Omnibearing laser deicing robot for electrified railway tunnel in cold region

Abstract

The utility model discloses an omni-directional laser deicing robot for an electrified railway tunnel in a cold region. The omni-directional laser deicing robot comprises an image recognition camera, a laser transmitter, a laser ranging camera, a first mechanical arm, a second mechanical arm, a control box and a base. The lower end of the first mechanical arm is rotationally connected with the base through a first rotating part, the upper end of the first mechanical arm is rotationally connected with the lower end of the second mechanical arm through a second rotating part, and a laser transmitter is arranged at the upper end of the second mechanical arm; the image recognition camera and the laser ranging camera are arranged on the base, interfaces of the image recognition camera and the laser ranging camera are connected with a processor in the control box, one end of a controller in the control box is connected with the processor, and the other end of the controller is connected with the first rotating part, the second rotating part, the laser transmitter and the laser ranging camera. Through high-definition and infrared combined recognition, the recognition precision of power facilities of the ice hanging machine is improved, the mechanical arm is intelligently controlled by the control box to rotate, then laser deicing is conducted, the tunnel deicing efficiency can be improved, and deicing automation and intelligence are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel deicing, in particular to an omnidirectional laser deicing robot used in electrified railway tunnels in cold regions. Background Art

[0002] Tunnel icing is a major hazard in tunnel engineering. Problems such as structural cracks and lining ice caused by frost damage seriously threaten driving safety. Tunnel ice can cause the lining to swell and crack, or even loosen and peel off, causing instability and damage to the tunnel lining structure, reducing the safety and reliability of the lining structure, and seriously affecting the safety and normal operation of transportation.

[0003] If ice is not removed in time, once these icicles invade the contact network limit, the power supply contact network will trip and power outage, and may even burn the contact network wires, damage the locomotive pantograph, and cause contact network tripping, wire breakage and other equipment failures, which will have an adverse impact on driving safety. At present, deicing in tunnels mainly adopts manual deicing or mechanical deicing. Manual deicing requires the use of tunnel deicing poles, which control the knocking rods by pulling the wire manually to perform deicing operations. Long-term manual work is prone to fatigue, and the length of the pole cannot be adjusted, which is inconvenient to use and carry. At the same time, attention should be paid to various contact networks, load-bearing cables, high-voltage lines and other power equipment, which are prone to dangerous accidents.

[0004] In terms of mechanical deicing, patent CN103057622A discloses a rail tunnel contact network deicing vehicle, including a frame and a traveling part, an executive part is provided on the frame, the traveling part is connected to a driving device, and the frame is fixed on the traveling part; the traveling part is arranged along both sides of the tunnel; the executive part on the frame shovels the icicles on the tunnel wall under the action of the frame and the traveling part during the journey. However, due to the matching of the cross-sectional shape of the frame and the tunnel, the deicing vehicle cannot cross obstacles in the tunnel during the journey. Patent CN215210809U discloses an electrified railway tunnel deicing device, which is driven by a train, and is installed on an open train car using a side wall deicing device, a vault deicing device and a throwing device, and deicing is performed on both side walls of the tunnel, the top of the tunnel and both sides of the rails at the same time. However, the structure is too complicated and relatively clumsy, the deicing efficiency is insufficient, and it is impossible to effectively avoid the contact network. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide an omnidirectional laser deicing robot for electrified railway tunnels in cold regions, solve the problem that it is difficult to de-ice and avoid contact networks in existing electrified railway tunnels, and provide a new intelligent solution for tunnel deicing.

[0006] In view of the above problems, the technical solution adopted by the utility model is:

[0007] An all-round laser de-icing robot for electrified railway tunnels in cold regions, comprising an image recognition camera, a laser emitter, a laser ranging camera, a first robotic arm, a second robotic arm, a control box and a base; the control box includes a processor and a controller;

[0008] The lower end of the first robotic arm is rotationally connected to the base through a first rotating part, and the upper end is rotationally connected to the lower end of the second robotic arm through a second rotating part. The upper end of the second robotic arm is provided with a laser emitter; the image recognition camera and the laser ranging camera are arranged on the base, and their output interfaces are connected to the processor in the control box. One end of the controller is connected to the processor, and the other end is respectively connected to the first rotating part, the second rotating part, the laser emitter and the laser ranging camera.

[0009] Further, the first rotating part includes a chassis, a turntable, a support, a first motor and a second motor. The chassis is installed on the base. There is a turntable above the chassis. The first motor is arranged inside the chassis, and the output shaft of the first motor is connected to the turntable to make the turntable rotate relative to the chassis; there is a support on the turntable, and the support is connected to the first robotic arm through the output shaft of the second motor to make the first robotic arm rotate relative to the support; the first motor and the second motor are both connected to the controller.

[0010] Further, the rotation angle of the turntable relative to the chassis is not less than 180°, and the rotation angle of the first robotic arm relative to the support is 90° - 120°.

[0011] Further, the second rotating part includes a third motor. The first robotic arm and the second robotic arm are connected through the output shaft of the third motor to make the second robotic arm rotate relative to the first robotic arm. The third motor is connected to the controller.

[0012] Further, the rotation angle of the second robotic arm relative to the first robotic arm is 90° - 120°.

[0013] Further, the image recognition camera includes an infrared camera and a high-definition camera.

[0014] Further, the base includes a base body, rollers and a reduction motor. The base body is clamped on the train track. The rollers are arranged inside the base body and are in contact with the surface of the train track. The output shaft of the reduction motor is connected to the rollers and is connected to the controller in the control box at one end. The controller controls the base body to slide along the train track.

[0015] Further, the all-round laser de-icing robot further includes a power supply, and the power supply uses a storage battery.

[0016] Furthermore, the all-round laser de-icing robot further includes a remote monitoring system, which is communicatively connected to the control box and receives the image signals transmitted by the control box.

[0017] Compared with the prior art, the utility model has the following beneficial technical effects:

[0018] The utility model combines an infrared camera and a high-definition camera to photograph and scan the entire cross-section of the tunnel, identify the ice icicles and power equipment in the tunnel, measure the positions of the ice icicles and power equipment relative to the de-icing robot through a laser ranging camera, and control the base to move along the train track in the tunnel and control the first robotic arm and the second robotic arm to rotate at specific angles through a controller, and then control the laser emitter to align with the position of the ice icicle for de-icing after avoiding the power equipment. Since the laser emitter can achieve multi-degree-of-freedom movement with the assistance of the first rotating part, the second rotating part and the base, and can also avoid obstacles in the tunnel, all-round de-icing of the tunnel (especially the vault) can be achieved, with the advantages of convenient and accurate de-icing. In addition, since the laser emitter is close to the ice icicle, the energy consumption of the laser emitter can be reduced during de-icing. Description of the Drawings

[0019] Figure 1 It is a three-dimensional schematic diagram of the de-icing robot.

[0020] Figure 2 It is a front view of the de-icing robot.

[0021] Figure 3 It is a side view of the de-icing robot.

[0022] Figure 4 It is a top view of the de-icing robot.

[0023] Figure 5 It is a schematic diagram of the image recognition camera of the de-icing robot.

[0024] Figure 6 It is a schematic diagram of the de-icing robot avoiding the catenary.

[0025] Figure 7 It is a schematic diagram of the de-icing robot removing the ice icicles in the tunnel.

[0026] Figure 8 It is a schematic diagram of the first rotating part of the de-icing robot.

[0027] Figure 9 It is a working flow chart of the de-icing robot for de-icing.

[0028] 1. Base body; 2. Roller; 3. Rotating shaft; 4. Chassis; 5. Turntable; 6. First motor; 7. Support; 8. Second motor; 9. First robotic arm; 10. Third motor; 11. Second robotic arm; 12. Laser emitter; 13. Infrared camera; 14. High-definition camera; 15. Laser ranging camera; 16. Control box; 17. Track. Detailed implementation mode

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0030] An all-round laser de-icing robot for electrified railway tunnels in cold regions includes an image recognition camera, a laser emitter 12, a laser ranging camera 15, a first robotic arm 9, a second robotic arm 11, a control box 16 and a base; the control box 16 includes a processor and a controller;

[0031] The lower end of the first robotic arm 9 is rotationally connected to the base through a first rotating part, and the upper end is rotationally connected to the lower end of the second robotic arm 11 through a second rotating part. The upper end of the second robotic arm 11 is provided with a laser emitter 12; the image recognition camera and the laser ranging camera 15 are arranged on the base, and their output interfaces are connected to the processor in the control box 16. One end of the controller is connected to the processor, and the other end is respectively connected to the first rotating part, the second rotating part, the laser emitter 12 and the laser ranging camera 15.

[0032] The image recognition camera includes an infrared camera 13 and a high-definition camera 14. The illumination in the tunnel is insufficient, and it is difficult to accurately obtain the situation of ice hanging and power facilities in the tunnel only by using a high-definition camera. In this embodiment, the image shooting of tunnel frost damage by the high-definition camera 14 is combined with the temperature recognition of the infrared camera 13 to improve the recognition accuracy and efficiency of ice hanging frost damage. The infrared camera 13 and the high-definition camera 14 are used to jointly perform a full-section scan and shooting of the tunnel lining surface. The obtained images are transmitted to the processor for image processing. First, it is determined whether there is ice hanging in the tunnel lining range shown in the current image. If so, the laser ranging camera 15 is controlled to measure the distance to the root of the ice hanging, and the data is transmitted to the processor for data processing to determine the relative position between the root of the ice hanging and the de-icing robot. The processing result is returned to the controller, and the controller controls the subsequent de-icing work. After de-icing is completed, the robotic arm is retracted, and the image recognition camera takes another picture at the current position to verify whether de-icing is completed; if not, the base is controlled to move to the next shooting position for shooting. At the same time, the infrared camera 13 and the high-definition camera 14 can also take pictures of power equipment such as catenaries, messenger wires and high-voltage lines in the tunnel, and determine their positions through the laser ranging camera 15, so that the laser emitter 12 can avoid power equipment during de-icing.

[0033] The first rotating part includes a chassis 4, a turntable 5, a support 7, a first motor 6, and a second motor 8. The chassis 4 is installed on the base. Above the chassis 4 is provided a turntable 5. Inside the chassis 4 is provided a first motor 6. The output rotating shaft 3 of the first motor 6 is connected to the turntable 5, enabling the turntable 5 to rotate relative to the chassis 4. On the turntable 5 is provided a support 7. The support 7 is connected to the first robotic arm 9 through the output rotating shaft 3 of the second motor 8, enabling the first robotic arm 9 to rotate relative to the support 7, and the rotating direction of the first robotic arm 9 is the same as that of the output rotating shaft 3 of the second motor 8. Both the first motor 9 and the second motor 8 are connected to the controller. The rotating angle of the turntable 5 relative to the chassis 4 is not less than 180°, and the rotating angle of the first robotic arm 9 relative to the support 7 is not less than 120°. After the controller controls the reduction motor to move the base body 1 to the target position in the tunnel driven by the rollers 2, the controller transmits the rotation parameters to the first motor 6, the second motor 8 in the first rotating part, and the third motor 10 in the second rotating part through a rotation instruction. The two rotating parts control the rotation of the robotic arm, and further control the emission position of the laser emitter 12. Since the processor has considered the position information of the power equipment during data processing, the laser emitter 12 can naturally avoid power equipment such as the catenary 18, the messenger wire, and the high-voltage line during de-icing, and perform the de-icing work accurately. The robotic arm and the rotating part are mainly used to adjust the emission position of the laser emitter, so that the laser emitter 12 can perform de-icing work on the entire cross-section of the tunnel lining surface, ensuring that the laser emitter 12 is in a reasonable working position.

[0034] The base is a movable base, including a base body 1, rollers 2, and a reduction motor (not shown in the figure). The base body 1 is clamped on the track 17. The rollers 2 are arranged inside the base body 1 and in contact with the surface of the track 17. The output end of the reduction motor is connected to the rollers 2 and is connected to the controller in the control box at one end. The controller controls the base body 1 to slide along the tunnel track 17. Specifically as follows: The base body 1 is a trough-shaped member that is relatively matched with the shape of the tunnel track 17. The trough-shaped member is clamped on the train track 17, and there is a gap between the trough-shaped member and the train track 17. The trough-shaped member can be made of special stainless steel material or special alloy material. The rollers 2 are arranged inside the trough-shaped member and located in the gap. The surface of the rollers 2 is in contact with the surface of the train track 17, enabling the base body 1 to slide along the train track 17. There are at least two groups of rollers 2, which are respectively located at both ends of the base body 1. Each group of rollers 2 is preferably provided with 4 rollers. Two of them are symmetrically arranged on the upper surface of the track 17, and the other two are symmetrically arranged on the upper surface of the track 17, so that the base body 1 moves smoothly. Among them, the rollers 2 connected to the output end of the reduction motor are the driving wheels, and the others are the driven wheels. When the de-icing robot obtains the position of the root of the ice stalactite, the controller will transmit a movement command to the reduction motor, and then control the base to move on the track, so that the laser emitter 12 reaches the same tunnel section as the ice stalactite. The base, through positioning and installation on the track 17, plays a supporting role for the de-icing robot. The base body 1 is preferably clamped on two tracks 17.

[0035] The control box includes a processor and a controller. The processor is a data processing module with an image recognition module, a position coordinate calculation system, rotation parameters, and movement parameters built in, and can transmit the obtained data processing results to the controller for the de-icing work of the robot. The processor includes two parts. One part is the image processing part, and the other part is the data processing part. The images captured by the infrared camera and the high-definition camera will be transmitted to the image processing part for image processing to determine whether there are ice stalactites and electrical equipment. The data processing part can calculate the movement distance of the base and the rotation angle of the robotic arm according to the relative position between the ice stalactite and the de-icing robot and the relative position between the laser range finder camera and the robotic arm, while avoiding electrical equipment, and transmit the data to the controller. The control box is equivalent to the "brain" of the de-icing robot. Image recognition is completed through machine vision deep learning. The de-icing robot needs to specify the initial position of the robotic arm, and then calculate the rotation parameters of the robotic arm and the movement parameters of the base based on the laser ranging results.

[0036] The all-round laser de-icing robot also includes a power supply, which supplies power to the image recognition camera, the laser ranging camera 15, the laser emitter 12, the first motor 6, the second motor 8, the third motor 10, the reduction motor, and the control box 16. The power supply adopts a replaceable power supply, and the control box can also display the remaining power of the power supply, which is convenient for replacement and provides guarantee for the long-term and sustainable operation of the de-icing robot.

[0037] As a preferred solution of this embodiment, the de-icing robot further includes a remote monitoring system, which is communicatively connected to the control box 16 and receives the image signals transmitted by the control box 16. Through the remote monitoring of the robot, information such as the location of the robot, tunnel freeze damage pictures, the working conditions of the robot for freeze damage treatment, and the remaining power of the robot can be obtained. At the same time, the working state of the de-icing robot can also be remotely monitored to ensure the normal progress of the de-icing work. Then the remote monitoring system at least has a display screen to display the tunnel freeze damage situation, freeze damage treatment situation, power, the relative position between the robot and the remote monitoring system (a positioning module can be installed on the robot), etc. The remote monitoring is realized by running a remote monitoring software program on the Windows system. This software program can be written in Python and specifically includes two parts, namely a receiving and parsing module and a watchdog module. The receiving and parsing module refers to receiving the image data sent by the lower computer (camera, processor), parsing it and displaying it on the display screen to achieve remote visual monitoring; the watchdog module is responsible for automatic recovery when the program is abnormal. The tunnel is relatively narrow, has a long tunnel length, many mechanical and electrical equipment, and a complex environment, which pose great challenges to communication transmission. This device uses LORA technology for wireless communication transmission, with a transmission distance of up to 2 - 5 km, supporting free networking of nodes and capable of withstanding high-concurrency data transmission, and having low power consumption. At the same time, the LORA wireless technology has stronger scalability for embedded applications and higher cost performance.

[0038] Embodiment 1;

[0039] Specifically, when applying this device in a tunnel with freeze damage, the de-icing robot is installed on the track 17 at the tunnel entrance. First, the base body 1 is positioned and installed on the track 17, and the base body 1 is fixedly installed on the track 17 to ensure that the rollers 2 run normally on the track 17.

[0040] After determining that the installation is complete and the stability of the robot can be ensured, run the tunnel de-icing robot. The control box 16 of the robot is activated to control the operation of the reduction motor, so that the roller 2 drives the base body 1 to move, and the de-icing robot moves into the tunnel to start the de-icing work. The infrared camera 13 and the high-definition camera 14 perform a full-section scan and shooting of the surface of the tunnel lining, and transmit the image information back to the control box 16, where the processor in the control box 16 processes the images and data. Image processing refers to identifying whether there are icicles and power equipment in the captured images, and data processing refers to calculating the rotation parameters of the rotating arm and the movement parameters of the base according to the laser ranging results. Both image processing and data processing are existing technologies and will not be elaborated here.

[0041] The infrared camera 13 and the high-definition camera 14 take pictures of the tunnel vault position, and after identification, judge whether there are freezing disasters such as tunnel icicles. If it is determined through image recognition that there is a freezing disaster at this position, the coordinate of the freezing disaster position is obtained through the laser ranging camera 15 and transmitted back to the control box 16 for data processing. After image recognition, when it is judged that the freezing disaster position is directly above the robot running track 17, there is no need to control the turntable 5 to rotate horizontally. Only the control box 16 controls the rotation of the robotic arm, so as to change the positions of the first robotic arm 9 and the second robotic arm 11 so that the laser emitter 12 can perform de-icing work on the freezing disaster position. When the freezing disaster position is in other positions, identify whether there are obstacles such as catenaries in the vault area. If there are obstacles, they need to be avoided during the subsequent de-icing process of the robot. If there is a catenary, it is necessary to determine the relative position between the catenary and other power equipment and the icicle through image recognition, and then calculate the rotation parameters that can avoid the catenary in the processor. After the first robotic arm 9 and the second robotic arm 11 rotate, the laser emitter 12 can naturally avoid the catenary, and when the laser emitter 12 aims at the root of the icicle and emits laser, it can also naturally avoid the catenary.

[0042] After clearing the icicle freezing disaster at this place, the robot continues to move forward along the track, and the infrared camera 13 and the high-definition camera 14 continue to collect image information and then return to the control box 16 for the next step of processing. Until the ice-hanging freezing disaster on the surface of the tunnel lining is found again, repeat the above data processing and de-icing operations.

[0043] If only de-icing work needs to be carried out on a single tunnel, after the de-icing robot is identified by the infrared camera 13 and confirmed to have driven out of the tunnel, it will enter the standby state, waiting to be recovered or for the next de-icing work. The power supply of the robot is a replaceable power supply, which provides guarantee for the long-term and sustainable work of the robot. The power supply can be replaced regularly and the robot can be maintained for a long time.

Claims

1. An omnidirectional laser deicing robot for electrified railway tunnels in cold regions, characterized by: It includes an image recognition camera, a laser transmitter, a laser ranging camera, a first mechanical arm, a second mechanical arm, a control box and a base; the control box includes a processor and a controller; The lower end of the first robotic arm is rotatably connected to the base via a first rotating part, and the upper end is rotatably connected to the lower end of the second robotic arm via a second rotating part. A laser emitter is provided at the upper end of the second robotic arm; the image recognition camera and the laser ranging camera are provided on the base, and their output interfaces are connected to the processor in the control box; one end of the controller is connected to the processor, and the other end is respectively connected to the first rotating part, the second rotating part, the laser emitter, and the laser ranging camera.

2. The omnidirectional laser deicing robot according to claim 1, characterized in that: The first rotating part includes a chassis, a turntable, a support, a first motor, and a second motor. The chassis is installed on a base, a turntable is provided above the chassis, a first motor is provided inside the chassis, and an output shaft of the first motor is connected to the turntable so that the turntable rotates relative to the chassis; a support is provided on the turntable, and the support is connected to the first mechanical arm through the output shaft of the second motor so that the first mechanical arm rotates relative to the support; the first motor and the second motor are both connected to a controller.

3. The omnidirectional laser deicing robot according to claim 2, characterized in that: The rotation angle of the turntable relative to the chassis is not less than 180°, and the rotation angle of the first mechanical arm relative to the support is 90°-120°.

4. The omnidirectional laser deicing robot according to claim 1, characterized in that: The second rotating part includes a third motor. The first mechanical arm and the second mechanical arm are connected through the output shaft of the third motor, so that the second mechanical arm rotates relative to the first mechanical arm. The third motor is connected to the controller.

5. The omnidirectional laser deicing robot according to claim 4, characterized in that: The rotation angle of the second mechanical arm relative to the first mechanical arm is 90°-120°.

6. The omnidirectional laser deicing robot according to claim 1, characterized in that: The image recognition camera includes an infrared camera and a high-definition camera.

7. The omnidirectional laser deicing robot according to claim 1, characterized in that: The base includes a base body, a roller and a reduction motor. The base body is clamped on the train track. The roller is arranged on the inner side of the base body and contacts the surface of the train track. The output shaft of the reduction motor is connected to the roller, and one end is connected to the controller in the control box.

8. The omnidirectional laser deicing robot according to claim 1, characterized in that: The omnidirectional laser deicing robot also includes a power source, which is a battery.

9. The omnidirectional laser deicing robot according to any one of claims 1 to 8, characterized in that: It also includes a remote monitoring system, which is communicatively connected with the control box and receives image signals transmitted by the control box.

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