Mounting mechanism for positioning radar of metro vehicle inspection robot

Abstract

The utility model relates to the field of rail transit maintenance, in particular to a mounting mechanism for a positioning radar of a metro vehicle inspection robot, which comprises a mobile platform, an image recording mechanism and a detection mechanism, the image recording mechanism is mounted on the mobile platform; the detection mechanism comprises a telescopic mechanism and detection equipment; the telescopic mechanism is installed in the moving platform, and the movable end of the telescopic mechanism can stretch out of the moving platform. The detection device is installed on the movable end and can be driven by the telescopic mechanism to move back and forth inside the mobile platform and outside the mobile platform. The inspection robot can drive the detection equipment to move back and forth between the inside and the outside of the mobile platform through the telescopic mechanism, and when the inspection robot enters a trench, the telescopic mechanism can be controlled to stretch out to lift the detection equipment until the detection equipment is higher than the ground and can scan peripheral stand columns. At the moment, the inspection robot can carry out normal positioning and inspection work.

Description

Technical Field

[0001] The utility model relates to the field of rail transportation maintenance, and in particular to an installation mechanism for a positioning radar of a subway vehicle inspection robot. Background Art

[0002] Subway is an important part of urban public transportation. Subway vehicles are constantly running at high frequency every day, undertaking a large number of passenger transport tasks and ensuring the flow of people in the city. Subway vehicles have complex structures and high daily operation frequencies, which are prone to various faults. In order to ensure operational safety, subway vehicles need to return to special maintenance depots for train inspections after daily operations. At present, with the advancement of technology, machines are gradually being used to replace part of the manpower in the work of train inspections. Among them, intelligent inspection robots that can automatically inspect the bottom and sides of vehicles are gradually occupying an important position.

[0003] In the train inspection depot, column inspection pits are usually used to inspect subway vehicles. The track is installed on two rows of columns, and there is a trench in the middle of the columns. The ground of the trench is lower than the ground outside the columns, which is convenient for maintenance personnel to enter and exit the trench for inspection. In order to enable the intelligent inspection robot to automatically walk on both sides of the track and in the trench to inspect subway vehicles, laser navigation technology that can use columns as landmarks for positioning and navigation is often used. Due to traffic requirements, the height of the robot cannot be too high, so the robot's laser radar is generally arranged at a lower position. However, the trench depths of various maintenance depots are different. In many cases, when the robot is in the trench, the radar height cannot scan the column or is at a critical surface. At this time, the laser navigation will fail and automatic inspection work cannot be performed. Utility Model Content

[0004] In view of this, the utility model provides an installation mechanism for a positioning radar of a subway vehicle inspection robot, which aims to adjust the height of the laser radar according to the depth of the trench to ensure the normal use of the inspection robot.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0006] A mounting mechanism for a positioning radar of a subway vehicle inspection robot comprises a mobile platform, an image recording mechanism and a detection mechanism; the image recording mechanism is mounted on the mobile platform; the detection mechanism comprises a telescopic mechanism and a detection device; the telescopic mechanism is mounted in the mobile platform and its movable end can be extended outside the mobile platform; the detection device is mounted on the movable end and can move back and forth in and outside the mobile platform under the drive of the telescopic mechanism.

[0007] In some embodiments, the telescopic mechanism includes a linear motor stator and a linear motor mover used in conjunction with each other; the linear motor stator is installed in the mobile platform; and the detection device is installed on the linear motor mover.

[0008] In some embodiments, a bracket is further included; the detection device is mounted on the linear motor mover through the bracket; and the length direction of the bracket is parallel to the movement direction of the linear motor mover.

[0009] In some embodiments, the mobile platform is provided with a through hole for the detection device to pass through.

[0010] In some embodiments, the detection device is a lidar.

[0011] In some embodiments, the mobile platform has a slit for facilitating the detection operation of the detection device.

[0012] In some embodiments, the image recording mechanism includes a robotic arm and an image recording device; the image recording device is installed on the mobile platform via the robotic arm.

[0013] In some embodiments, the image recording device is a binocular camera.

[0014] In summary, compared with the prior art, the utility model has the following advantages and beneficial effects: the utility model can drive the detection device to move back and forth between the inside and outside of the mobile platform through the telescopic mechanism. When the inspection robot enters the ditch, the telescopic mechanism can be controlled to extend to raise the detection device until the detection device is higher than the ground and can scan the surrounding columns. At this time, the inspection robot can perform normal positioning and inspection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure when the utility model is installed in a trench.

[0016] Figure 2 It is a schematic diagram of the structure when the laser radar in the utility model is not extended out of the mobile platform.

[0017] Figure 3 It is a schematic diagram of the assembly structure of the laser radar and the linear motor when the laser radar is not extended out of the mobile platform in the utility model.

[0018] Figure 4 It is a schematic diagram of the structure when the laser radar in the utility model is extended out of the mobile platform.

[0019] Figure 5 It is a schematic diagram of the assembly structure of the laser radar and the linear motor when the laser radar is extended out of the mobile platform in the utility model.

[0020] The meanings of the numbers in the figure are: ground 1, ditch 2, column 3, track 4, inspection robot 5, mobile platform 51, robotic arm 52, image recording device 53, through hole 54, detection device 55, bracket 56, drag chain 57, linear motor stator 58, linear motor mover 59, slit 510. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with specific implementation methods.

[0022] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0023] In the description of the present utility model, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there are descriptions of the first, second and other similar terms, they are only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0024] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0025] like Figure 2 As shown, the installation mechanism of a subway vehicle inspection robot positioning radar described in an embodiment of the present application mainly includes a mobile platform 51, an image recording mechanism and a detection mechanism.

[0026] The mobile platform 51 may be an automated guided vehicle (AGV), also known as an automated guided transport vehicle or an automated guided transport vehicle. The mobile platform 51 may also be a crawler mobile platform, or other platform structures with a mobile function. The mobile platform 51 is box-shaped, with multiple rollers at the bottom, and can be driven by a motor to move, and may be equipped with electrical components such as batteries and controllers. Figure 1As shown, when in use, the mobile platform 51 is generally placed in a trench 2 for maintenance, and the mobile platform 51 can move along the trench 2 to perform maintenance on the subway car.

[0027] The image recording mechanism is installed on the mobile platform 51, and is mainly used to take pictures of the target object, obtain the outline information of the key parts of the vehicle, and then detect the vehicle.

[0028] The detection mechanism includes a telescopic mechanism and a detection device 55. The telescopic mechanism is installed in the mobile platform 51 and its movable end can be extended outside the mobile platform 51. The detection device 55 is installed on the movable end and can move back and forth inside and outside the mobile platform 51 under the drive of the telescopic mechanism. The detection device 55 can scan and detect surrounding geographical information to provide walking navigation reference for the inspection robot 5.

[0029] When the inspection robot 5 performs the inspection work normally, Figure 2 As shown, the detection device 55 is located in the mobile platform 51, and can scan the surrounding geographical environment through the preset slit 510 on the mobile platform 51, obtain fixed feature information, build an environmental map, and navigate and locate the inspection robot 5, so that the inspection robot 5 can walk to the accurate position for photo detection.

[0030] like Figure 1 As shown, the trench 2 is lower than the external ground 1, and there are two rows of columns 3 on both sides of the trench 2 to support the track 4. When the inspection robot 5 described in the embodiment of the present application enters the trench 2 below the track 4, if the trench 2 is shallow and if the detection device 55 is still above the ground 1, the detection device 55 can scan the surrounding columns 3 through the slit 510, and can accurately position the inspection robot 5 so that it can work normally. If the trench 2 is too deep and the detection device 55 is located below the ground 1, the detection device 55 cannot scan the surrounding columns 3, and it will be impossible to locate. Figure 4 As shown, at this time, the telescopic mechanism is controlled to extend to raise the detection device 55 until the detection device 55 is higher than the ground 1 and can scan the surrounding columns 3. At this time, the inspection robot 5 can perform normal positioning and inspection work.

[0031] As an optional implementation, Figure 3 and Figure 5As shown, the telescopic mechanism can be a linear motor, which includes a linear motor stator 58 and a linear motor mover 59 used in conjunction with each other. A linear motor is a transmission device that directly converts electrical energy into linear motion mechanical energy without the need for any intermediate conversion mechanism. It can be regarded as a rotating motor that is radially cut and unfolded into a plane. A linear motor is also called a linear motor, a linear motor, a linear motor, and a push rod motor. The linear motor stator 58 is installed in the mobile platform 51, and the top and bottom of the linear motor stator 58 can be connected to the top and bottom surfaces inside the mobile platform 51 respectively, and multiple linear motors can be arranged side by side so that multiple linear motor movers 59 move synchronously to improve stability. The detection device 55 is installed on the linear motor mover 59, so the linear motor mover 59 can carry the detection device 55 and move up and down along the linear motor stator 58.

[0032] In addition, the telescopic mechanism can also be any one of a hydraulic telescopic cylinder, an electric telescopic cylinder, and a pneumatic telescopic cylinder, or other mechanisms that can achieve linear telescopic movements, such as a rack and pinion mechanism, a screw-nut mechanism, and the like.

[0033] A displacement sensor may also be provided in the linear motor to monitor the position of the linear motor mover 59 on the linear motor stator 58, that is, to monitor the height of the detection device 55. The height of the detection device 55 can be recorded by the displacement sensor, and the detection device 55 can be directly raised to this height for inspection in subsequent work.

[0034] In order to protect the detection device 55 and the power supply and signal transmission cables of the linear motor, a drag chain 57 can also be set on the mobile platform 51. One end of the drag chain 57 is fixedly mounted on the linear motor mover 59 through a drag chain mounting plate, and moves with the linear motor mover 59 and the detection device 55; the other end of the drag chain 57 is fixedly mounted on the internal frame of the mobile platform 51. The cables pass through the inside of the drag chain 57 to connect the detection device 55 and the mobile platform 51.

[0035] In order to further increase the range of motion of the detection device 55, the detection device 55 and the linear motor mover 59 can be connected by a bracket 56. The length direction of the bracket 56 is parallel to the motion direction of the linear motor mover 59, that is, parallel to the length direction of the linear motor stator 58. In this way, even if the linear motor stator 58 is completely located in the mobile platform 51, the detection device 55 can be extended out of the mobile platform 51 through the bracket 56. At the same time, the detection device 55 and the bracket 56 can also be completely stored in the mobile platform 51, and its flexibility of use is greatly improved.

[0036] A through hole 54 for the detection device 55 to pass through may also be opened on the mobile platform 51 , so as to facilitate the detection device 55 to enter and exit the mobile platform 51 .

[0037] The detection device 55 may be a laser radar. Laser radar (English: Laser Radar) is a radar system that emits a laser beam to detect the position, speed and other characteristic quantities of a target. Its working principle is to emit a detection signal (laser beam) to the target, and then compare the received signal reflected from the target (target echo) with the transmitted signal. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, height, speed, attitude, and even shape parameters. Laser radar can scan the geographical environment within its horizontal plane.

[0038] like Figure 2 As shown, the image recording mechanism includes a mechanical arm 52 and an image recording device 53 . The image recording device 53 is installed on the mobile platform 51 through the mechanical arm 52 , and is preferably installed on the top of the mobile platform 51 .

[0039] As an optional implementation, the number of joints of the robotic arm 52 is not less than 6, and the arm span is not less than 800 mm. In this way, by adopting a multi-degree-of-freedom robotic arm, target detection with different posture requirements can be met.

[0040] As another optional embodiment, the image recording device 53 can be a binocular camera. A binocular camera is generally composed of two industrial cameras, a planar light source and a laser structure light source. The pixel of the industrial camera is not less than 2 million. The binocular camera can be adjusted to the shooting position of the target to be measured by the drive of the mechanical arm 52, so as to obtain the image of the target to be measured. At the same time, the binocular camera can be used to obtain a clear image of the target, intuitively judge the state of the target, and obtain the three-dimensional information of the target, and measure the size and spacing of key components. At the same time, the interference of dust, light, water stains and other factors on intelligent judgment is eliminated.

[0041] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0042] The above preferred embodiments shall not be regarded as limiting the present invention, and the protection scope of the present invention shall be subject to the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications shall also be regarded as the protection scope of the present invention.

Claims

1. A mounting mechanism for a positioning radar of a subway vehicle inspection robot, characterized in that: It includes a mobile platform (51), an image recording mechanism and a detection mechanism; The image recording mechanism is installed on the mobile platform (51); The detection mechanism comprises a telescopic mechanism and a detection device (55); the telescopic mechanism is installed in the mobile platform (51) and its movable end can be extended outside the mobile platform (51); the detection device (55) is installed on the movable end and can move back and forth inside and outside the mobile platform (51) under the drive of the telescopic mechanism; The telescopic mechanism comprises a linear motor stator (58) and a linear motor mover (59) used in conjunction with each other; the linear motor stator (58) is installed in the mobile platform (51); and the detection device (55) is installed on the linear motor mover (59); It also includes a bracket (56); the detection device (55) is installed on the linear motor mover (59) through the bracket (56); the length direction of the bracket (56) is parallel to the movement direction of the linear motor mover (59).

2. The installation mechanism of the subway vehicle inspection robot positioning radar according to claim 1, characterized in that: The mobile platform (51) is provided with a through hole (54) for the detection device (55) to pass through.

3. The installation mechanism of the subway vehicle inspection robot positioning radar according to claim 1, characterized in that: The detection device (55) is a laser radar.

4. The installation mechanism of the subway vehicle inspection robot positioning radar according to claim 1, characterized in that: The mobile platform (51) is provided with a slit (510) which facilitates the detection device (55) to perform detection operations.

5. The installation mechanism of the subway vehicle inspection robot positioning radar according to claim 1, characterized in that: The image recording mechanism comprises a mechanical arm (52) and an image recording device (53); the image recording device (53) is installed on the mobile platform (51) via the mechanical arm (52).

6. The installation mechanism of the subway vehicle inspection robot positioning radar according to claim 5, characterized in that: The image recording device (53) is a binocular camera.

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