Positioning device for a vehicle inspection robot and vehicle inspection robot

Abstract

The utility model discloses a kind of positioning device and vehicle inspection robot of vehicle inspection robot, the positioning device disclosed includes mounting bracket, position detection piece and adjusting mechanism, the position detection piece is rotatably arranged in the mounting bracket, the adjusting mechanism is arranged in the mounting bracket, and is connected with the position detection piece, for adjusting the angle of the position detection piece. The above scheme can solve the problem that the vehicle inspection robot in the related art cannot be adapted to different vehicle models.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a positioning device for a vehicle inspection robot and the vehicle inspection robot itself. Background Technology

[0002] In the daily maintenance and repair of rail transit vehicles (such as electric locomotives, diesel locomotives, EMUs, and subway trains), in order to ensure operational safety and reliability, it is necessary to regularly inspect the appearance of the vehicle's running gear (including bogies, wheelsets, axle boxes, etc.). Traditional maintenance methods rely on manual inspections, which have problems such as high labor intensity, low inspection efficiency, susceptibility to subjective factors, and poor data traceability.

[0003] In recent years, with the development of robotics and intelligent sensing systems, vehicle inspection robots have been gradually applied to the automated inspection of rail transit vehicles. These robots are typically installed in maintenance trenches located under the tracks. After the train stops in the inspection depot, the robot moves along the trench under the vehicle, using its onboard vision system (such as high-definition cameras, infrared thermal imagers, and lidar) to perform multi-angle, high-precision image acquisition and status recognition of key components of the running gear, achieving intelligent, standardized, and traceable automated inspection.

[0004] To ensure the accurate execution of inspection tasks, the vehicle inspection robot must first determine its spatial position relative to the vehicle being inspected before initiating the inspection process, in order to establish a unified coordinate reference. That is, it is necessary to identify the vehicle's parking position in the pit through a positioning device, and determine the robot's starting inspection position accordingly, thereby ensuring the correctness of the subsequent inspection path and the accuracy of the image acquisition area.

[0005] Because different types of vehicles have different structures of their undercarriage equipment, the positioning device is usually fixedly installed on the vehicle inspection robot body, and its detection direction is fixed. Therefore, each vehicle inspection robot can usually only be adapted to one type of vehicle, which makes it impossible for the vehicle inspection robot to inspect different vehicle models, thus making the application of the vehicle inspection robot too limited. Utility Model Content

[0006] This utility model discloses a positioning device for a vehicle inspection robot and a vehicle inspection robot, in order to solve the problem that vehicle inspection robots in related technologies cannot be adapted to different vehicle models.

[0007] To solve the above-mentioned technical problems, this utility model is implemented as follows: In a first aspect, this application discloses a positioning device for a vehicle inspection robot. The disclosed positioning device includes a mounting bracket, a position detection component, and an adjustment mechanism. The position detection component is rotatably mounted on the mounting bracket, and the adjustment mechanism is mounted on the mounting bracket and connected to the position detection component for adjusting the angle of the position detection component.

[0008] Secondly, this application also discloses a vehicle inspection robot, which includes a robot body and the positioning device described in the first aspect, wherein the positioning device is disposed on the robot body.

[0009] The technical solution adopted in this utility model can achieve the following technical effects: The positioning device for the vehicle inspection robot disclosed in this application rotatably mounts a position detection component on a mounting bracket, allowing an adjustment mechanism to adjust the angle of the position detection component. This enables the vehicle inspection robot to adjust the angle of the position detection component according to different vehicle models, thereby achieving angle adjustment of the detection end of the position detection component. Consequently, the vehicle inspection robot can be adapted to different vehicle models, thus improving the application capability of the inspection robot. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the positioning device disclosed in an embodiment of the present utility model; Figure 2 This is a schematic diagram of the internal structure of the positioning device disclosed in an embodiment of the present utility model; Figure 3 This is a partially enlarged schematic diagram of an embodiment of the present utility model; Figure 4 This is a schematic diagram of the vehicle inspection robot disclosed in an embodiment of the present utility model.

[0011] Explanation of reference numerals in the attached figures: 100-Positioning device, 110-Mounting bracket, 111-Side wall, 111a-Arc-shaped groove, 111b-Positioning hole, 112-Bottom wall, 120-Position detection element, 130-Adjusting mechanism, 131-Adjusting rod, 132-Locking element, 133-Sliding pin, 140-Housing, 141-Allowing opening, 142-Cable routing hole, 150-Drainage connector. 200 - Robot body. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0013] The technical solutions disclosed in the various embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0014] Please refer to Figures 1 to 4 This utility model discloses a positioning device for a vehicle inspection robot. The positioning device 100 includes a mounting bracket 110, a position detection component 120, and an adjustment mechanism 130.

[0015] Mounting bracket 110 can provide a base for mounting at least some other components of the positioning device. The position detection component can be a distance sensor, a camera, etc., and this application embodiment does not specifically limit the type of position detection component.

[0016] For example, when a distance sensor is used for position detection, the vehicle inspection robot can be manually moved to a position where the distance sensor can detect the vehicle's wheels or axles. The distance between the distance sensor and the wheels or axles, as well as the spatial relationship between the vehicle inspection robot and the vehicle, can be recorded. The measured distances can then be preset to the vehicle inspection robot. When the vehicle inspection robot needs to determine its spatial relationship with the vehicle during its inspection task, if the difference between the distance detected by the distance sensor and the preset distance to the vehicle inspection robot is within a preset range, it can be confirmed that the vehicle inspection robot is currently at a position where the distance sensor can detect the vehicle's wheels or axles, thus confirming its spatial relationship with the vehicle. If the difference between the distance detected by the distance sensor and the preset distance to the vehicle inspection robot is outside the preset range, the vehicle inspection robot can move back and forth to find a position where the difference between the distance detected by the distance sensor and the preset distance to the vehicle inspection robot is within the preset range, thus confirming its spatial relationship with the vehicle.

[0017] When using a camera for position detection, the vehicle inspection robot can be manually moved to a position where the camera can capture images of the vehicle's wheels or axles. The spatial relationship between the vehicle inspection robot and the vehicle at this point is recorded, and the captured images are preset to the vehicle inspection robot. When the vehicle inspection robot needs to determine its spatial relationship with the vehicle during its inspection task, the camera can continuously capture images of the vehicle's running gear. When the images captured by the camera match the images preset to the vehicle inspection robot, it can be confirmed that the vehicle inspection robot is in a position where it can capture images of the vehicle's wheels or axles, thus confirming the spatial relationship between the vehicle inspection robot and the vehicle.

[0018] A position detection element 120 is rotatably mounted on a mounting bracket 110. An adjustment mechanism 130 is mounted on the mounting bracket 110 and connected to the position detection element 120, used to adjust the angle of the position detection element 120. The position detection element 120 can be rotatably mounted on the mounting bracket 110 via a pin. After adjusting the angle of the position detection element 120, the adjustment mechanism 130 can fix the position detection element 120 to the mounting bracket 110 to restrict the rotation of the position detection element 120 relative to the mounting bracket 110.

[0019] The positioning device for the vehicle inspection robot disclosed in this application rotatably mounts the position detection component 120 on the mounting bracket 110, allowing the adjustment mechanism 130 to adjust the angle of the position detection component 120. This enables the vehicle inspection robot to adjust the angle of the position detection component 120 according to different vehicle models, thereby achieving angle adjustment of the detection end of the position detection component 120. This allows the vehicle inspection robot to be adapted to different vehicle models, thus improving the application capability of the inspection robot.

[0020] Specifically, the adjustment mechanism 130 may include a telescopic rod, one end of which is rotatably connected to the mounting bracket 110, and the other end of which is rotatably connected to the position detection element 120. The operator can adjust the angle of the position detection element 120 by operating the telescopic rod to extend or retract. Of course, the adjustment mechanism 130 may also have other structures, which will be described later and will not be elaborated here.

[0021] Optionally, the mounting bracket 110 may include two oppositely distributed sidewalls 111 and a bottom wall 112 connecting the two sidewalls 111. The mounting bracket 110 may form a U-shaped structure. The position detection element 120 may be located within the mounting space enclosed by the bottom wall 112 and the two sidewalls 111, and rotatably mounted on the sidewalls 111. Since the position detection element 120 is located within the mounting space enclosed by the bottom wall 112 and the two sidewalls 111, the bottom wall 112 and the sidewalls 111 can protect the position detection element 120.

[0022] Specifically, the adjustment mechanism 130 can be located in the installation space enclosed by the bottom wall 112 and the two side walls 111. The operator can put his / her hand into the installation space or put the adjustment tool into the installation space to operate the adjustment mechanism 130, thereby realizing the angle adjustment of the position detection element 120.

[0023] To facilitate operation of the position detection component 120, the side wall 111 may optionally be provided with an arc-shaped slide groove 111a. The adjustment mechanism 130 can be connected to the position detection component 120 through the arc-shaped slide groove 111a, and the adjustment mechanism 130 can drive the position detection component 120 to rotate along the arc-shaped slide groove 111a. The center of the arc-shaped slide groove 111a may coincide with the rotation axis of the position detection component 120; of course, if the arc-shaped slide groove 111a is wide, the center of the arc-shaped slide groove 111a may not coincide with the rotation axis of the position detection component 120.

[0024] The positioning device of the vehicle inspection robot disclosed in this application provides an arc-shaped slide groove 111a on the side wall 111, so that the adjustment mechanism 130 can be connected to the position detection component 120 through the arc-shaped slide groove 111a, so that the adjustment mechanism 130 can be located outside the installation space, which is beneficial for the operator to operate the adjustment mechanism 130.

[0025] Specifically, the adjustment mechanism 130 may include a screw and a nut. One end of the screw may be connected to the position detection element 120, and the other end of the screw may pass through the arc-shaped slide groove 111a and be threaded with the nut. When it is necessary to adjust the angle of the position detection element 120, the operator can loosen the nut and drive the position detection element 120 to rotate along the arc-shaped slide groove 111a. After the angle of the position detection element 120 is adjusted, the nut can be tightened, thereby restricting the rotation of the position detection element 120 under the action of the friction between the nut and the side wall 111.

[0026] In another embodiment, the adjusting mechanism 130 may include an adjusting rod 131, a locking member 132, and a sliding pin 133. The first end of the adjusting rod 131 is rotatably mounted on the side wall 111. The rotation center of the adjusting rod 131 about its first end may coincide with the rotation axis of the position detection member 120. However, if the arc-shaped groove 111a is wide, the rotation center of the adjusting rod 131 about its first end may not coincide with the rotation axis of the position detection member 120. The second end of the adjusting rod 131 may be connected to the first end of the sliding pin 133. The second end of the sliding pin 133 may pass through the arc-shaped groove 111a and connect to the position detection member 120. The locking member 132 may be mounted on the adjusting rod 131 and used to fix the adjusting rod 131 to the side wall 111.

[0027] The positioning device for the vehicle inspection robot disclosed in this application configures the adjustment mechanism 130 as including an adjustment rod 131, a locking member 132, and a sliding pin 133. The first end of the adjustment rod 131 is rotatably mounted on the side wall 111, and the second end of the adjustment rod 131 is connected to the first end of the sliding pin 133. The second end of the sliding pin 133 passes through an arc-shaped groove 111a and connects to the position detection element 120. The operator can adjust the angle of the position detection element 120 by operating the adjustment rod 131. When the angle of the position detection element 120 needs to be adjusted, the operator can loosen the locking member 132 to allow the adjustment rod 131 to rotate, thereby adjusting the angle of the position detection element 120. After the angle of the position detection element 120 is adjusted, the locking member 132 is locked to fix the adjustment rod 131 to the side wall 111.

[0028] Specifically, the adjusting rod 131 can be an elastic rod, and the locking member 132 can include a positioning bead. The positioning bead can be disposed between the first end and the second end of the adjusting rod 131. The side wall 111 can have multiple positioning holes 111b, which can be spaced apart along an arc-shaped line segment concentric with the arc-shaped groove 111a. Under the limiting action of the first end and the second end of the adjusting rod 131, the positioning bead can be located in the positioning hole 111b. When the adjusting rod 131 rotates around the first end, the positioning bead drives the elastic rod to deform and move into the positioning hole 111b at the corresponding position.

[0029] The positioning device for the vehicle inspection robot disclosed in this application sets the adjusting rod 131 as an elastic rod, sets the locking member 132 as a structure including a positioning bead, and opens multiple positioning holes 111b in the side wall 111. When the operator adjusts the angle of the position detection member 120, the adjusting rod 131 rotates around the first end of the adjusting rod 131, and the positioning bead drives the elastic rod to deform and move into the positioning hole 111b at the corresponding position. After the user has finished adjusting, the positioning bead is located in the positioning hole 111b under the limiting action of the first end and the second end of the adjusting rod 131, thereby restricting the rotation of the adjusting rod 131 and thus fixing the angle of the position detection member 120.

[0030] Of course, the locking element 132 can also be a buckle, screw, etc. The embodiments of this application do not impose specific restrictions on the structure of the locking element 132.

[0031] Optionally, the positioning device 100 may also include a housing 140, which may have an opening 141. The mounting bracket 110 may be disposed inside the housing 140, and the detection end of the position detection element 120 may face the side where the opening 141 is located.

[0032] The positioning device for the vehicle inspection robot disclosed in this application provides a housing 140, in which a mounting bracket 110 is disposed within the housing 140, thereby also placing the position detection component 120 within the housing 140, thus protecting the position detection component 120.

[0033] When water (such as water dripping from melting snow on the vehicle's running gear) enters the housing 140 through the clearance opening 141, in order to avoid damage to the position detection element 120, the housing 140 may optionally have a drain outlet, and the drain outlet may be equipped with a drain connector 150. The drain connector 150 can discharge the water entering the housing 140 to the outside of the vehicle inspection robot, thereby preventing the water entering the housing 140 from damaging the position detection element 120.

[0034] Specifically, to improve the positioning accuracy of the vehicle inspection robot, optionally, multiple position detection elements 120 can be used, and each position detection element 120 can be equipped with a mounting bracket 110 and an adjustment mechanism 130. By setting multiple position detection elements 120, the positioning accuracy of the vehicle inspection robot can be improved.

[0035] To facilitate the installation and removal of the position detection component 120, the mounting bracket 110 may optionally be detachably connected to the housing 140, thereby allowing the position detection component 120 to be removed from or installed in the housing 140 by removing the mounting bracket 110.

[0036] Optionally, the housing 140 may also have a wiring hole 142, through which a cable can pass to connect to the position detection element 140.

[0037] This application also discloses a vehicle inspection robot, which includes a robot body 200 and a positioning device 100 disclosed in the above embodiments, wherein the positioning device 100 is disposed on the robot body 200.

[0038] The vehicle inspection robot disclosed in this application embodiment, by setting the positioning device disclosed in the above embodiment, enables the vehicle inspection robot to adjust the angle of the position detection component 120 according to different vehicle models, thereby realizing the angle adjustment of the detection end of the position detection component 120, so that the vehicle inspection robot can be adapted to different vehicle models, thereby improving the application capability of the inspection robot.

[0039] The above embodiments of this utility model mainly describe the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. For the sake of brevity, they will not be described in detail here.

[0040] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A positioning device for a vehicle inspection robot, characterized by The positioning device (100) includes a mounting bracket (110), a position detection element (120), and an adjustment mechanism (130). The position detection element (120) is rotatably mounted on the mounting bracket (110), and the adjustment mechanism (130) is mounted on the mounting bracket (110) and connected to the position detection element (120) for adjusting the angle of the position detection element (120).

2. The positioning device of claim 1, wherein, The mounting bracket (110) includes two oppositely distributed side walls (111) and a bottom wall (112) connected between the two side walls (111). The position detection element (120) is located in the mounting space enclosed by the bottom wall (112) and the two side walls (111), and is rotatably mounted on the side wall (111).

3. The positioning device of claim 2, wherein, The side wall (111) is provided with an arc-shaped slide groove (111a). The adjustment mechanism (130) is connected to the position detection element (120) through the arc-shaped slide groove (111a). The adjustment mechanism (130) can drive the position detection element (120) to rotate along the arc-shaped slide groove (111a).

4. The positioning device of claim 3, wherein, The adjustment mechanism (130) includes an adjustment rod (131), a locking member (132), and a sliding pin (133). The first end of the adjustment rod (131) is rotatably disposed on the side wall (111). The second end of the adjustment rod (131) is connected to the first end of the sliding pin (133). The second end of the sliding pin (133) passes through the arc-shaped slide groove (111a) and is connected to the position detection member (120). The locking member (132) is disposed on the adjustment rod (131) and is used to fix the adjustment rod (131) to the side wall (111).

5. The positioning device of claim 4, wherein, The adjusting rod (131) is an elastic rod, and the locking member (132) includes a positioning bead. The positioning bead is located between the first end and the second end of the adjusting rod (131). The side wall (111) has a plurality of positioning holes (111b). The plurality of positioning holes (111b) are distributed at intervals along an arc-shaped line segment concentric with the arc-shaped groove (111a). The positioning bead is located in the positioning hole (111b) under the limiting action of the first end and the second end of the adjusting rod (131). When the adjusting rod (131) rotates around the first end of the adjusting rod (131), the positioning bead drives the elastic rod to deform and move to the positioning hole (111b) at the corresponding position.

6. The positioning device according to claim 1, characterized in that, The positioning device (100) also includes a housing (140), the housing (140) having a clearance opening (141), the mounting bracket (110) being disposed inside the housing (140), and the detection end of the position detection component (120) facing the side where the clearance opening (141) is located.

7. The positioning device of claim 6, wherein, The housing (140) has a drain outlet, and the drain outlet is equipped with a drain connector (150).

8. The positioning device of claim 6, wherein, There are multiple position detection elements (120), and each position detection element (120) is provided with the mounting bracket (110) and the adjustment mechanism (130).

9. The positioning device of claim 6, wherein, The mounting bracket (110) is detachably connected to the housing (140).

10. A vehicle inspection robot characterized by comprising: It includes a robot body (200) and a positioning device (100) as described in any one of claims 1 to 9, wherein the positioning device (100) is disposed on the robot body (200).

Images