environment.

2. The subway chassis inspection robot system based on a side-drive flat-plate base and a continuum robotic arm according to claim 1 is characterized in that: The support unit (20) comprises a support wheel crank (21) and a support wheel (22); The support wheel crank (21) is connected to the side of the flat box frame (10), and the support wheel (22) and the support wheel crank (21) are fixedly connected; The driving unit (30) includes a driving wheel crank (31) and a driving wheel (32); The driving wheel crank (31) is connected to the side of the flat-plate box frame (10), and the driving wheel (32) and the driving wheel crank (31) are fixedly connected.

3. The subway chassis inspection robot system based on a side-drive flat-plate base and a continuum robotic arm according to claim 1 is characterized in that: The fusion perception unit includes a base camera (40), a base slide rail (41), a laser radar (42) and an arm-mounted binocular camera (43); The base slide rail (41) is arranged on the upper surface of the flat box frame (10), and the base camera (40) is movably arranged on the base slide rail (41); The laser radar (42) is arranged at the center of the forward direction of the flat-plate box frame (10) and is used to realize scanning and modeling of the forward direction and a part of the area under the subway car; The arm-mounted binocular camera (43) is connected to the line-driven continuum mechanical arm unit.

4. The subway chassis inspection robot system based on a side-drive flat-plate base and a continuum robotic arm according to claim 3 is characterized in that: The line-driven continuum robotic arm unit comprises a line-driven continuum robotic arm (50) and a robotic arm driving module (60); The line-driven continuum robot arm (50) is connected to a robot arm driving module (60) and moves under the drive of the robot arm driving module (60), and the robot arm driving module (60) is arranged on a flat box frame (10); The wire-driven continuum robot arm (50) comprises multiple segments, and each segment is driven by multiple cables.

5. The subway chassis inspection robot system based on a side-drive flat-plate base and a continuum robotic arm according to claim 4 is characterized in that: The wire-driven continuum robot arm (50) comprises a central elastic rod (51), a spacer disk (52), a driving cable (53), an initial disk (54) and an end disk (55); A plurality of the spacer disks (52) are spaced apart and arranged on the central elastic rod (51), and the plurality of spacer disks are connected by a plurality of driving cables (53); The plurality of driving cables (53) of each segment are fixed to the end disk (55) of the segment and finally connected to the initial disk (54).

6. The subway chassis inspection robot system based on a side-drive flat-plate base and a continuum robotic arm according to claim 4 is characterized in that: The robot arm drive module (60) includes a drive motor (61), a drive motor cavity (62), a drive motor cavity cover (63) and a winding reel (64); There are multiple drive motors (61), which are arranged in a staggered manner in height within a drive motor cavity (62), and a drive motor cavity cover (63) is provided on the drive motor cavity (62); The output end of the driving motor (61) is coaxially equipped with a winding disk (64), which is used for assembling and limiting the driving cable (53) and directly transferring the driving cable (53) to the initial disk (54).

7. The subway chassis inspection robot system based on a side-drive flat-plate base and a continuum robotic arm according to claim 6 is characterized in that: The mechanical arm driving module (60) is arranged in a groove provided on the flat-plate box frame (10).

8. A subway chassis inspection method based on the system of any one of claims 1 to 7, characterized in that: The following steps are involved: S1. According to subway maintenance standards, the subway train to be inspected is brought into the maintenance area; S2. Send inspection instructions to the subway chassis inspection robot system; S3, the subway chassis inspection robot system obtains subway train parking lane information, train system number, and calls train model and map information; S4: The subway chassis inspection robot system drives to the inspection starting point to determine the working conditions and conduct self-inspection; S5, the subway chassis inspection robot system scans the conventional area of the subway chassis through the base camera (40), and controls the arm-mounted binocular camera (43) through the wire-driven continuum robotic arm unit to penetrate into the narrow area of the chassis to perform full coverage inspection; S6. Complete chassis inspection tasks and obtain preliminary evaluation results based on inspection data; S7. Determine key inspection areas based on the preliminary assessment results and repeatedly confirm areas where components may fail. S8. After completing the inspection task, the inspection results are uploaded and archived. The subway chassis inspection robot system goes to the charging station or designated area to wait for the next instruction.

9. The subway chassis inspection method according to claim 8, characterized in that: In the process of the subway chassis inspection robot system in S5, the wire-driven continuum manipulator unit controls the arm-mounted binocular camera (43) to penetrate into the narrow area of the chassis for inspection, and the wire-driven continuum manipulator unit is controlled by an integrated multi-objective motion planning algorithm, specifically including the following steps: Step 1: Iterative initialization, i.e. setting the desired trajectory and desired pose of the end of the wire-driven continuum manipulator unit, and setting the optimization parameters and constraint parameters; Step 2: Dynamic error correction: Step 2-1: Get the joint angle q of the current wire-driven continuum manipulator unit current ; Step 2-2: Calculate the end pose X of the current wire-drive continuum manipulator unit based on the forward kinematics model tip =f(q current ), and calculate the error ΔX=X between the current end pose and the target pose d -X tip ; Step 2-3: Calculate the joint angle correction Δq based on the system integration multi-objective value function and optimization method; Step 2-4: Update the joint angle parameters, let q previous =q current , and iteratively calculate q current =q previous +Δq; Step 2-5: Determine whether the posture error ΔX is less than the preset threshold. If so, enter the trajectory point switching judgment. If not, repeat steps 2-1 to 2-4 until the posture error ΔX meets the preset threshold. Step 3: Track point switching judgment and result output: Determine whether the current track point is the last track point. If so, output the global joint angle sequence q. If not, update the target pose X. d Go to the next position and restart the dynamic error correction cycle.

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