A platform door door machine full coverage intelligent detection and cleaning robot

Abstract

The application discloses a kind of platform door machine full coverage intelligent detection, cleaning robot, comprising: body, self-propelled base, detection arm, cleaning arm and data processing terminal;Self-propelled base is set to the bottom of body, for driving body moves to the position of door machine to be measured along platform;Detection arm and cleaning arm are respectively set on machine body;The end of detection arm is equipped with front end detection component, and front end detection component is used to obtain the scanning data of door machine component in non-contact mode;Cleaning arm is adjustable activity structure, for blowing and dust cleaning to door machine internal component;Data processing terminal is connected with front end detection component, for receiving scanning data, and scanning data is compared and analyzed with pre-stored door machine basic state data, to judge whether door machine component exists abnormal and output detection result.The application can significantly reduce labor cost, work time consumption and material waste, improve operation efficiency and quality, realize the optimization of operating cost.

Description

Technical Field

[0001] This invention relates to a fully covered intelligent detection and cleaning robot for platform door operators. Background Technology

[0002] The inspection and cleaning of platform door operators in urban rail transit stations generally requires manual inspection of the condition of the operator components.

[0003] Subway maintenance can only be carried out within a few short hours after the subway closes at night. In this limited time, maintenance personnel not only have to clean, but also perform functional tests, tighten screws, and check logs, among other tasks. This makes them prone to oversights and potential safety hazards. Furthermore, manual operation affects accuracy and is inefficient. Cleaning the gantry cranes simply involves blowing dust from them with blowers. This dust-blowing process causes secondary pollution in the station and can be harmful to personnel. Manual cleaning is also inefficient. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention provides a platform door operator full-coverage intelligent detection and cleaning robot, comprising: a body, a self-propelled base, a detection arm, a cleaning arm, and a data processing terminal; The self-propelled base is located at the bottom of the machine body and is used to drive the machine body to move along the platform to the position of the gantry crane to be tested; The detection arm and the cleaning arm are respectively disposed on the body of the machine, and the machine body integrates a blower and a vacuum cleaner. The end of the detection arm is provided with a front detection component, which is used to acquire the scanning data of the door machine component in a non-contact manner; The cleaning arm is an adjustable structure used to blow and vacuum clean the internal components of the door operator; The data processing terminal is communicatively connected to the front-end detection component, and is used to receive the scan data, compare and analyze the scan data with the pre-stored basic status data of the gate machine, so as to determine whether there is any abnormality in the gate machine component and output the detection result.

[0005] Furthermore, the front-end detection component integrates a high-definition camera and a line laser scanner; the front-end detection component is equipped with a protective cover to protect the lens of the line laser scanner.

[0006] Furthermore, the data processing terminal has a built-in AI image recognition module. The AI ​​image recognition module is based on high-definition line laser image scanning technology, 3D digital image and edge processing technology to fuse the scanned data in order to identify the shape and position of the door machine components.

[0007] Furthermore, the cleaning arm integrates a blowing pipe and a suction pipe, which are respectively connected to the blower and vacuum cleaner inside the machine body. The blowing pipe and the suction pipe work together to achieve automatic control of blowing and suction, which simultaneously raises the dust attached to the door machine and collects the dust to avoid dust leakage and environmental pollution.

[0008] Furthermore, the data processing terminal is an industrial control computer, which is integrated inside the machine body and equipped with a high-definition operating screen displayed on the outside of the machine body.

[0009] Furthermore, the data processing terminal is also equipped with a self-learning module, which is used to scan and record the normal state characteristics of the gantry crane components in advance before formal testing, and generate and save the basic state data of the gantry crane as a comparison benchmark.

[0010] Furthermore, when the data processing terminal determines that there is an abnormality in the gantry crane component through comparison and analysis, it automatically marks the defective component, saves the image of the corresponding gantry crane component, and outputs the number of the abnormal gantry crane.

[0011] Furthermore, the data processing terminal is also equipped with a historical data management module, which is used to store historical test records, perform historical data comparison and trend prediction analysis, and generate preventive maintenance prompts.

[0012] Furthermore, the abnormality detection range of the gantry crane components includes at least: missing bolts, loose bolts, misaligned anti-loosening wires, loose grounding wires, detached guide pulleys, broken belts, and defective lead screws.

[0013] Furthermore, the robot has an automatic collaborative working mode: when operating on a single-sided platform gate, it is driven by the self-propelled base to stop at the designated gate number; first, it controls the cleaning arm to automatically blow and vacuum clean; after cleaning is completed, it controls the detection arm to automatically scan and detect the gate status; after completing all tasks on one side, it automatically moves to the next gate position and repeats the above steps.

[0014] This invention can significantly reduce labor costs and time consumption, improve operation and maintenance efficiency and quality, optimize operating costs, and improve the working environment of maintenance personnel. Attached Figure Description

[0015] Figure 1 Structural diagram of a smart detection and cleaning robot for full coverage of platform door operators; Figure 2 Flowchart of software processing for intelligent detection and cleaning robots covering all aspects of platform door operators. Detailed Implementation

[0017] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0020] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0021] like Figure 1 , Figure 2 As shown, this invention discloses an intelligent inspection and cleaning robot for platform screen doors, integrating inspection and cleaning. It can autonomously move and stop along the platform, inspecting and cleaning each door component, replacing manual cleaning of the annual platform screen door inspections. This reduces manual maintenance time and avoids prolonged dust inhalation by maintenance personnel, minimizing the impact of dust on the station. The robot has an integrated structure, consisting of a blowing arm, a vacuuming arm, a front-end inspection component 8 and a processing component, a body 1, and a self-propelled base 2. The body 1 integrates power supply equipment, processing equipment (including a data processing terminal 5, an industrial control computer displaying inspection results, and a high-definition operating screen 13), a blower 6, and a vacuum cleaner 7.

[0022] The detection section is divided into front-end detection equipment and back-end processing equipment. The front-end scanning equipment is mounted on top of the machine body 1 via a robotic arm and connected to the processing equipment via cables. The back-end processing equipment is an industrial control computer that processes data and presents the detection results. Through high-definition line laser image scanning, combined with 3D digital imaging, edge processing, and AI technologies such as autonomous learning, the system determines the status of each component of the gantry crane and compares it with the status of the basic components to assess the condition of the gantry crane components. This achieves high-definition imaging and abnormal status detection of the gantry crane's visible key components. It can detect faults such as missing bolts, loose bolts, misaligned anti-loosening wires, component abnormalities, loose grounding wires, detached guide pulleys, broken belts, and defective lead screws. After detection, an inspection report is generated, and manual verification of detected faults or alarms is performed. The system also has fault history tracing and measurement data prediction functions: the data processing terminal also has a historical data management module for storing past detection records, performing historical data comparison and trend prediction analysis, and generating preventative maintenance prompts. The non-contact detection method will not cause any damage to the gantry crane components.

[0023] The cleaning unit integrates a blower 6 and a vacuum cleaner 7. The mechanical arm drives the hose to blow and vacuum, achieving automatic control of blowing and vacuuming, and automatically completing the door cleaning.

[0024] Robots can be used to improve the maintenance efficiency of platform screen door operators and prevent maintenance personnel from inhaling dust for extended periods, thus reducing the impact of dust on the station.

[0025] 1) Front-end detection component 8 The front-end detection component 8 is integrated, employing a line laser scanner 10 and a high-definition camera 9. A protective cover is designed to effectively protect the lens of the line laser scanner 10.

[0026] 2) Data processing terminal 5 Employing a high-performance industrial PC, equipped with an Intel i9 processor and 32GB of high-capacity memory, the main unit features multiple gigabit Ethernet ports to ensure rapid processing of large amounts of measurement data. It integrates a high-definition operation screen and a rich array of cable interfaces to meet various connectivity needs. The main unit adopts a protective enclosure design, providing not only everyday protection but also improved ease of component movement.

[0027] 3) Cleaning arm 4 The cleaning arm 4 features an adjustable structure, integrating a blow pipe 11 and a suction pipe 12 to ensure that dust adhering to the door operator is lifted. Both the detection arm and the cleaning arm have 6 degrees of freedom and a working radius of 1500mm. The detection arm and the cleaning arm do not work simultaneously; one door operator is cleaned first, followed by detection, resulting in more accurate detection after cleaning. The blow pipe and suction pipe are fixed side-by-side on the outside of the cleaning arm to prevent them from tangling as the cleaning arm rotates. The air nozzle and the suction nozzle are close together, and a negative pressure suction hood with an air curtain enclosure is used at the end of the cleaning arm to enclose the blow nozzle.

[0028] 4) Fuselage 1 Adopting an integrated structure, the machine body 1 integrates an industrial control computer, a high-definition operation screen 13, a blower 6, and a vacuum cleaner 7, among other components. 5) Self-propelled base 2 The robot employs an integrated structure, consisting of a base power supply unit, a walking propulsion unit, and wheels, ensuring its mobility. The self-propelled base uses laser SLAM navigation, precisely stopping directly beneath each sliding door operator without deviation, based on the fixed distance between them.

[0029] Door machine inspection and cleaning process design scheme 1. Preparation: The initial detection system completes a self-learning process for the normal status of a gantry crane component and saves the data as a reference.

[0030] The door operator's cover is manually opened, and the robot is placed in the area of ​​the door operator that needs to be inspected and cleaned. The door operator's cover is locked, and opening the cover requires manual intervention. Fully automatic and unmanned operation refers to the inspection and cleaning inside the door operator.

[0031] 2. Component startup: Power on the robot, turn on the processor, blower, and vacuum cleaner. The robot will begin operation, complete its self-check, and meet the operating conditions.

[0032] 3. Perform blowing and vacuuming cleaning: The robot operates automatically, performing blowing, sweeping, and vacuuming cleaning.

[0033] 4. Perform gantry crane status detection: After cleaning is completed, the system automatically performs a status check on the door operator components. After cleaning and status checks on all door operators on one side are completed, the data processing terminal 5 outputs the corresponding door operator component check results, marks the door operator components with defects, and outputs the door number. Maintenance personnel can then locate the problem and carry out repairs based on the number.

[0034] Main principles and characteristics Main principle: The robot adopts an integrated structure, which can be divided into: cleaning arm 4, detection arm 3, body 1, and self-propelled base 2. The base integrates power supply equipment and processing equipment; the body 1 integrates a blower 6 and a vacuum cleaner 7, etc.

[0035] Main features: 1. The robot can walk autonomously to the next gate to perform inspection and cleaning work.

[0036] 2. The detection component can use the high-definition camera 9 to determine the status data of each door operator component, and judge the status of the door operator component by the data changes.

[0037] 3. After the detection process is started, the scan data of the gantry crane components will be automatically acquired. The data will be compared and analyzed with the previously stored normal status data of the gantry crane components to provide the detection results.

[0038] 4. The data processing terminal 5 stores the data from each inspection. When a non-standard phenomenon is detected, the system records the image at that time and outputs the number of the non-compliant gate machine.

[0039] 5. The data processing terminal features a user-friendly interface, automatically stores data, exports tables, and allows for comparative analysis with historical data to generate reports. Its lightweight design and simple wiring make it easy for on-site personnel to use.

[0040] Technical Specifications: Testing scope: Full coverage of gantry cranes; Laser measurement accuracy: 0.1mm; Self-propelled speed: 1m / s; Host processor: i9; Memory: 32GB; Network ports: 5 gigabit network ports; Power source: Rechargeable battery.

[0041] Key technological benefits of the platform door operator's fully covered intelligent detection and cleaning robot: 1. High-precision detection High-definition line laser image scanning, combined with 3D digital imaging and edge processing, and autonomous learning technologies, can accurately determine the status of internal components of the gate machine. AI image recognition, 3D digital imaging and edge processing, and autonomous learning can all be assisted by existing technologies.

[0042] 2. Non-contact detection, avoiding damage. This invention employs a non-contact laser measurement method, avoiding damage or wear to the gantry components caused by physical contact.

[0043] 3. Automatic detection and cleaning This device can significantly improve the maintenance efficiency of platform screen door operators; prevent maintenance personnel from inhaling dust for extended periods, and reduce the impact of dust on the station.

[0044] 4. Automated operation and data processing The data processing terminal 5 is equipped with a high-performance industrial computer and self-developed control software, enabling it to quickly process large amounts of measurement data, automatically identify and judge the status of gantry crane components, mark defective areas, and generate detailed inspection reports. Compared to manual operation, it is faster and provides more intuitive results.

[0045] 6. Ease of movement Equipped with wheels, it can move on its own or be pushed manually, making it easy to move.

[0046] 7. Long-term monitoring and data storage analysis The system can store data from each test and provide historical data comparison functions, generate data reports and long-term analysis curves to help maintenance personnel understand the status and maintenance conditions of gantry crane components, and conduct trend analysis and preventive maintenance.

[0047] 8. Wide applicability This device is adaptable to different models and specifications of platform screen door systems. By adjusting parameters, it can be used with various platform screen door systems, offering wide application and strong compatibility. It can significantly reduce labor costs, time consumption, and material waste, improve operation and maintenance efficiency and quality, and optimize operating costs. Considering the robot's own maintenance time, it can save 60% of the time spent on door machine inspection and cleaning.

[0048] The present invention has the following key technical features: 1. High-precision non-contact detection technology Employing high-definition line laser image scanning combined with 3D digital imaging and edge processing technologies, the system can accurately determine the condition of internal components of the gantry crane. Non-contact inspection avoids damage or wear to components caused by physical contact. The system automatically identifies and judges the condition of gantry crane components, marks defective areas, and generates detailed inspection reports. The system can store data from each inspection, perform trend analysis, and provide preventative maintenance tips.

[0049] 2. The self-propelled combined dual robotic arms realize automatic detection and cleaning of the platform door operator.

[0050] The automatic control, automatic detection, and automatic cleaning of platform door gantry cranes can automatically move from one gantry crane position to the next to perform automatic detection and cleaning work without human intervention, thus reducing manpower.

[0051] 3. AI image recognition and laser scanning fusion technology is used for platform door gantry inspection.

[0052] The data processing terminal has a built-in AI image recognition module. It uses AI image recognition combined with line laser scanning fusion to automatically identify the position, shape and other conditions of the door machine components, accurately determine component problems and quickly locate anomalies.

[0053] Any process or method described in the flowcharts of this invention or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, which can be implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device. The computer-readable medium can be any medium containing a program for storage, communication, propagation, or transmission for use by an execution system, apparatus, or device, including read-only memory, magnetic disks, or optical disks.

[0054] In the description of this specification, the reference to terms such as "embodiment," "example," etc., refers to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, those skilled in the art can combine or combine different embodiments or examples and features described in this specification without creating contradictions. The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention should fall within the protection scope of the present invention.

Claims

1. A platform door operator fully covered intelligent detection and cleaning robot, characterized in that, include: The machine body, self-propelled base, detection arm, cleaning arm, and data processing terminal; The self-propelled base is located at the bottom of the machine body and is used to drive the machine body to move along the platform to the position of the gantry crane to be tested; The detection arm and the cleaning arm are respectively disposed on the body of the machine, and the machine body integrates a blower and a vacuum cleaner. The end of the detection arm is provided with a front detection component, which is used to acquire the scanning data of the door machine component in a non-contact manner; The cleaning arm is an adjustable structure used to blow and vacuum clean the internal components of the door operator; The data processing terminal is communicatively connected to the front-end detection component, and is used to receive the scan data, compare and analyze the scan data with the pre-stored basic status data of the gate machine, so as to determine whether there is any abnormality in the gate machine component and output the detection result.

2. The robot according to claim 1, characterized in that, The front-end detection component integrates a high-definition camera and a line laser scanner; the front-end detection component is equipped with a protective cover to protect the lens of the line laser scanner.

3. The robot according to claim 2, characterized in that, The data processing terminal has a built-in AI image recognition module. The AI ​​image recognition module is based on high-definition line laser image scanning technology, 3D digital image and edge processing technology to fuse the scanned data in order to identify the shape and position of the door machine components.

4. The robot according to claim 1, characterized in that, The cleaning arm integrates a blowing pipe and a suction pipe, which are connected to the blower and vacuum cleaner inside the machine body, respectively. The blowing pipe and the suction pipe work together to achieve automatic control of blowing and suction, which simultaneously raises the dust attached to the door and collects the dust to avoid dust leakage and environmental pollution.

5. The robot according to claim 1 or 3, characterized in that, The data processing terminal is an industrial control computer, which is integrated inside the machine body and equipped with a high-definition operating screen displayed on the outside of the machine body.

6. The robot according to claim 5, characterized in that, The data processing terminal is also equipped with a self-learning module, which is used to scan and record the normal gantry crane component status characteristics in advance before formal testing, and generate and save the gantry crane basic status data as a comparison benchmark.

7. The robot according to claim 1, characterized in that, When the data processing terminal determines that there is an abnormality in the gantry crane component through comparison and analysis, it automatically marks the defective component, saves the image of the corresponding gantry crane component, and outputs the number of the abnormal gantry crane.

8. The robot according to claim 1, characterized in that, The data processing terminal is also equipped with a historical data management module, which is used to store historical test records, perform historical data comparison and trend prediction analysis, and generate preventive maintenance prompts.

9. The robot according to claim 1, characterized in that, The abnormality detection range of the gantry crane components includes at least the following: missing bolts, loose bolts, misaligned anti-loosening wires, loose grounding wires, detached guide pulleys, broken belts, and defective lead screws.

10. The robot according to claim 1, characterized in that, The robot has an automatic collaborative working mode: when operating on a single-sided platform door, it is driven by the self-propelled base to stop at the designated door number; first, it controls the cleaning arm to automatically blow and vacuum clean; after cleaning is completed, it controls the detection arm to automatically scan and detect the door status; after completing all tasks on one side, it automatically moves to the next door position and repeats the above steps.

Images