Motor train unit bottom detection robot

Abstract

The utility model discloses a motor train unit bottom detection robot, belongs to the technical field of rail transit vehicle fault detection, and aims to solve the problems that in the prior art, when the bottom of a motor train unit is photographed and detected, the photographing visual angle of a fixed camera at the top of detection equipment is shielded by a motor train unit rail, a large photographing blind area exists, and a working state photographing window is opened; in order to solve the problem that the detection equipment is easily influenced by the falling water at the bottom of a train, and the operation safety of the detection equipment and the motor train unit is damaged, the application comprises a mobile carrying platform, a fast scanning image acquisition unit, a fine scanning image acquisition unit, a shooting window protection unit and a vehicle-mounted control unit, and a shooting cabin and a control equipment cabin are arranged in the mobile carrying platform; the fast-scanning image acquisition unit is installed in the shooting bin, a shooting window is machined in the top of the shooting bin, the shooting window protection unit is correspondingly installed at the shooting window, the vehicle-mounted control unit is installed in the control equipment bin, and the fine-scanning image acquisition unit is installed at the top of the movable carrying platform. And the data output ends of the fast scanning image acquisition unit and the fine scanning image acquisition unit are in wired connection with the data input end of the vehicle-mounted control unit. The detection device is mainly used for detecting the bottom of the motor train unit.

Description

Technical Field

[0001] The utility model relates to the technical field of rail transit vehicle fault detection, in particular to an EMU vehicle bottom detection robot. Background Art

[0002] At present, when using image recognition technology to automatically detect EMU undercarriage faults, a mobile trolley is mainly used to be arranged in the maintenance tunnel. The image acquisition equipment is installed on the top of the mobile trolley. The image of the EMU undercarriage structure is acquired manually or the trolley is automatically operated. The acquired images are then used to identify and analyze the faults. After the faults are confirmed, repairs are performed.

[0003] Existing inspection equipment generally uses a fixed camera installed on the top of a mobile trolley to collect images in conjunction with a motion camera mounted on a robotic arm. The relative distance between the fixed camera and the bottom of the EMU is generally fixed, and the bottom of the EMU is photographed from a fan-shaped shooting angle. Because the EMU tracks are on both sides of the maintenance tunnel, the fixed camera's shooting angle will be partially blocked by the tracks, resulting in a blind spot for photographing. In addition, the camera protection door needs to be opened when the inspection equipment is working. At this time, if the snow attached to the bottom of the EMU melts or is temporarily drained, the water under the car can easily enter the interior of the inspection equipment through the shooting window, causing damage to the internal electrical components of the inspection equipment and affecting the operation safety of the inspection equipment and the EMU. Utility Model Content

[0004] The utility model aims to solve the problems that when the existing technology takes photos to detect the bottom of a train, the shooting angle of a fixed camera on the top of the detection equipment is blocked by the train track, resulting in a large shooting blind area, and the shooting window is open in the working state, so that the detection equipment is easily affected by water falling from the bottom of the train, which endangers the safety of the detection equipment and the operation of the train, and thus provides a train bottom detection robot;

[0005] A vehicle underbody inspection robot for multiple units, the inspection robot comprising a mobile carrier platform, a quick scan image acquisition unit, a fine scan image acquisition unit, a shooting window protection unit and a vehicle-mounted control unit, wherein a shooting chamber and a control device chamber are provided in the mobile carrier platform, the quick scan image acquisition unit is installed in the shooting chamber, a shooting window is processed on the top of the shooting chamber, an image acquisition end of the quick scan image acquisition unit is arranged corresponding to the shooting window, a shooting window protection unit is arranged in the shooting chamber, and the shooting window protection unit is arranged corresponding to the shooting window, the vehicle-mounted control unit is arranged in the control device chamber, the fine scan image acquisition unit is installed on the top of the mobile carrier platform, and data output ends of the quick scan image acquisition unit and the fine scan image acquisition unit are connected by wire to a data input end of the vehicle-mounted control unit;

[0006] Furthermore, the mobile carrier platform is also provided with a power compartment, the control device compartment is arranged in front of the shooting compartment, the power compartment is arranged behind the shooting compartment, a power battery is installed in the power compartment, and the power output end of the power battery is connected to the power input end of the mobile carrier platform by wire;

[0007] Furthermore, a monitoring camera is installed at the top center of the front end of the mobile carrier platform, a step extending downward is provided at the rear end of the mobile carrier platform, and a precision scanning image acquisition unit is installed at the top of the step;

[0008] Furthermore, an obstacle avoidance unit is installed on the end surfaces of the front and rear ends of the mobile carrier platform, each obstacle avoidance unit includes two laser obstacle avoidance radars, and the two laser obstacle avoidance radars are arranged in a T shape;

[0009] Further, the quick scan image acquisition unit includes a camera lifting mechanism, a camera mounting platform and a line scanning camera system, the camera lifting mechanism is arranged in the shooting chamber along the vertical direction, and the fixed part of the camera lifting mechanism is fixedly connected to the inner bottom of the shooting chamber, the camera mounting platform is installed on the movable part of the camera lifting mechanism, the line scanning camera system is installed on the top of the camera mounting platform, and the line scanning camera system is arranged corresponding to the shooting window, and the camera lifting mechanism can drive the camera mounting platform and the line scanning camera system to perform reciprocating lifting and lowering actions in the longitudinal direction;

[0010] Further, the line scanning camera system includes a centered linear array camera and two outward-inclined linear array cameras, wherein the centered linear array camera and the two outward-inclined linear array cameras are both installed on the top of the camera mounting platform, the centered linear array camera is vertically arranged at the center of the top of the camera mounting platform, the two outward-inclined linear array cameras are symmetrically arranged on both sides of the centered linear array camera, and each outward-inclined linear array camera is provided with an outward inclination angle with the centered linear array camera;

[0011] Furthermore, a No. 1 water baffle is circumferentially arranged at the top edge of the camera mounting platform, and the No. 1 water baffle is fixedly connected to the camera mounting platform. A drainage hole is also processed on the top of the camera mounting platform, and a drainage pipe is inserted into the drainage hole. The top end of the drainage pipe is detachably connected to the drainage hole, and the bottom end of the drainage pipe passes through the bottom of the shooting chamber and extends to the outside of the mobile carrier platform.

[0012] Further, the precision scanning image acquisition unit includes a mechanical arm and a mobile image acquisition camera, the fixed part of the mechanical arm is installed on the top of the step, and the mobile image acquisition camera is installed on the end of the mechanical arm;

[0013] Furthermore, a No. 1 pressure-sensitive anti-collision bar is installed on the top of the end of the robotic arm, and a No. 2 pressure-sensitive anti-collision bar is installed on the top of the mobile image acquisition camera, and both the No. 1 pressure-sensitive anti-collision bar and the No. 2 pressure-sensitive anti-collision bar are connected to the vehicle control unit signal;

[0014] The transmission gear is connected with the transmission rack through the bottom end of the transmission gear, and the transmission rack is connected with the transmission rack through the bottom end of the transmission gear. The transmission gear is mounted on the power output shaft of the transmission gear, and the transmission gear is meshed with the transmission rack teeth. A connecting block is provided on the back side of the transmission rack away from the transmission gear, and the bottom end of the connecting block is fixedly connected with the transmission rack. The top end of the connecting block passes through the shooting window and extends to the outside of the shooting chamber. The protective door is arranged above the shooting window, and the protective door is fixedly connected with the top end of the connecting block. The second water baffle is a U-shaped plate body. The second water baffle is arranged below the shooting window, and the top of the second water baffle is fixedly connected with the inner top of the shooting chamber. The opening of the second water baffle is arranged toward the reducer motor.

[0015] The beneficial effects of this application compared to the prior art are as follows:

[0016] The present application proposes a EMU underbody inspection robot, which uses image recognition technology to perform fault detection on the underbody of the EMU. When the inspection robot is working, a line scanning camera can be extended from the top of the robot to take pictures. After the camera is raised, it has a wider field of view, which can reduce the occlusion effect of the EMU track and eliminate the problem of shooting blind spots, so as to obtain more EMU underbody image information.

[0017] The present application proposes a high-speed train undercarriage inspection robot, which is equipped with a shooting window protection unit, which can prevent water from falling from the bottom of the high-speed train and entering the interior of the device through the shooting window during the operation of the inspection robot, avoid harm to the internal electrical components of the robot, and ensure the safe operation of the inspection robot and the high-speed train.

[0018] The application proposes a train underbody inspection robot in which the end of the mechanical arm and the mobile image acquisition camera are both equipped with pressure-sensitive anti-collision components, which can prevent the moving parts from colliding with the train underbody structure and personnel during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the working state of the EMU underbody inspection robot described in this application;

[0020] Figure 2 This is a front view of the EMU underbody inspection robot described in this application;

[0021] Figure 3 This is a left view of the EMU underbody inspection robot described in this application;

[0022] Figure 4 A top view of the EMU underbody inspection robot described in this application;

[0023] Figure 5 This is a structural view of the shooting window protection unit of the EMU underbody inspection robot described in this application;

[0024] In the figure, 1 is a mobile transport platform, 101 is a monitoring camera, 102 is a laser obstacle avoidance radar, 103 is a shooting chamber, 104 is a shooting window, 105 is a control device chamber, 106 is a power chamber, 107 is a step, 2 is a quick scan image acquisition unit, 201 is a camera lifting mechanism, 202 is a camera installation platform, 203 is a line scan camera system, 204 is a water baffle No. 1, 205 is a drainage hole, 206 is a drainage pipe, 3 is a precise scan image acquisition unit, 301 is a mechanical arm, 302 is a mobile image acquisition camera, 303 is a pressure-sensitive anti-collision strip No. 1, 304 is a pressure-sensitive anti-collision strip No. 2, 4 is a shooting window protection unit, 401 is a protection door, 402 is a transmission rack, 403 is a transmission gear, 404 is a reduction motor, 405 is a water baffle No. 2 and 5 is an on-board control unit. DETAILED DESCRIPTION

[0025] Specific implementation method 1: Combination Figures 1 to 5 The present embodiment is described. In the present embodiment, a vehicle underbody inspection robot for a multiple unit is provided, the inspection robot comprises a mobile carrier platform 1, a quick scan image acquisition unit 2, a fine scan image acquisition unit 3, a shooting window protection unit 4 and a vehicle-mounted control unit 5. A shooting chamber 103 and a control device chamber 105 are provided in the mobile carrier platform 1. The quick scan image acquisition unit 2 is installed in the shooting chamber 103. A shooting window 104 is processed on the top of the shooting chamber 103. An image acquisition end of the quick scan image acquisition unit 2 is arranged corresponding to the shooting window 104. The shooting window protection unit 4 is arranged in the shooting chamber 103, and the shooting window protection unit 4 is correspondingly installed at the shooting window 104. The vehicle-mounted control unit 5 is installed in the control device chamber 105. The fine scan image acquisition unit 3 is installed on the top of the mobile carrier platform 1. The data output ends of the quick scan image acquisition unit 2 and the fine scan image acquisition unit 3 are connected by wire to the data input end of the vehicle-mounted control unit 5.

[0026] In this embodiment, the mobile transport platform 1 adopts an RGV transport trolley or an AGV transport trolley, and the quick scan image acquisition unit 2, the fine scan image acquisition unit 3, the shooting window protection unit 4 and the vehicle control unit 5 carried by the EMU vehicle bottom detection robot are all installed on the mobile transport platform. The vehicle control unit 5 includes an industrial control computer, a data storage unit, a wireless router and a display, and the above equipment is fixedly installed in the control equipment compartment 105 of the mobile transport platform; the industrial control computer is connected to the data storage unit, the wireless router and the display by wire, and the wireless router is connected to the ground operating equipment and the image processing server by wireless communication. The quick scan image acquisition unit 2 and the fine scan image acquisition unit 3 are used as the key to collect the bottom situation of the train in the detection robot. The key components, the control ends of which are connected to the industrial control computer in the vehicle-mounted control unit 5 through wires, and at the same time, the images collected by the quick scan image acquisition unit 2 and the fine scan image acquisition unit 3 are interconnected with the data storage unit through wires, so as to save the collected images. The shooting window protection unit 4 serves as a protection component for the shooting window 104, which is in an open state when the quick scan image acquisition unit 2 is working, and in a closed state when the quick scan image acquisition unit 2 is not working. The action control end of the shooting window protection unit 4 is also connected to the industrial control computer through a wire. The setting of the wireless router can enable the staff to remotely control the industrial control computer from the ground and issue control instructions to the quick scan image acquisition unit 2, the fine scan image acquisition unit 3 and the shooting window protection unit 4 through the industrial control computer.

[0027] Specific implementation method 2: Combination Figures 1 to 5 This embodiment is described. The difference between this embodiment and the first embodiment is that the mobile carrier platform 1 is further provided with a power compartment 106, the control device compartment 105 is arranged in front of the shooting compartment 103, the power compartment 106 is arranged behind the shooting compartment 103, a power battery is installed in the power compartment 106, and the power output end of the power battery is wiredly connected to the power input end of the mobile carrier platform 1. Other components and connection methods are the same as those of the first embodiment.

[0028] In this embodiment, the power battery in the power compartment 106 provides power for the RGV transport vehicle or the AGV transport vehicle. At the same time, electrical components such as a voltage stabilizer and an inverter are also provided in the power compartment 106 to ensure the stability and safety of power supply.

[0029] Specific implementation method three: Combination Figures 1 to 5 This embodiment is described. The difference between this embodiment and the second embodiment is that a monitoring camera 101 is installed at the center of the top of the head end of the mobile carrier platform 1, a step 107 extending downward is provided at the tail end of the mobile carrier platform 1, and the precision scanning image acquisition unit 3 is installed at the top of the step 107. Other components and connection methods are the same as those of the second embodiment.

[0030] With such arrangement, the surrounding environment of the detection robot during its movement can be monitored in real time through the monitoring camera 101. The monitoring camera 101 can be connected to the vehicle-mounted control unit 5 through a wire, and the monitoring content can be automatically saved to the corresponding storage device of the vehicle-mounted control unit. The staff can understand the working status of the detection robot based on the monitoring content.

[0031] Specific implementation method four: Combination Figures 1 to 5 This embodiment is described. The difference between this embodiment and the third embodiment is that an obstacle avoidance unit is installed on the end faces of the front and rear ends of the mobile carrier platform 1, and each obstacle avoidance unit includes two laser obstacle avoidance radars 102, which are arranged in a T shape. The other components and connection methods are the same as those of the third embodiment.

[0032] In this embodiment, the two laser obstacle avoidance radars 102 are staggered so that the fan-shaped lasers emitted by the two laser obstacle avoidance radars 102 can intersect vertically. The signal output end of the laser obstacle avoidance radar 102 is connected to the control end of the mobile carrier platform 1 through a wire. When an obstacle or pedestrian appears in the tunnel during the walking process of the detection robot, a laser alarm will be triggered, and the detection robot will automatically brake to avoid the obstacle, preventing the detection robot from colliding with the obstacle or pedestrian. The vertically intersecting laser scanning surface enables the detection robot to have a wider obstacle avoidance field of view.

[0033] Specific implementation method five: Combination Figures 1 to 5 This embodiment is described. The difference between this embodiment and the fourth embodiment is that the quick scan image acquisition unit 2 includes a camera lifting mechanism 201, a camera mounting platform 202 and a line scanning camera system 203. The camera lifting mechanism 201 is arranged in the shooting chamber 103 along the vertical direction, and the fixed part of the camera lifting mechanism 201 is fixedly connected to the inner bottom of the shooting chamber 103. The camera mounting platform 202 is installed on the movable part of the camera lifting mechanism 201. The line scanning camera system 203 is installed on the top of the camera mounting platform 202, and the line scanning camera system 203 is arranged corresponding to the shooting window 104. The camera lifting mechanism 201 can drive the camera mounting platform 202 and the line scanning camera system 203 to perform reciprocating lifting and lowering actions in the longitudinal direction. Other components and connection methods are the same as those of the fourth embodiment.

[0034] In this embodiment, the camera lifting mechanism 201 is installed on the inner bottom of the shooting chamber 103. Figure 2 and Figure 5The camera lifting mechanism 201 shown is composed of three parts: a servo electric cylinder, a guide slider and a linear guide. The bottom of the servo electric cylinder is fixed to the vehicle body, and the telescopic end is vertically upward. The guide slider is fixedly connected to the housing of the servo electric cylinder through a frame, and the linear guide is slidably connected to the guide slider. At the same time, the linear guide is connected to the movable end of the servo electric cylinder through a bracket. The linear guide performs longitudinal lifting and lowering movements driven by the servo electric cylinder. During the lifting and lowering, the guide slider constrains the path of the linear guide. The servo electric cylinder is used to provide lifting power, so that the camera mounting platform 202 and the line scanning camera system 203 can be lifted from the initial position to a suitable height and locked, thereby ensuring that the line scanning camera system 203 has an adaptive and stable working state.

[0035] Specific implementation method six: Combination Figures 1 to 5 This embodiment is described. The difference between this embodiment and the fifth embodiment is that the line scanning camera system 203 includes a centered linear array camera and two outward-inclined linear array cameras, which are both installed on the top of the camera mounting platform 202. The centered linear array camera is vertically arranged at the center of the top of the camera mounting platform 202, and the two outward-inclined linear array cameras are symmetrically arranged on both sides of the centered linear array camera, and each outward-inclined linear array camera is provided with an outward inclination angle with the centered linear array camera. The other components and connection methods are the same as those of the fifth embodiment.

[0036] In this embodiment, the arrangement of a centered linear array camera and two outward-inclined linear array cameras can make the shooting range wider. The fan-shaped shooting area achieved by combining the three cameras can completely capture images of the area in the width direction of the bottom of the train. The inclination angle between the outward-inclined linear array camera and the centered linear array camera can be adjusted according to shooting requirements. When the inspection robot is working, the line scanning camera system 203 rises with the camera mounting platform 202, and the centered linear array camera and the two outward-inclined linear array cameras extend out of the top of the car body through the shooting window 104 to take pictures. Because the camera is raised, it has a wider shooting field of view, which can reduce the shielding effect of the EMU track.

[0037] Specific implementation method seven: Combination Figures 1 to 5 This embodiment is described. The difference between this embodiment and the sixth embodiment is that a first water baffle plate 204 is provided around the top edge of the camera mounting platform 202, and the first water baffle plate 204 is fixedly connected to the camera mounting platform 202. A drainage hole 205 is also processed on the top of the camera mounting platform 202. A drainage pipe 206 is inserted into the drainage hole 205. The top end of the drainage pipe 206 is detachably connected to the drainage hole 205. The bottom end of the drainage pipe 206 passes through the bottom of the shooting chamber 103 and extends to the outside of the mobile carrier platform 1. Other components and connection methods are the same as those of the fifth embodiment.

[0038] In the present embodiment, the No. 1 water baffle 204 surrounds the camera mounting platform 202, and the No. 1 water baffle 204 is sealed and connected to the camera mounting platform 202. Through the setting of the No. 1 water baffle 204, the falling water at the bottom of the train can be retained on the camera mounting platform 202, so as to prevent excessive falling water from flowing into the interior of the mobile carrier platform 1 and causing damage to the control components and electronic components in the mobile carrier platform 1. The retained accumulated water can be discharged to the outside of the vehicle chassis through the drainage hole 205 on the camera mounting platform 202 and the drainage pipe 408 connected thereto.

[0039] Specific implementation method eight: Combination Figures 1 to 5 This embodiment is described. The difference between this embodiment and the seventh embodiment is that the precision scanning image acquisition unit 3 includes a mechanical arm 301 and a mobile image acquisition camera 302. The fixed part of the mechanical arm 301 is installed on the top of the step 107, and the mobile image acquisition camera 302 is installed on the end of the mechanical arm 301. Other components and connection methods are the same as those of the fifth embodiment.

[0040] Specific implementation method nine: Combination Figures 1 to 5 This embodiment is described. The difference between this embodiment and the specific embodiment eight is that a first pressure-sensitive anti-collision strip 303 is installed on the top of the end of the mechanical arm 301, and a second pressure-sensitive anti-collision strip 304 is installed on the top of the mobile image acquisition camera 302. The first pressure-sensitive anti-collision strip 303 and the second pressure-sensitive anti-collision strip 304 are both connected to the vehicle control unit 5 by signal. The other components and connection methods are the same as those of the specific embodiment five.

[0041] As described in Embodiments 8 and 9, the robotic arm 301 uses a finished industrial robotic arm, and the number of axes can be 4 to 6. The robotic arm is fixedly installed on the step 107 at the tail of the mobile carrier platform. A lifting mechanism or a translation mechanism can also be provided between the robotic arm 301 and the step 107 as needed to increase the movement radius of the robotic arm 301. A first pressure-sensitive anti-collision strip 303 is installed at the end of the robotic arm 301. The pressure-sensitive anti-collision strip has a metal contact strip inside. When pressed, the anti-collision strip undergoes elastic deformation, triggering a pressure-sensitive alarm. The vehicle-mounted control unit sends a stop signal to the robotic arm 301, and the robotic arm 301 stops moving, which can prevent the robotic arm 301 from colliding with objects or personnel that accidentally enter the movement radius of the robotic arm 301 during its movement. The mobile image acquisition camera 302 uses a planar array 3D camera, which can perform image supplementation for detection points that cannot be photographed during the fast scan process to make up for the blind spots in the fixed camera shooting. Correspondingly, a second pressure-sensitive anti-collision strip 304 is installed at the corners of the mobile image acquisition camera. If the mobile image acquisition camera 302 accidentally contacts other objects or personnel during its movement, the pressure-sensitive anti-collision strip undergoes elastic deformation, triggering a pressure-sensitive alarm. The vehicle-mounted control unit sends a stop signal to the robotic arm 301, and the robotic arm 301 and the mobile image acquisition camera 302 stop moving, avoiding damaging the personnel or objects in contact with the mobile image acquisition camera.

[0042] Embodiment 10: In combination with Figures 1 to 5 This embodiment will be described. The difference between this embodiment and Embodiment 9 is that the shooting window protection unit 4 includes a protection door 401, a transmission rack 402, a transmission gear 403, a reduction motor 404, and a second water baffle 405. The reduction motor 404 and the transmission rack 402 are integrally installed on the inner top of the shooting chamber 103 through a mounting seat, and the housing of the reduction motor 404 is fixedly connected to the mounting seat. The tooth-shaped part of the transmission rack 402 is downward, and the transmission rack 402 is slidably connected to the mounting seat. The transmission gear 403 is sleeved on the power output shaft of the reduction motor 404, and the transmission gear 403 is meshed with the transmission rack 402. A connecting block is provided at one end of the back side of the transmission rack 402 away from the transmission gear 403. The bottom end of the connecting block is fixedly connected to the transmission rack 402, and the top end of the connecting block passes through the shooting window 104 and extends to the outside of the shooting chamber 103. The protection door 401 is arranged above the shooting window 104, and the protection door 401 is fixedly connected to the top end of the connecting block. The second water baffle 405 is a U-shaped plate body. The second water baffle 405 surrounds the lower part of the shooting window 104, and the top of the second water baffle 405 is fixedly connected to the inner top of the shooting chamber 103. The opening of the second water baffle 405 faces the reduction motor 404. Other components and connection methods are the same as those in Embodiment 5.

[0043] In this embodiment, the protective door 401 is slidably connected to the outer top of the shooting chamber 103 through a micro-guide rail slider group, and the micro-guide rail slider group is located on both sides of the shooting window 104. The protective door 401 is driven by a reduction motor 404 as a power source. The reduction motor 404 is controlled to drive the transmission gear 403 to rotate forward and reverse, so that the transmission rack 402 reciprocates back and forth, thereby realizing the opening and closing of the protective door 401. The second water baffle 405 is installed on the inner top of the shooting chamber 103. The second water baffle 405 surrounds the bottom of the shooting window 104 and is sealed with the inner top of the shooting chamber 103. The outer contour of the second water baffle 405 is smaller than the inner contour of the first water baffle 204, so that the second water baffle 405 can extend into the contour of the first water baffle 204; when the camera mounting platform 202 is raised, the first water baffle 204 around the camera mounting platform 202 rises accordingly. When the camera mounting platform 202 is raised, the first water baffle 204 around the camera mounting platform 202 rises accordingly. After the scanning camera system 203 rises into place, the No. 1 water baffle 204 can be put on the outside of the No. 2 water baffle 405, and the top of the No. 1 water baffle 204 is higher than the bottom edge of the No. 2 water baffle 405. When water falls into the shooting window 104, it will be blocked and guided by the No. 2 water baffle 405 and the No. 1 water baffle 204, and will be diverted along the camera mounting platform 202, gathered at the drainage hole 205, and discharged to the outside of the vehicle body through the drainage pipe 206, and cannot enter the vehicle body, thereby avoiding damage to internal electrical components.

[0044] The present invention has been disclosed as above with preferred implementation cases, but it is not used to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent implementation cases with equivalent changes by using the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above implementation cases based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

[0045] How it works

[0046] The EMU underbody inspection robot described in this application is installed inside the EMU maintenance tunnel, and uses image recognition technology to perform fault detection on the underbody of the EMU train. Image acquisition points are set at the parts of the EMU underbody that need to be detected for faults. During the inspection, photos are mainly taken through the quick scan image acquisition process. For individual inspection points that are inconvenient to take photos, the fine scan image acquisition process is used to take photos. The overall inspection process is: start the equipment, quick scan image acquisition, fine scan image acquisition, image upload, data processing, and generate fault reports.

[0047] After starting the equipment, the quick scan image acquisition process begins. The detection robot moves from the front to the rear of the EMU at the bottom of the EMU, and the robot's shooting window protective door is opened synchronously. Then the quick scan image acquisition unit begins to rise, and the camera extends out of the shooting window. After the line scan camera system rises into place, the image acquisition signal is triggered, and the camera begins to take pictures continuously to collect image information from the bottom of the EMU, and the collected image information is uploaded to the ground data processing server for fault identification. Because the line scan camera system extends out of the top of the car body to take pictures, the camera has a wider field of view, which can reduce the occlusion effect of the EMU track, collect more image information from the bottom of the car, and reduce the workload of the precision scanning process.

[0048] When performing the quick scan image acquisition process, the camera mounting platform rises to the preset position, and the No. 1 water baffle below the robot's shooting window is connected to the No. 2 water baffle around the camera mounting platform. The No. 2 water baffle extends into the outline of the No. 1 water baffle, and the bottom edge of the No. 2 water baffle is lower than the top surface of the No. 1 water baffle. At this time, the falling water entering from the shooting window is blocked by the No. 1 water baffle and the No. 2 water baffle, and drips on the upper part of the camera mounting platform. Since the camera mounting platform is sealed and connected to the No. 1 water baffle on all sides, the falling water can only be discharged from the drainage hole and diverted to the outside of the vehicle chassis through the drainage pipe at the bottom of the drainage hole to prevent the falling water from entering the robot and damaging the electrical components.

[0049] The robot walks to the rear of the EMU and completes the image acquisition of the last inspection point. The robot brakes to stop, retracts the quick scan image acquisition unit, and the line scan camera system begins to descend. After landing in place, the robot's shooting window protective door is closed, ending the quick scan image acquisition process and simultaneously performing the fine scan image acquisition process. In the fine scan image acquisition process, the robot returns from the rear of the EMU to the front of the train, and temporarily stops at the inspection point where fine photography is required, adjusts the position of the robotic arm, takes photos of the inspection point, and uploads the collected image information to the ground data processing server. The server identifies faults on the received image data, issues alarms for abnormal images, generates a report on the data processing results, indicates possible fault types, such as loose bolts or missing parts, and gives the axle information at the location of the fault.

Claims

1. A vehicle underbody inspection robot, characterized in that: The detection robot comprises a mobile carrier platform (1), a quick scan image acquisition unit (2), a fine scan image acquisition unit (3), a shooting window protection unit (4) and a vehicle-mounted control unit (5). The mobile carrier platform (1) is provided with a shooting chamber (103) and a control device chamber (105). The quick scan image acquisition unit (2) is installed in the shooting chamber (103). A shooting window (104) is processed on the top of the shooting chamber (103). The image acquisition end of the quick scan image acquisition unit (2) is arranged corresponding to the shooting window (104). The shooting window protection unit (4) is arranged in the shooting chamber (103), and the shooting window protection unit (4) is arranged corresponding to the shooting window (104). The vehicle-mounted control unit (5) is installed in the control device chamber (105). The fine scan image acquisition unit (3) is installed on the top of the mobile carrier platform (1). The data output ends of the quick scan image acquisition unit (2) and the fine scan image acquisition unit (3) are connected to the data input end of the vehicle-mounted control unit (5) by wire.

2. The EMU vehicle underbody inspection robot according to claim 1, characterized in that: The mobile carrier platform (1) is further provided with a power compartment (106), the control device compartment (105) is arranged in front of the shooting compartment (103), the power compartment (106) is arranged behind the shooting compartment (103), a power battery is installed in the power compartment (106), and the power output end of the power battery is connected to the power input end of the mobile carrier platform (1) by wire.

3. The EMU underbody inspection robot according to claim 1 or 2, characterized in that: A monitoring camera (101) is installed at the center of the top of the front end of the mobile carrier platform (1), and a step (107) extending downward is provided at the rear end of the mobile carrier platform (1), and the precision scanning image acquisition unit (3) is installed on the step (107).

4. The EMU vehicle underbody inspection robot according to claim 3, characterized in that: An obstacle avoidance unit is respectively installed on the end surfaces at both ends of the mobile carrier platform (1), and each obstacle avoidance unit comprises two laser obstacle avoidance radars (102), and the two laser obstacle avoidance radars (102) are arranged in a T shape.

5. The EMU underbody inspection robot according to claim 1, characterized in that: The quick scan image acquisition unit (2) comprises a camera lifting mechanism (201), a camera mounting platform (202) and a line scanning camera system (203); the camera lifting mechanism (201) is arranged in a vertical direction in a shooting chamber (103), and a fixed portion of the camera lifting mechanism (201) is fixedly connected to an inner bottom portion of the shooting chamber (103); the camera mounting platform (202) is mounted on a movable portion of the camera lifting mechanism (201); the line scanning camera system (203) is mounted on the top of the camera mounting platform (202), and the line scanning camera system (203) is arranged corresponding to the shooting window (104); the camera lifting mechanism (201) can drive the camera mounting platform (202) and the line scanning camera system (203) to perform a reciprocating lifting action in the longitudinal direction.

6. The EMU underbody inspection robot according to claim 5, characterized in that: The line scanning camera system (203) comprises a centered linear array camera and two outward-inclined linear array cameras, wherein the centered linear array camera and the two outward-inclined linear array cameras are both mounted on the top of a camera mounting platform (202), the centered linear array camera is vertically arranged at the center of the top of the camera mounting platform (202), the two outward-inclined linear array cameras are symmetrically arranged on both sides of the centered linear array camera, and an outward inclination angle is arranged between each outward-inclined linear array camera and the centered linear array camera.

7. The EMU underbody inspection robot according to claim 5 or 6, characterized in that: A first water baffle (204) is circumferentially arranged at the top edge of the camera mounting platform (202), and the first water baffle (204) is fixedly connected to the camera mounting platform (202). A drainage hole (205) is also processed on the top of the camera mounting platform (202), and a drainage pipe (206) is inserted into the drainage hole (205). The top end of the drainage pipe (206) is detachably connected to the drainage hole (205), and the bottom end of the drainage pipe (206) passes through the bottom of the shooting chamber (103) and extends to the outside of the mobile transport platform (1).

8. The EMU underbody inspection robot according to claim 1, characterized in that: The precision scanning image acquisition unit (3) comprises a mechanical arm (301) and a mobile image acquisition camera (302), wherein the fixed portion of the mechanical arm (301) is installed on the top of the step (107), and the mobile image acquisition camera (302) is installed on the end of the mechanical arm (301).

9. The EMU underbody inspection robot according to claim 8, characterized in that: A first pressure-sensitive anti-collision strip (303) is installed on the top of the end of the mechanical arm (301), and a second pressure-sensitive anti-collision strip (304) is installed on the top of the mobile image acquisition camera (302). Both the first pressure-sensitive anti-collision strip (303) and the second pressure-sensitive anti-collision strip (304) are connected to the vehicle-mounted control unit (5) by signal.

10. The EMU vehicle underbody inspection robot according to claim 1, characterized in that: The shooting window protection unit (4) comprises a protection door (401), a transmission rack (402), a transmission gear (403), a reduction motor (404) and a second water baffle (405); the reduction motor (404) and the transmission rack (402) are integrally mounted on the inner top of the shooting chamber (103) via a mounting seat, and the housing of the reduction motor (404) is fixedly connected to the mounting seat, the toothed portion of the transmission rack (402) is arranged downward, and the transmission rack (402) is slidably connected to the mounting seat, the transmission gear (403) is sleeved on the power output shaft of the reduction motor (404), and the transmission gear (403) is arranged to mesh with the transmission rack (402), and the transmission rack (405) is arranged to mesh with the transmission rack (402). A connecting block is provided on one end of the back side of the transmission gear (402) away from the transmission gear (403), the bottom end of the connecting block is fixedly connected to the transmission rack (402), the top end of the connecting block passes through the shooting window (104) and extends to the outside of the shooting chamber (103), the protective door (401) is arranged above the shooting window (104), and the protective door (401) is fixedly connected to the top end of the connecting block, the second water baffle (405) is a U-shaped plate body, the second water baffle (405) is arranged below the shooting window (104), and the top of the second water baffle (405) is fixedly connected to the inner top of the shooting chamber (103), and the opening of the second water baffle (405) is arranged toward the reduction motor (404).

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