CN109795521B

CN109795521B - Rail transit rolling stock inspection device and system

Info

Publication number: CN109795521B
Application number: CN201910108765.XA
Authority: CN
Inventors: 罗阳; 关山; 黄雪峰; 庞龙
Original assignee: Beijing Sheenline Group Co Ltd
Current assignee: Beijing Sheenline Group Co Ltd
Filing date: 2019-02-03
Publication date: 2024-06-28
Anticipated expiration: 2039-02-03

Abstract

The application relates to a rail transit rolling stock inspection device and a rail transit rolling stock inspection system. The rail transit rolling stock inspection device is used for detecting a vehicle to be detected, the vehicle to be detected is parked on a rail, the rail is arranged on an inspection platform, the inspection platform is correspondingly provided with an inspection groove along the extending direction of the rail, and the rail transit rolling stock inspection device comprises an inspection robot, a lifting device group and a control device. The lifting equipment set comprises at least one lifting equipment, the lifting equipment is arranged on the side face of the extending direction of the track, the lifting equipment is of a lifting structure, the lifting equipment can be in butt joint with the inspection groove through lifting, and the leveling of the surface of the inspection platform can be achieved. The control device is in communication connection with the inspection robot and is used for controlling the inspection robot to work. The rail transit rolling stock inspection device provided by the application has high intelligence.

Description

Rail transit rolling stock inspection device and system

Technical Field

The application relates to the field of rail transit rolling stock detection, in particular to a rail transit rolling stock inspection device and a rail transit rolling stock inspection system.

Background

Along with the development of traffic technology, rail transit rolling stock represented by trains, motor cars, subways, high-speed rails and the like has become an important transportation means for people to travel. The rail transit rolling stock needs to be overhauled regularly so as to ensure the running safety.

In the traditional technology, the overhaul of rail transit rolling stock mainly takes manual detection as a main principle. Detection is performed by manual visual detection or a handheld detection device. Such detection has problems such as low efficiency, poor quality, and low informatization level.

With the gradual development of artificial intelligence, rail transit rolling stock inspection devices gradually appear. The current track traffic rolling stock inspection device is mainly used for overhauling the track traffic rolling stock by carrying a detection probe through an inspection robot. However, the intelligent of the rail transit rolling stock inspection device with the structure is required to be improved at present.

Disclosure of Invention

Based on the above, it is necessary to provide a rail transit rolling stock inspection device and system for solving the problem of poor intelligence.

The utility model provides a rail transit rolling stock inspection device, rail transit rolling stock inspection device is used for waiting to detect the vehicle, wait to detect the vehicle park in the track sets up in inspection platform, just the inspection platform is followed the track extending direction corresponds to offer inspection recess, rail transit rolling stock inspection device includes:

Inspection robot;

the lifting equipment set comprises at least one lifting equipment, wherein the lifting equipment is arranged on the side face of the extending direction of the track, is of a lifting structure, and can realize butt joint with the inspection groove and leveling with the surface of the inspection platform through lifting;

and the control device is in communication connection with the inspection robot and is used for controlling the inspection robot to work.

In one embodiment, the lifting device group comprises at least 2 lifting devices, at least 2 lifting devices are respectively arranged at two sides of the extending direction of the track, and at least 2 lifting devices can be in butt joint communication with the inspection groove and form at least one passage.

In one embodiment, the number of the tracks is at least 2 groups, the number of the inspection grooves is at least 2, and the number of the lifting device groups is at least 2 groups;

each inspection groove is arranged corresponding to one group of tracks;

Each group of the rails is correspondingly provided with a group of lifting equipment groups;

a plurality of lifting devices of at least 2 sets of lifting device sets are capable of docking communication with at least 2 of the inspection recesses and form at least one cross-track pathway.

In one embodiment, the rail transit rolling stock inspection device further comprises a field working condition detection device, wherein the field working condition detection device is arranged on the rail, the inspection platform and/or the inspection groove, and is in communication connection with the control device and used for detecting the working condition of the inspection field.

In one embodiment, the on-site working condition detection device comprises at least one of a effusion detection mechanism (710), a vehicle on-site detection component to be detected and an intrusion detection component;

the hydrops detection mechanism is arranged in the inspection groove, is in communication connection with the control device and is used for detecting the hydrops condition in the inspection groove;

The vehicle to be detected in-situ detection assembly is arranged on the track, is in communication connection with the control device and is used for detecting whether the vehicle to be detected is parked in place or not;

the intrusion detection assembly is arranged on the track, the inspection platform and/or the inspection groove, is in communication connection with the control device and is used for detecting whether the inspection site is intruded or not.

In one embodiment, the inspection robot includes:

The operation walking device comprises a vehicle body and wheels, wherein the wheels are arranged at the bottom of the vehicle body, and the vehicle body comprises a containing cavity;

The mechanical arm is arranged on the vehicle body and is in communication connection with the control device, the mechanical arm is of a foldable structure, and the mechanical arm can be stored in the containing cavity.

In one embodiment, the inspection robot further includes:

and the detection device is arranged at the tail end of the mechanical arm and is in communication connection with the control device.

In one embodiment, the inspection robot further includes:

and the docking device is arranged on the vehicle body and is used for docking with other equipment.

In one embodiment, the inspection robot further includes:

the auxiliary charging end is arranged on the vehicle body.

In one embodiment, the rail transit rolling stock inspection device further comprises:

the auxiliary charging device is arranged on the track, matched with the auxiliary charging end and used for providing power for the auxiliary charging end.

In one embodiment, the rail transit rolling stock inspection device further comprises an inspection auxiliary device, the inspection auxiliary device comprising:

An auxiliary walking device;

The tool rack is arranged on the auxiliary walking device and used for placing the detection device to be replaced.

In one embodiment, the inspection assist device further includes:

the mechanical emergency device is arranged on the auxiliary walking device, is matched with the structure of the docking device and is used for realizing mechanical docking with the inspection robot.

In one embodiment, the detection device is connected to the tail end of the mechanical arm through a quick-change device;

The quick-change device comprises a mechanical arm end and a tool end, wherein the mechanical arm end is connected with the mechanical arm, the tool end is connected with the detection device, and the mechanical arm end and the tool end can be spliced to realize electric connection and mechanical connection;

the tool rack of the inspection auxiliary device is provided with a detection device to be replaced, one end of the detection device to be replaced is connected with the tool end, and the tool end is used for being connected with the mechanical arm end to realize connection of the detection device to be replaced and the mechanical arm.

a reference standard disposed on one side of the rail along an extending direction of the rail;

the pose detection device is arranged on the inspection robot and used for detecting distance information of the inspection robot relative to the reference standard;

And the processing device is in communication connection with the pose detection device and is used for calculating the pose offset of the inspection robot relative to the reference coordinates according to the distance information of the inspection robot relative to the reference.

In one embodiment, the processing device is in communication connection with the control device, and the control device is further used for controlling the walking of the inspection robot according to the pose offset of the inspection robot relative to the reference coordinates.

According to the rail transit rolling stock inspection device provided by the embodiment of the application, firstly, the lifting equipment automatically lifts, so that the butt joint with the inspection groove and the butt joint and the communication with the inspection platform are realized, and the degree of automation is improved. Secondly, the lifting equipment is used for realizing the leveling with the surface of the inspection platform, so that the inspection platform is flat and has no walking obstacle. And thirdly, the lifting equipment enables the inspection robot to enter and exit from the inspection groove without manual intervention, so that full-automatic walking can be realized, the intelligence of the inspection robot is improved, and the intelligence of the rail transit rolling stock inspection device is further improved.

A rail transit rolling stock inspection system comprising:

The rail transit rolling stock inspection device comprises at least 2 inspection robots;

And the dispatching device is in communication connection with the inspection robot and is used for dispatching the inspection robot.

In one embodiment, at least 2 inspection robots are respectively provided with different detection devices, and the scheduling device is used for controlling each inspection robot to respectively complete one detection project of a plurality of vehicles to be detected.

According to the rail transit rolling stock inspection system provided by the embodiment of the application, the plurality of inspection robots are controlled to work through the dispatching device, so that the plurality of inspection robots can carry out inspection operation simultaneously, the inspection operation time is greatly shortened, and the inspection operation efficiency is improved.

Drawings

FIG. 1 is a schematic view of a rail transit rolling stock inspection device and inspection site according to one embodiment of the present application;

FIG. 2 is a schematic diagram of a rail transit rolling stock inspection device and an inspection site according to an embodiment of the present application;

FIG. 3 is a schematic view of a lifting device according to an embodiment of the present application;

Fig. 4 is a schematic structural diagram of a rail transit rolling stock inspection device according to an embodiment of the present application;

Fig. 5 is a schematic front view of an inspection robot according to an embodiment of the present application;

fig. 6 is a schematic perspective view of an inspection robot according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of an auxiliary charging terminal and an auxiliary charging device according to an embodiment of the present application;

Fig. 8 is a schematic front view of an inspection robot and an inspection auxiliary device according to an embodiment of the present application;

fig. 9 is a schematic perspective view of an inspection robot and an inspection auxiliary device according to an embodiment of the present application;

Fig. 10 is a schematic structural diagram of a rail transit rolling stock inspection device according to an embodiment of the present application;

FIG. 11 is a schematic diagram of reference coordinates in the inspection pose detection process according to an embodiment of the present application;

FIG. 12 is a block diagram illustrating a configuration of a pose detection apparatus according to an embodiment of the present application;

FIG. 13 is a side view of a reference datum provided by one embodiment of the present application;

Fig. 14 is a schematic diagram of a calculation method for obtaining an attitude offset of the inspection robot along a second direction relative to a second reference plane by using a first detection distance and a second detection distance according to an embodiment of the present application (the schematic diagram is a side view of an inspection robot body and a reference standard);

Fig. 15 is a schematic diagram of a calculation method for obtaining a rotation angle of the inspection robot around a second direction through a first detection distance and a third detection distance according to an embodiment of the present application (the schematic diagram is a top view of a vehicle body of the inspection robot and a reference standard);

fig. 16 is a schematic step flow diagram of a method for detecting a patrol pose of a rail transit rolling stock according to an embodiment of the present application;

FIG. 17 is a flowchart illustrating steps for obtaining a pose offset of a patrol robot relative to the reference coordinates according to an embodiment of the present application;

FIG. 18 is a flowchart illustrating steps for obtaining a pose offset of a patrol robot relative to the reference coordinates according to an embodiment of the present application;

FIG. 19 is a flowchart illustrating steps for obtaining a pose offset of a patrol robot relative to the reference coordinates according to an embodiment of the present application;

FIG. 20 is a schematic flow chart of steps for obtaining a pose offset of a vehicle to be detected relative to a reference coordinate according to an embodiment of the present application;

FIG. 21 is a graph showing the comparison of the height length curve information of the vehicle bottom and the standard height length curve information according to one embodiment of the present application;

FIG. 22 is a schematic structural view of a rail transit rolling stock inspection device according to an embodiment of the present application;

Fig. 23 is a schematic view of an inspection site position arrangement of an inspection device and system for rail transit rolling stock according to an embodiment of the present application.

Reference numerals illustrate:

Track traffic rolling stock inspection system 1 track traffic rolling stock inspection device 10

Track 100 inspection platform 200 inspection groove 300 inspection robot 400

Working travelling device 410 vehicle body 411 and wheel 412 accommodating cavity 413

Mechanical arm 420 detection device 430 quick-change device 431 mechanical arm end 433

Tool end 435 interfacing means 440 assists charging end 450 lifting means 460

Lifting device group 500 lifting device 501 lifts platform plate 510 driving device 520

Lift control device 530 distance sensor 540 control device 600

On-site working condition detection device 700 effusion detection mechanism 710

Intrusion detection component 730 of vehicle presence detection component 720 to be detected

Auxiliary charging device 800 inspection auxiliary device 900 auxiliary traveling device 910

Tool rack 920 energy supply 930 power supply 931 air supply 932 emergency device 940 mechanical emergency device 941 electrical emergency device 942 dispatcher 20

Inspection pose detection system 30 refers to reference 310 and reference scale 311

First distance detector 321 of reference slope 312 pose detector 320

Second distance detecting means 322 third distance detecting means 323 identifying means 324

First processing mechanism 325 second processing mechanism 326 fourth distance detection device 327

Processing device 330

Detailed Description

In order to make the objects, technical schemes and advantages of the application more clear, the track traffic rolling stock inspection device and the system of the application are further described in detail by the following embodiments and with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated. In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

The application provides a rail transit rolling stock inspection device 10. The rail transit rolling stock inspection device 10 is used for detecting rail transit rolling stock, such as motor cars, high-speed rails, trains, subways and the like. The rail transit rolling stock to be detected is hereinafter referred to simply as the vehicle to be detected.

Referring to fig. 1, the rail transit rolling stock inspection device 10 detects the rolling stock to be detected at an inspection site. The inspection site comprises an inspection platform 200, a track 100 and an inspection groove 300. The track 100 is disposed on the inspection platform 200. The vehicle to be detected is parked on the track 100. The inspection platform 200 is correspondingly provided with an inspection groove 300 along the extending direction of the track 100.

The inspection platform 200 may be a plane level with the ground, or a plane above or below the ground. The inspection platform 200 is used for setting an apparatus required for inspection and walking by equipment and staff required for inspection. The track 100 includes 2 parallel rails. The rails of the track 100 may be directly disposed on the inspection platform 200, or may be disposed on the inspection platform 200 by support columns or other devices disposed at intervals. The number of the tracks 100 may be 1 group or may be multiple groups. Each set of the tracks 100 is correspondingly provided with the inspection groove 300. The inspection groove 300 is a pit recessed in the inspection platform 200 and having a groove structure. The inspection groove 300 is disposed between the rails 100 and extends along the extending direction of the rails 100. The size and the concave size of the inspection groove 300 may be set according to practical requirements, and the present application is not limited in particular. The vehicle to be detected is parked on the track 100, the inspection platform 200 can detect the vehicle side of the vehicle to be detected, and the inspection groove 300 can detect the vehicle bottom of the vehicle to be detected.

In one embodiment, the rail transit rolling stock inspection device 10 includes an inspection robot 400, a lifting device set 500, and a control device 600.

The inspection robot 400 is an inspection robot for rail transit rolling stock, and hereinafter, the inspection robot 400 is simply referred to as an inspection robot. The inspection robot 400 is configured to detect relevant parameters of the vehicle to be detected, for example: appearance, size, position and posture, temperature, air leakage, etc. The specific structure and functions of the inspection robot 400 are not limited, and may be selected according to actual requirements.

The lifting device set 500 comprises at least one lifting device 501. The lifting device 501 is disposed on a side surface of the rail 100 in the extending direction. The lifting device 501 is a lifting structure, i.e. the lifting device 501 is capable of lifting and lowering. Specifically, the inspection platform 200 at the side of the track 100 may be provided with a lifting groove, and the lifting device 501 is disposed in the lifting groove, and may be capable of lifting and lowering in the lifting groove. By lifting, the lifting device 501 can be docked with the inspection groove 300, and can be leveled with the surface of the inspection platform 200. The lifting device 501 may be a rail type lift, a crank arm type lift, a scissor lift, a chain type lift or the like. The application is not limited, and can be specifically selected according to actual needs. The lifting device 501 may be used, but is not limited to, for lowering the inspection robot 400 or operator to the inspection well 300, or lifting the inspection robot 400 or operator to the inspection platform 200. The number of the lifting devices 501 may be one or more. The lifting devices 501 may be disposed at intervals along the track 100 on one side of the track 100, or may be distributed on two sides of the track 100.

The control device 600 is in communication connection with the inspection robot 400, and is used for controlling the inspection robot 400 to work. The control device 600 may be used to control the inspection robot 400 to walk, perform inspection, and the like. The control device 600 may be, but is not limited to, a computer device, a PLC (Programmable Logic Controller ) or other processor-containing device. The specific structure, model, etc. of the control device 600 are not limited, as long as the functions thereof can be realized.

The operation of the rail transit rolling stock inspection device 10 may include, but is not limited to, the following:

The control device 600 acquires inspection tasks including the number of vehicles to be detected, the positions of the vehicles to be detected, items to be detected, and the like. The control device 600 sends the inspection task to the inspection robot 400, and issues an inspection instruction. The inspection robot 400 receives the inspection instruction, and according to the inspection task, autonomously walks to the position of the vehicle to be detected, and detects the vehicle to be detected. When the item to be detected included in the inspection task is located on the vehicle side of the vehicle to be detected, the inspection robot 400 walks and detects the inspection platform 200 along the extending direction of the track 100. At this time, the lifting device 501 may be leveled with the surface of the inspection platform 200, so that the inspection robot 400 is not hindered from traveling along the inspection platform 200. When the item to be detected included in the inspection task is located at the bottom of the vehicle to be detected, the inspection robot 400 needs to walk into the inspection groove 300 to perform an operation. The inspection robot 400 first walks to the lifting device 501 according to the inspection task. After the lifting device 501 is controlled to descend and to dock with the inspection groove 300, the inspection robot 400 walks to the inspection groove 300 and performs inspection operation. After the inspection is completed, the inspection robot 400 walks to the lifting device 501, and the lifting device 501 drives the inspection robot 400 to ascend, withdraw from the inspection groove 300, return to the inspection platform 200, and complete the inspection.

Compared with the method that a walking ladder or a slope is arranged on the inspection platform 200 at one side of the track 100 and is in butt joint communication with the inspection groove 300 in the prior art, the rail transit rolling stock inspection device 10 provided by the embodiment of the application firstly automatically lifts through the lifting equipment 501, so that the butt joint with the inspection groove 300 and the butt joint and communication with the inspection platform 200 are realized, and the degree of automation is improved. Secondly, the lifting device 501 realizes the leveling with the surface of the inspection platform 200, so that the inspection platform 200 is flat and has no walking obstacle. Thirdly, the lifting device 501 enables the inspection robot 400 to enter and exit the inspection groove 300 without manual intervention, so that full-automatic walking can be realized, the intelligence of the inspection robot 400 is improved, and the intelligence of the rail transit rolling stock inspection device 10 is further improved.

Referring to fig. 2, in one embodiment, the lift set 500 includes at least 2 lift devices 501. At least 2 lifting devices 501 are respectively disposed at both sides of the track 100. At least 2 of the lifting devices 501 are capable of interfacing with the inspection well 300 and form at least one passageway.

Taking the example in which the lifting device set 500 includes 2 lifting devices 501, 2 lifting devices 501 are distributed on two sides of the track 100. The connection line of 2 lifting devices 501 is at an angle to the track 100, for example, the connection line of 2 lifting devices 501 is perpendicular to the track 100. After the 2 lifting devices 501 descend to the inspection groove 300, they are in butt-joint communication with the inspection groove 300 to form a passage. The passageway is at an angle to the inspection recess 300.

In one embodiment, the number of tracks 100 is at least 2 groups. The number of inspection grooves 300 is at least 2. The number of the lifting device groups 500 is at least 2. Each inspection groove 300 is disposed corresponding to a set of the rails 100. Each set of the rails 100 is correspondingly provided with a set of the lifting device sets 500, namely: at least 2 lifting devices 501 are provided on both sides of each set of rails 100. A plurality of lifting devices 501 of at least 2 sets of said lifting device sets 500 are capable of docking communication with at least 2 of said inspection recesses 300 and form at least one cross-track path. That is, the lifting devices 501 of two adjacent sets of the rails 100 can communicate such that the passages of each set of the rails 100 communicate to form at least one of the cross-rail passages. The cross-track passage enables communication of a plurality of the inspection grooves 300. Therefore, when there are a plurality of vehicles to be detected, the inspection robot 400 can implement cross-track detection, and detect a plurality of vehicles to be detected at a time, thereby improving the detection efficiency.

The lifting device 501 in the present application is described below:

Referring to fig. 3, in one embodiment, the lifting device 501 includes a lifting platform plate 510, a driving device 520, and a lifting control device 530. The driving device 520 is in driving connection with the lifting platform plate 510, and is used for driving the lifting platform plate 510 to lift. The elevation control unit 530 is electrically connected to the driving unit 520. The lifting control device 530 is used for controlling the driving device 520 to work.

The elevating platform plate 510 is disposed in the elevating groove of the side of the rail 100. When the lifting platform plate 510 is in the lifting state, the lifting platform plate 510 is flush with the plane on which the inspection platform 100 is located. When the lifting platform plate 510 is in a descending state, the lifting platform plate 510 is flush with and communicated with the plane where the inspection groove 300 is located. The elevating platform plate 510 may be an insulating plate, and the material of the insulating plate may be an inorganic insulating material, an organic insulating material, or a mixed insulating material. The application is not limited, and can be specifically selected according to actual needs. The shape of the lifting platform plate 510 may be rectangular, trapezoidal, polygonal, etc., and may be specifically selected according to practical needs, and the present application is not particularly limited. When the maintenance site comprises a plurality of groups of the rails 100, and each group of the rails 100 is provided with the lifting equipment 501 respectively, the lifting platform boards 510 of two adjacent lifting equipment 501 are arranged in contact, so that the track-crossing passage is formed when the lifting platform boards 510 descend to the inspection groove 300.

The driving device 520 may be disposed in the elevation groove of the side of the rail 100. The driving device 520 is in driving connection with the lifting platform plate 510, and is used for driving the lifting platform plate 510 to lift. The specific structure, installation position and installation mode of the driving device 520 may be selected according to actual needs, and the present application is not limited in particular. The number of the driving devices 520 can also be selected according to actual needs. The driving device 520 may be a hydraulic driving device, an air pressure driving device, an electric driving device, a chain driving device, or other driving devices, so long as the lifting platform plate 510 can be driven to lift. In a specific embodiment, the drive 520 is a hydraulic drive. The hydraulic drive device and the lifting platform plate 510 are combined to form a hydraulic scissor type lifting platform. The hydraulic scissor type lifting platform is a fixed hydraulic scissor type lifting platform. The table tops such as the rolling shafts, the rolling balls and the rotating discs of the fixed hydraulic scissor type lifting platform can be arranged at will, and the practical use requirements are met. Therefore, in practical use, the fixed hydraulic scissor lift platform is more convenient for maintenance personnel or users to adjust according to practical needs, and the use of the lifting device 501 is facilitated.

The lifting control device 530 is electrically connected to the driving device 520, and is used for controlling the driving device 520 to start, close and work in mode. The lifting control device 530 obtains a lifting command, and controls the driving device 520 to be started, closed and in a working mode according to the lifting command, thereby controlling the lifting or lowering of the lifting platform plate 510.

The lifting command of the lifting device 501 may be manually input, may be obtained by the control apparatus 600, or may be obtained by detection. In one embodiment, the lifting device 501 further comprises a distance sensor 540. The distance sensor 540 is communicatively connected to the elevation control unit 530. The distance sensor 540 is used to detect its distance to an object in front to determine whether a person or a dock is present on the surface of the elevating platform plate 510. If the distance detected by the distance sensor 540 meets a preset distance threshold, it indicates that a person or an object is parked on the surface of the lifting platform plate 510, and lifting is required. For example, assuming that the distance detected by the distance sensor is 1m when the elevating platform plate 510 is not parked with a person or an object, the elevating control means 530 judges that a person or a parked object is present on the elevating platform plate when the distance detected by the distance sensor 540 becomes less than 0.98m and greater than 0.05m, and the elevating control means 530 controls the driving means 520 to be activated. The distance sensor can be a capacitive proximity sensor, a laser ranging sensor and an ultrasonic sensor, and can be specifically selected according to actual needs, and the application is not limited. The number of the distance sensors 540 may be one or more. In this embodiment, the distance sensor 540 cooperates with the lifting control device 530 to automatically lift the lifting platform plate 510. The lifting device 501 provided in this embodiment is high in intelligence, so that the intelligence of the rail transit rolling stock inspection device 10 is improved.

In one embodiment, the lifting device 501 further comprises a lifting safety alarm 550. The elevation safety alarm 550 is electrically connected to the elevation control unit 530. The lifting alarm device 550 is used for alarming when the distance sensor 540 detects abnormal data or the lifting equipment 501 fails. The specific structure of the lifting safety alarm 550 is not limited in the application, and can be selected according to actual requirements. The safety and intelligence of the lifting device 501 can be improved by the lifting safety alarm device 550, so that the safety and intelligence of the rail transit rolling stock inspection device 10 can be improved.

Referring to fig. 4, in one embodiment, the rail transit rolling stock inspection device 10 further includes an on-site condition detection device 700. The on-site working condition detection device 700 is disposed at the inspection site. Specifically, the on-site working condition detection device 700 may be disposed on the track 100, the inspection platform and/or the inspection groove 300. The on-site operating condition detection device 700 is communicatively coupled to the control device 600. The on-site working condition detection device 700 is used for detecting on-site working conditions. By arranging the on-site working condition detection device 700, the on-site condition of the inspection can be timely solved before the inspection starts and in the inspection process, so that the inspection robot 400 is controlled according to the condition, and the reliability, safety and intelligence of the inspection work are improved.

The on-site working condition detection device 700 may be configured differently according to different requirements and different working conditions. The structure of the on-site operation condition detection device 700 is described below with reference to the embodiments.

In one embodiment, the in-situ condition detection device 700 includes a effusion detection mechanism 710. The effusion detection mechanism 710 is disposed in the inspection groove 300. The liquid accumulation detecting means 710 is communicatively connected to the control device 600. The effusion detection structure 710 is used for detecting the effusion situation in the inspection groove 300.

The liquid accumulation detecting means 710 may be a liquid detection sensor. The number of the liquid accumulation detecting means 710 is not limited. The specific position of the effusion detection mechanism 710 in the inspection groove 300 is not limited, and may be set according to practical situations. For example, the liquid accumulation detecting means 710 may be provided at a position where the inspection groove 300 is deep and liquid accumulation is likely to occur. The effusion detection mechanism 710 detects the effusion situation at the current position and transmits the effusion situation to the control device 600. The control device 600 determines whether to start the inspection operation according to the liquid accumulation condition. When the effusion exceeds a preset effusion threshold value, the operation condition is not satisfied, and an enabling signal is not sent to the inspection robot 400. In this embodiment, the liquid accumulation detecting mechanism 710 prevents the inspection operation from being started when the liquid accumulation in the inspection groove 300 is large, so as to improve the safety and intelligence of the rail transit rolling stock inspection device 10.

In one embodiment, the on-site operating condition detection device 700 includes a vehicle presence detection assembly 720 to be detected. The vehicle to be detected in-situ detection assembly 720 is disposed on the track 100. The vehicle to be detected in-situ detection component 720 is in communication with the control device 600. The vehicle to be detected in-place detecting component 720 is configured to detect whether the vehicle to be detected is parked in place.

The vehicle to be detected in-situ detection assembly 720 may be disposed on one side of the track 100 or may be disposed on the support column supporting the track 100. The number of the vehicle in-situ detection components 720 to be detected can be one or a plurality. The vehicle presence detection assembly 720 may include, but is not limited to, a speed sensor and a presence sensor. In a specific embodiment, a plurality of the presence sensors and a plurality of the speed sensors are disposed inside the rail in sequence along the extending direction of the rail 100. When the vehicle to be detected enters and stops along the track 100, the presence sensor detects that wheels and a vehicle body exist on the track 100, and a plurality of speed detection devices which are sequentially arranged detect that the speed of the vehicle body gradually decreases to 0. The vehicle to be detected is illustrated as driving into the track 100 and stopping to a sensor set-up position. The control device 600 determines whether to start the inspection operation according to the detection result of the on-site detection component 720 of the vehicle to be detected, and controls the start of the inspection robot 400. In this embodiment, the in-situ detection assembly 720 of the vehicle to be detected further improves the intelligence and the automation of the track traffic rolling stock inspection device 10, and improves the inspection accuracy of the track traffic rolling stock inspection device 10.

In one embodiment, the field condition detection device 700 includes an intrusion detection component 730. The intrusion detection assembly 730 is disposed at the inspection site. Specifically, the intrusion detection assembly 730 may be disposed on the track 100, the inspection platform 200, and/or the inspection groove 300. The intrusion detection device 730 is communicatively coupled to the control device 600. The intrusion detection component 730 is configured to detect whether an intrusion exists in the inspection site.

The intrusion detection component 730 can include an image acquisition device and an image processing device communicatively coupled thereto. The image acquisition device can be a camera, a video camera and the like. The image acquisition device acquires the image information of the inspection site and transmits the image information to the image processing device. The image processing apparatus may be a computer device or the like. The image processing apparatus may be a module, processing software, or the like of the control apparatus 600. The image processing device processes the image information and judges whether a person or an object invades the inspection site or not, and further judges whether the operation condition is met or not, and whether the inspection operation is started or not. In this embodiment, the intrusion detection assembly 730 improves the intelligence of the rail transit rolling stock inspection device, and further improves the safety of the operation of the rail transit rolling stock inspection device 10.

In one embodiment, the on-site working condition inspection device 700 may further include a component for detecting the hooking condition of the inspection robot 400 and the related equipment, so as to ensure the safety of the hooking of the inspection robot 400.

It will be appreciated that the control device 600 includes a corresponding module for processing the data of the on-site working condition detection device 700 in the above embodiment, so as to receive the related data transmitted by the on-site working condition detection device 700, and perform processing judgment to determine whether the inspection site currently meets the condition of the inspection operation, and further determine whether to send an inspection enabling signal.

The inspection robot 400 performs inspection operation according to the inspection enable signal. The inspection robot 400 is described below with reference to an embodiment.

Referring to fig. 5 and 6, in one embodiment, the inspection robot 400 includes a work walking device 410 and a robot arm 420. The work traveling apparatus 410 includes a vehicle body 411 and wheels 412. The wheels 412 are provided at the bottom of the vehicle body 411. The vehicle body 411 includes a receiving chamber 413. The robot arm 420 is provided to the vehicle body 411. The mechanical arm 420 is a foldable structure. The robot arm 420 can be accommodated in the accommodating chamber 413.

The working traveling device 410 may be an AGV (Automated Guided Vehicle, automatic guided vehicle) or other trolley capable of automatically performing a traveling function. The vehicle body 411 may have a cubic structure or may have a structure of another shape. Taking the car body 411 of a cubic structure as an example, the car body 411 has a cavity structure, and six sides of the car body enclose the accommodating cavity 413. The robot arm 420 is mounted on top of the vehicle body 411. Meanwhile, the vehicle body 411 is provided with an opening. The mechanical arm 420 is folded and then received in the receiving chamber 413 through the opening. The task walking device 410 may be communicatively connected to the control device 600, and the control device 600 is configured to issue task instructions and task walking tasks to the task walking device 410. The work traveling device 410 may include a control system itself, and travel is controlled by the control system itself, or travel may be controlled by an external control system. For example, the travel of the work travel device 410 may be controlled by the control device 600.

The wheels 412 are mounted on the bottom of the vehicle body 411. The number of wheels 412 may be 4. The structure of the wheel 412 may be various, for example, the wheel 412 may be a universal wheel structure. In one particular embodiment, the wheels 412 are of a two-wheel differential drive type configuration. The wheels 412 of the two-wheel differential drive type structure can effectively reduce the volume of the inspection robot 400. Meanwhile, the wheels 412 adopt a double-wheel differential driving type structure, so that complex calculation performed during planning by taking the middle point of the wheel track as a base point in the prior art can be avoided, the control is simple, the track tracking effect is good, and the real-time performance of motion control is effectively improved.

The robotic arm 420 may include a plurality of movable joints. In a specific embodiment, the mechanical arm 420 includes 6 movable joints, and each movable joint may rotate around an axis, so that flexible movement and positioning of the mechanical arm 420 along six axes may be achieved. The mechanical arm 420 is in signal connection with the control device 600. The control device 600 is used for controlling the movements, folding, etc. of the mechanical arm 420.

The mechanical arm 420 is disposed outside the vehicle body 411 when in operation. When the mechanical arm 420 completes the work, the control device 600 controls the mechanical arm 420 to fold and be accommodated in the accommodating cavity 413, thereby playing the roles of dust prevention, collision prevention and volume reduction.

In this embodiment, the inspection robot 400 includes the working walking device 410 and the mechanical arm 420. The vehicle body 411 of the work traveling device 410 includes the housing chamber 413. The mechanical arm 420 is of a foldable structure, and can be stored in the accommodating cavity 413, so that the volume of the inspection robot 400 can be reduced, dust can be prevented, collision can be prevented, and storage is facilitated.

In one embodiment, the folded shape and size of the mechanical arm 420 matches the shape and size of the opening of the receiving chamber 413.

The body 411 may have an opening along the top and side surfaces. The opening of the vehicle body 411 is the opening of the accommodating chamber 413. The shape and size of the opening are the same as those of the folding of the mechanical arm 420, so that the mechanical arm 420 is sealed at the opening after being folded. For example, the robot arm 420 includes 6 movable joints, and 3 movable joints are maintained in length after folding. The shape, length and width of the opening are consistent with those of the 3 movable joints. When the mechanical arm 420 is accommodated in the accommodating cavity 413, 3 movable joints are accommodated in the accommodating cavity 413, and the other 3 movable joints are attached to the opening, so that the opening of the accommodating cavity 413 is sealed, and a dust-proof effect is further achieved. And thus, space inside the accommodating chamber 413 can be saved for the accommodating chamber 413 to accommodate other devices and apparatuses. The embodiment improves the practicability of the inspection robot 400.

In one embodiment, the inspection robot 400 further includes a lifting device 460. The lifting device 460 is disposed in the accommodating chamber 413. The lifting device 460 is mechanically connected to the mechanical arm 420. The lifting device 460 is used for lifting and lowering the mechanical arm 420.

The lifting device 460 may specifically include a lifting additional shaft. One end of the lifting additional shaft is disposed in the accommodating chamber 413, and the other end is mechanically connected to the bottom of the mechanical arm 420. The lifting additional shaft driving lifting mode can comprise hydraulic driving, air cylinder driving and the like, and the specific application is not limited and can be selected according to actual requirements. The driving of the lifting device 460 may be automatic or manual. In a specific embodiment, the lifting device 460 is communicatively connected to the control device 600, and the control device 600 is further configured to control the operation of the lifting device 460. The lifting device 460 can lift the mechanical arm 420, so that not only the mechanical arm 420 can be lifted and extended, but also the mechanical arm 420 can be lowered and stored. Meanwhile, when the mechanical arm 420 realizes inspection and detection, the lifting device 460 can further adjust the height of the mechanical arm 420, so as to compensate the position of the tail end of the mechanical arm 420. Therefore, the inspection robot 400 provided in this embodiment has strong practicability, and can increase the flexibility of inspection work and improve the inspection accuracy.

In one embodiment, the inspection robot 400 includes a detection device 430. The detecting device 430 is disposed at the end of the mechanical arm 420. The detecting device 430 is configured to detect the vehicle to be detected. The type of the detecting device 430 may be set according to actual requirements. The detecting device 430 may be directly electrically connected to the end of the mechanical arm 420, or may be indirectly connected to the end of the mechanical arm 420 through other devices. The mechanical arm 420 moves to drive the detection device 430 to move to the inspection item area of the device to be detected, so as to inspect the inspection item. The detection device 430 is communicatively connected to the control device 600. The control device 600 controls the detecting device 430 to detect, and processes and analyzes the detected data collected by the detecting device 430.

In one embodiment, the detecting means 430 includes at least one of an image capturing means, a gas leakage detecting means, a temperature detecting means, and a size detecting means. It will be appreciated that the detection device 430 may also include other detection devices in order to perform other functions as desired. The application is not limited in this regard.

The image acquisition device may comprise a 2D image acquisition device and/or a 3D image acquisition device. In a specific embodiment, the 2D image collector mainly includes an area camera. The area array camera is used for collecting surface images of the tested workpiece. The method can be used for detecting the existence, shape, position and posture, appearance, size and the like of the vehicle part to be detected. The 2D image collector may further include a light source. The light source is used for carrying out non-illumination on the tested workpiece so as to achieve a better image acquisition effect.

In a specific embodiment, the 3D image collector mainly includes a linear laser light source, a linear camera, and a linear motion unit. When the 3D image collector works, the linear laser light source emits linear laser and projects the linear laser on the surface of the measured workpiece. And the linear array camera acquires one image, and continuously acquires the images along with the movement of the linear motion unit to obtain a plurality of images. By stitching the multiple images, a complete image containing depth information can be obtained. The 3D image collector can be used for bolt fastening detection, crack detection, wheel set tread quality detection and the like of the vehicle to be detected.

The air leakage detection device is used for detecting the detection of the vehicle bottom and/or the vehicle side air pipe of the vehicle to be detected. In a specific embodiment, the air leak detection means comprises a microphone array. The microphone array is used for collecting and detecting air leakage sound data. The leakage sound data acquired by the microphone array is transmitted to the control device 600. The control device 600 processes and determines the air leakage sound, so as to determine whether the air duct leaks air, and further determine the specific position of the air leakage. In one embodiment, the microphone array comprises 3 cardioid microphones and 1 omni-directional microphone. In another embodiment, the microphone array includes 1 heart-shaped directional microphone, and a plurality of heart-shaped directional microphones are disposed on the robot arm 420.

In one embodiment, the method for the control device 600 to process the air leakage sound data, determine whether the air duct leaks air, and further determine the specific location of the air leakage includes the following steps:

s1110, modeling a vehicle to be detected to form a vehicle model to be detected;

S1120, identifying the air leakage sound of the inspection item point area of the vehicle to be detected;

S1130, determining the sound source position of the leakage sound; and

S1140, judging whether the vehicle to be detected leaks air or not according to the sound source position and the vehicle model to be detected;

s1150, identifying the position of the sound source in the vehicle model to be detected.

According to the method provided by the embodiment, the to-be-detected vehicle model is matched with the position of the air leakage sound source of the to-be-detected vehicle detection item point area, so that the possibility that the air leakage sound around the to-be-detected item point is judged to be the air leakage of the to-be-detected vehicle can be effectively eliminated, the detection accuracy is improved, and a reliable basis is provided for overhauling and maintaining the vehicle. Meanwhile, the vehicle to be detected is modeled, and the air leakage sound is matched with the vehicle model to be detected, so that the vehicle air tightness detection process and detection result are more visual.

The temperature detection device is used for detecting the temperature of the workpiece to be detected of the vehicle to be detected. The specific structure of the temperature detecting device is not limited. In a specific embodiment, the temperature detection device comprises a thermal imager. The thermal imager is used for detecting the temperature distribution of the workpiece to be detected and forming a corresponding temperature distribution image. The temperature distribution image detected by the thermal imager is transmitted to the control device 600. The control device 600 further processes the temperature distribution image. In yet another embodiment, the temperature detection device further comprises a non-contact infrared temperature sensor. The non-contact infrared temperature sensor is used for detecting the surface temperature of the workpiece to be detected. Before the detection is performed, the control device 600 may select 3D modeling of the vehicle to be detected. And marking the positions of the item to be checked and the point to be measured on the 3D model. Wherein one of the items to be inspected includes a plurality of the points to be measured. The mechanical arm 420 clamps the non-contact infrared temperature sensor to move to the item to be inspected, and directs the non-contact infrared temperature sensor to the outer surface of the item to be inspected. The mechanical arm 420 changes the pose, and sequentially adjusts and measures the temperature of the point to be measured. And finishing the temperature measurement of the point to be measured. The data measured by the non-contact infrared temperature sensor is transmitted to the control device 600. The control device 600 may process the data by adopting methods such as taking an intermediate value, taking an expected value, and the like, and match the data with the 3D model to obtain a model diagram reflecting the temperature of the item to be inspected.

It can be appreciated that the determination of the point to be measured may be based on the result of the detection by the thermal imager, and the region or point of interest is set as the point to be measured for further detection, so as to obtain a specific temperature of the region of interest.

The size detection device is used for detecting distance information related to the to-be-detected quantity. The dimension detection means may comprise rim measuring means and/or wheel set spacing measuring means. The rim measuring tool is used for measuring the relevant size of the rim of the vehicle to be detected. The wheel set distance measuring tool is used for measuring the wheel set distance of the vehicle to be detected.

In one embodiment, the wheel set spacing measurement tool includes 2 laser distance sensors and one measuring rod. The distance information measured by the wheel set distance measuring tool is transmitted to the control device 600. The control device 600 processes the distance information to obtain the wheel set size. Specific processes include, but are not limited to, the following steps:

s2210, modeling is carried out on the standard outline size of the detection item point of the wheel set to be detected, and a wheel set model is formed.

First, the control device 600 establishes a wheel set coordinate system with the wheel set symmetry center as the origin according to the dimensional and positional relationship between the wheel set rim and the wheel set cross section relative to the axle center, and establishes a 3D model describing the wheel set shape. Next, when determining the measurement and sampling of the inspection robot 400, the relative position of the base coordinate system of the working travelling device 410 of the inspection robot 400 with respect to the wheel set center coordinate system and the relative position of the sampling point at the tail end of the mechanical arm 420 are determined, and a measurement point 3D model database is established.

S2220, accurately calibrating the position of the wheel set to be detected and the position of the inspection robot 400.

Before the inspection robot 400 detects, the wheel axle visual features or the wheel set auxiliary positioning mark points are used for positioning, so that the actual pose information of the inspection robot 400 in the wheel set coordinate system is obtained. The inspection robot 400 compensates the actual pose by adjusting the pose of the tail end of the mechanical arm 420 so as to conform to the 3D model database of the measuring point.

S2230, the inspection robot 400 performs sampling measurement.

The laser ranging sensor is clamped at the tail end of the inspection robot 400, the distance dimension of the outline of the wheel set inspection item is measured, and data are transmitted to the control device 600.

S2240, calculate the target size value

The inspection robot 400 draws the actual outline of the wheel set inspection item by combining the collected outline dimension points with the positions of the running track points of the inspection robot 400, and compares the detected actual outline with the standard outline to obtain the dimension value of the actual wheel set inspection item.

Each of the detecting devices 430 may be separately disposed at the end of the mechanical arm 420, or may be disposed at the end of the mechanical arm 420 in a plurality of combinations. In one embodiment, the 2D image collector, the air leakage detecting device, and the temperature detecting device are combined and disposed at the end of the mechanical arm 420, so as to realize simultaneous detection of multiple items such as presence detection, shape detection, pose detection, air leakage detection, and temperature detection of the vehicle to be detected.

In yet another embodiment, the 3D image collector, the air leakage detection device and the temperature detection device are combined and arranged at the tail end of the mechanical arm 420, so as to realize simultaneous detection of various items such as bolt fastening detection, crack detection, wheel set tread quality detection, air leakage detection, temperature detection and the like of the vehicle to be detected.

In the above embodiment, by arranging the detection device 430 at the end of the mechanical arm 420, various items of inspection are performed on the vehicle to be detected, so that the inspection robot 400 has multiple inspection functions, and the comprehensiveness and intelligence of the functions of the inspection robot 400 are increased.

In one embodiment, the inspection robot 400 further includes a docking device 440. The docking device 440 is provided to the vehicle body 411. The docking device 440 is used to dock with other devices. The docking device 440 may be used to mechanically dock with other devices, as well as electrically dock with other devices. The docking mechanism 440 may be configured differently according to the requirements. Taking the docking device 440 as an example, the docking device can mechanically dock with rescue equipment or inspection auxiliary devices. The docking device 440 may be disposed at one end of the head and/or tail of the vehicle 411. The docking device 440 may include a ring-shaped or square docking port, etc. for the rescue equipment or the inspection auxiliary device to be connected to the docking device to pull or drag the inspection robot 400. In this embodiment, the function of the inspection robot 400 is further improved by the docking device 440, so as to improve the practicability of the rail transit rolling stock inspection device 10.

In one embodiment, the inspection robot 400 further includes a quick change device 431. The quick-change device 431 is connected between the end of the mechanical arm 420 and the detecting device 430. That is, the detecting device 430 is connected to the end of the mechanical arm 420 through the quick-change device 431. The quick-change device 431 is used to electrically and mechanically connect the detection device 430 and the mechanical arm 420.

Referring to fig. 7, in one embodiment, the inspection robot 400 further includes an auxiliary charging terminal 450. The auxiliary charging terminal 450 is provided to the vehicle body 411. The auxiliary charging terminal 450 may be a charging head or a charging seat, or may be any device capable of conducting a circuit, such as a charging brush or a charging conductive rail. The auxiliary charging terminal 450 is connected to a power supply device of the inspection robot 400, and is configured to be connected to an external charging device, so as to charge the inspection robot 400. In this embodiment, the auxiliary charging terminal 450 can timely supplement electric energy to the inspection robot 400, so as to improve the inspection capability of the inspection robot 400.

In one embodiment, the rail transit rolling stock inspection device 10 further includes an auxiliary charging device 800. The auxiliary charging device 800 is disposed on the track 100. The auxiliary charging device 100 is matched with the auxiliary charging terminal 450, and is configured to provide power to the auxiliary charging terminal 450, so as to charge the inspection robot 400. The specific form, structure, etc. of the auxiliary charging device 800 are not limited, as long as the auxiliary charging device can be matched with the auxiliary charging terminal to realize charging. Two examples of the auxiliary charging device 800 and the auxiliary charging terminal 450 are provided below.

In one embodiment, the auxiliary charging end 450 is a conductive brush. The auxiliary charging device 800 is a conductive rail. The conductive brush is of a brush structure. The conductive brush may be provided on one side of the vehicle body 411 by an overhanging cantilever structure. The cantilever may be a corner contact structure. A spring or other elastic means may be disposed between the cantilever and the body 411 to improve the flexibility and the mobility of the conductive brush, and at the same time, facilitate the conductive brush to retract and attach to the body 411 when not in use, thereby saving space. The number of the conductive brushes may be one, or may be 2, and they are disposed on one side of the vehicle 411, or may be disposed on two sides of the vehicle 411, respectively. Of course, the number of the conductive brushes may be 2 or more, and the conductive brushes may be provided at positions required for the vehicle body 411.

The track 100 is disposed on a side close to the walking side of the inspection robot 400. The conductor rail is in a strip shape. The conductor rail may be powered by a safe voltage to ground. The conductor rail can adopt PVC section bar, aluminium alloy or copper strips composite construction etc.. The number of the conductive tracks may be plural. A plurality of the conductive tracks are spaced along the track 100. When the conductive brushes are disposed on both sides of the vehicle body 411, a plurality of conductive rails may be disposed on the inner sides of 2 rails of the track 100, respectively. For a plurality of said conductor tracks, their switching on and off can be controlled separately.

Because the robot arm 420 has a large workload and a long working time when the robot arm is stopped at the target position for detection in the whole operation process of the inspection robot 400, the power consumption is maximum in the detection process. Therefore, it is often necessary to charge the inspection robot 400 during the inspection process. In this embodiment, when the inspection robot 400 walks and stops at the target position, and the inspection robot 400 extends the conductive brush through the cantilever and contacts the conductive rail. And the conducting rail is electrified, so that the inspection robot 400 can be charged through the conducting brush. When the inspection robot 400 will complete the inspection task and will move to the next inspection position, the power is turned off to the conductive rail, the charging of the conductive brush is stopped, the conductive brush is retracted by the cantilever, and the inspection robot 400 continues to walk to the next inspection position.

In another embodiment, the auxiliary charging end 450 is a conductive brush and the auxiliary charging device 800 is a conductive brush. The arrangement of the conductive brush and the conductive rail in the previous embodiment is just opposite. The implementation method, the principle and the setting mode are similar. And will not be described in detail herein.

In the above two embodiments, the conductive brush is matched with the conductive rail, so that the auxiliary charging of the inspection robot 400 is realized, the working electric quantity of the inspection robot 400 is ensured, and the reliability and stability of the rail transit rolling stock inspection device 10 are improved. Meanwhile, the conductive rail is long, so that under the condition that the inspection robot 400 or the vehicle to be detected is stopped and positioned, the conductive rail can still be matched with the conductive brush, the inspection auxiliary device 900 is charged, and the charging error is reduced.

Referring to fig. 8 and 9, in one embodiment, the quick-change device 431 includes two parts: a robotic arm end 433 and a tool end 435. The robotic end 433 is correspondingly matched to the tool end 435. The robot arm end 433 is electrically and mechanically connected to the robot arm 420. The tool end 435 is electrically and mechanically connected to the detection device 430. The mechanical arm end 433 is plugged with the tool end 435 to realize electrical connection and mechanical connection, so as to realize electrical connection and mechanical connection between the mechanical arm 420 and the detecting device 430.

In the above two embodiments, the quick-change device 431 is used to realize the electrical connection and mechanical connection between the detection device 430 and the end of the mechanical arm 420, which is simple and convenient, and has strong versatility.

In one embodiment, the rail transit rolling stock inspection device 10 further comprises a rail transit rolling stock inspection assist device. The inspection auxiliary device 900 is hereinafter referred to as an inspection auxiliary device for rail transit rolling stock. The inspection auxiliary device 900 is used for assisting the inspection robot 400 to complete the replacement of the detection device 430, and the functions of energy supply, maintenance and emergency rescue. The inspection assist device 900 is further described below with reference to the embodiments.

In one embodiment, the inspection assist device 900 includes an auxiliary walking device 910 and a tool rack 920. The tool rack 920 is provided to the auxiliary traveling device 910. The tool rack 920 is used for placing a detection device to be replaced.

In the inspection robot 400 of the rail transit rolling stock inspection device 10, the inspection device 430 at the end of the mechanical arm 420 may need to be replaced in order to perform different inspection items. For convenience of explanation, the replaced detection device is named as the detection device to be replaced. The detection device that is replaced is named the original detection device.

The auxiliary walking device 910 is used for completing walking and driving equipment arranged on the auxiliary walking device to walk. The structure, implementation principle and control manner of the auxiliary walking device 910 are similar to those of the working walking device 410, and will not be described herein.

The tool rack 920 may be provided at the top of the body of the auxiliary traveling device 910. The specific structure of the tool rack 920 is not limited, and may be set according to the structure, size, etc. of the tools to be placed. The to-be-replaced detection device is placed on the tool rack 920. When the original detection device needs to be replaced, the auxiliary walking device 910 is controlled to walk beside the inspection robot 400. The original inspection device is replaced with the inspection device to be replaced on the tool rack 920. The alternative method may be automatic or manual, and the application is not limited.

In this embodiment, the inspection device 10 for rail transit rolling stock includes the inspection auxiliary device 900. The inspection auxiliary device 900 is provided with the tool rack 920, so that the inspection device to be replaced can be transported to the inspection robot 400, and the inspection device 430 can be replaced. The inspection auxiliary device 900 provided in this embodiment improves the comprehensiveness of the functions of the rail transit rolling stock inspection device 10, and improves the intelligence thereof.

In one embodiment, the tool rack 920 is shaped and sized to match the shape and size of the test device to be replaced. That is, the tool rack 920 mimics the shape design of the device to be replaced, so that the device to be replaced can be more securely and more snugly placed on the tool rack 920.

In one embodiment, the inspection assist device 900 has the inspection device to be replaced disposed on the tool rack 920. One end of the detection device to be replaced is connected with the tool end 435. The test device to be replaced is electrically and mechanically connected to the tool end 435. The tool end 435 is configured to be connected to the arm end 433 to connect the to-be-replaced detecting device to the end of the arm 420. When the detecting device 430 is replaced, the detecting device 430 and the tool end 435 connected with the detecting device are detached. The tool end 435 of the detection device to be replaced is connected with the arm end 433 of the end of the arm 420, so as to realize the electrical connection and mechanical connection of the detection device to be replaced and the arm 420. In this embodiment, the tool end 435 is disposed on the to-be-replaced detection device, so that the detection device is quickly replaced, and the working efficiency is improved.

In one embodiment, the inspection assist device 900 further includes an energy supply 930. The energy supply device 930 is provided to the auxiliary traveling device. The energy supply device is used for providing energy for rail transit rolling stock inspection equipment. The rail transit rolling stock inspection equipment includes, but is not limited to, the inspection robot 400. The energy supply device 930 may include a power supply device 931, an air supply device 932, or any other device that requires energy from the inspection robot 400. In this example, the energy supply device 930 can provide and supplement energy to the inspection robot 400, so that the energy supply of the inspection robot 400 is ensured, and the stability and reliability of the operation of the inspection robot 400 are improved, thereby improving the stability and reliability of the rail transit rolling stock inspection device 10.

In one embodiment, the energy supply 930 includes a power supply 931. The power supply device 931 includes a power source and a power source interface. The power supply is provided to the auxiliary walking device 910. The power interface is electrically connected to the power source, and is used for electrically connecting the power source to the inspection robot 400. That is, the power supply supplies power to the inspection robot 400 through the power interface. The specific structure, installation mode, etc. of the power supply and the power supply interface are not limited, as long as the functions thereof can be realized. When the power of the inspection robot 400 is exhausted, the inspection auxiliary device 900 carries the power supply device to walk to the inspection robot 400 and supplies power to the inspection robot. In this embodiment, the power supply and the power interface realize the power supply function of the inspection robot 400, so that the functions of the inspection auxiliary device 900 are increased, and the practicability is improved.

In one embodiment, the inspection assist device 900 further includes an emergency device 940. The emergency device 940 is disposed on the auxiliary traveling device 910. The emergency device is used for providing emergency rescue for the inspection robot 400.

During the inspection operation, the inspection robot 400 may encounter sudden faults, which may cause emergency situations such as the operation traveling device 410 being unable to travel, the mechanical arm 420 being unable to operate, or the mechanical arm 420 being jammed. At this time, the inspection auxiliary device 900 is controlled to travel to the vicinity of the inspection robot 400 with the emergency device 940, and emergency rescue is provided to the inspection robot 400. In this embodiment, the emergency device 940 further increases the functions of the inspection auxiliary device 900, so as to ensure the safety and stability of the inspection robot 400.

In one embodiment, the emergency device 940 may include a mechanical emergency device 941. The mechanical emergency device 941 is provided to the auxiliary traveling device 910. The mechanical emergency device 941 is configured to mechanically interface with the inspection robot 400. The specific structure of the mechanical emergency device 941 is not limited as long as the function thereof can be achieved. In one embodiment, the structure of the mechanical emergency device 941 is matched with the structure of the docking device 440, so as to implement mechanical docking with the inspection robot 400, and further implement dragging, moving, etc. of the inspection auxiliary device 900 to the inspection robot 400. The inspection auxiliary device 900 provided in this embodiment can drag the inspection robot 400 away from the inspection site when the inspection robot fails, so as to improve the automation degree and the intelligence of the rail transit rolling stock inspection device 10.

In one embodiment, the emergency device 940 further includes an electrical emergency device 942. The electric emergency device 942 is disposed on the auxiliary traveling device 910. In particular, the electrical emergency device 942 may be disposed on the mechanical emergency device 941. The electrical emergency device 942 is configured to electrically dock with the inspection robot 400, so as to implement electrical emergency rescue for the inspection robot 400. Further, the emergency device 940 may also include a communication emergency device. The communication emergency device is used for realizing communication emergency rescue of the inspection robot 400.

In one embodiment, the inspection assist device 900 further includes an inspection device (not shown). The maintenance device is disposed on the auxiliary traveling device 910. The inspection device is used for inspecting fault information of the inspection robot 400 and maintaining. For example, when the mechanical arm 420 of the inspection robot 400 is not operated, the inspection device may connect an electrical communication control line of the inspection robot 400 to the inspection device. The inspection device debugs the inspection robot 400, and further maintains the inspection robot according to the debugging result. In this embodiment, the inspection auxiliary device 900 is further improved in function by the inspection device, so as to improve the safety and reliability of the inspection robot 400.

When the inspection device 10 is used for inspecting rail transit rolling stock, the inspection robot 400 is used for positioning the rolling stock to be inspected so as to realize accurate inspection and measurement. The inspection robot 400 may cause positioning deviation due to various errors when determining the position of the vehicle to be detected. First, the inspection robot 400 cannot accurately reach a predetermined position due to errors of its own navigation system, errors of its own positioning caused by unevenness of the walking ground, wheel slip, wheel wear, etc. In addition, the vehicle to be detected may cause errors between the actual parking position and the preset parking position of the vehicle to be detected due to wheel wear, navigation errors, and the like. Errors in both aspects can lead to errors in the relative positions of the two, and finally, when the inspection robot 400 performs inspection work on the vehicle to be inspected, the inspection is inaccurate. Therefore, it is necessary to detect errors in the inspection process of rail transit rolling stock, so that further positioning correction can be performed according to the errors.

Referring to fig. 10, in one embodiment, the track traffic rolling stock inspection device 10 further includes a track traffic rolling stock inspection pose detection system. The inspection pose detection system of the rail transit rolling stock is hereinafter referred to as an inspection pose detection system 30. The inspection pose detection system 30 is further described below with reference to embodiments.

Referring to fig. 10, in one embodiment, the inspection pose detection system 30 includes a reference datum 310, a pose detection device 320, and a processing device 330.

The reference standard 310 is disposed at one side of the track 100 along the extending direction of the track 100 in which the vehicle to be detected is parked. The length of the reference standard 310 is matched with the length of the walking working surface of the inspection robot 400. The reference standard 310 may be a reference made of a profile. The reference standard 310 includes absolute position information, reference plane information, and the like along the extending direction of the track 100. The reference standard 310 may embody the absolute position information, the reference plane information, etc. through scale information, image information, etc.

The pose detection device 320 is configured to detect distance information of the inspection robot 400 relative to the reference standard 310. The pose detection device 320 is disposed on the inspection robot 400, so that the distance information of the inspection robot 400 relative to the reference standard 310 can be detected in real time along with the movement of the inspection robot 400, and then the pose offset of the inspection robot 400 is obtained. The pose detection device 320 may be disposed at different positions of the vehicle body 411 of the inspection robot 400 according to different detection parameters. The pose detection device 320 includes, but is not limited to, a distance detection device.

The processing device 330 is communicatively coupled to the pose detection device 320. Distance information of the inspection robot 400 detected by the pose detection device 320 with respect to the reference standard 310 is transmitted to the processing device 330. The processing device 330 calculates the pose offset of the inspection robot 400 relative to the reference coordinates according to the distance information of the inspection robot 400 relative to the reference coordinates 310.

Referring to fig. 11, the reference coordinates may include one or more reference planes and reference directions in a coordinate system formed by the first coordinate axis, the second coordinate axis and the third coordinate axis. In one embodiment, the first coordinate axis is the y-axis shown in fig. 11, that is, an axis perpendicular to the walking direction of the inspection robot 400 and parallel or approximately parallel to the walking ground of the inspection robot 400. The second coordinate axis is the z axis shown in fig. 11, that is, an axis perpendicular to the walking direction of the inspection robot 400 and the second coordinate axis. The third coordinate axis is the x-axis shown in fig. 11, that is, an axis parallel to the walking direction of the inspection robot 400.

In one embodiment, the reference coordinates for calculating the pose offset include a first reference plane, a second reference plane, a third reference plane, a first direction, a second direction, and a third direction. The first reference plane is a plane parallel to a plane formed by the x axis and the z axis. The first direction is a direction parallel to the y-axis. The specific position of the first reference plane along the y axis can be set according to actual requirements. For example, the first reference plane may be a symmetry plane of the inspection groove 300 in a transverse direction, that is, the first reference plane is a plane parallel to a plane formed by an x axis and a z axis, and is located at a midpoint of the inspection groove 300 perpendicular to the extending direction of the track 100. The second reference plane is a plane parallel to a plane formed by the x axis and the y axis. The second direction is a direction parallel to the z-axis. The specific position of the second reference plane along the z axis can be set according to actual requirements. For example, assuming that the walking surface of the inspection robot 400 is parallel to a plane formed by the x-axis and the y-axis, the second reference plane may be the walking surface of the inspection robot 400. The third reference plane is a plane parallel to a plane formed by the y axis and the z axis. The third direction is a direction parallel to the x-axis. The specific position of the third datum plane along the x axis can be set according to actual requirements. For example, the third reference surface may be located at a starting position of the inspection groove 300 along the extending direction of the track 100.

The pose offset of the inspection robot 400 with respect to the reference coordinates may include, but is not limited to, an offset of the inspection robot 400 with respect to the first reference plane in the first direction, an offset of the inspection robot 400 with respect to the second reference plane in the second direction, an offset of the inspection robot 400 with respect to the third reference plane in the third direction, and a rotation angle around the first direction, a rotation angle around the second direction, and a rotation angle around the third direction.

In this embodiment, the reference 310 is matched with the pose detection device 320 to detect the distance information of the inspection robot 400 relative to the reference 310, and then the processing device 330 is used to detect the pose of the inspection robot 400. The reference standard 310 provides a stable and accurate reference standard for distance detection, so as to improve the accuracy of pose detection, and further improve the accuracy of positioning the inspection robot 400.

Based on the above embodiments, please refer to fig. 12 and 13, in one embodiment, the reference coordinates include the first reference plane and the first direction. The reference standard 310 includes a standard scale 311. The reference scale 311 is attached to a side of the track 100, which is close to the walking side of the inspection robot 400, along the extending direction of the track 100.

Referring to fig. 14, the pose detection device 320 includes a first distance detection device 321. The first distance detecting means 321 includes, but is not limited to, a laser range finder. The first distance detecting device 321 is disposed at a first position on the side of the vehicle body 411 of the inspection robot 400 close to the reference scale 311. The first position can be set according to actual requirements. The first distance detecting device 321 is configured to detect distance information of the first position along the first direction relative to the reference scale 311, so as to obtain a first detection distance. The first distance detection means 321 is communicatively connected to the processing means 330. The first detected distance detected by the first distance detecting means 321 is transmitted to the processing means 330.

The processing device 330 calculates a pose offset of the first position along the first direction relative to the first reference plane according to the first detection distance. The processing device 330 may calculate the pose offset of the first position along the first direction relative to the first reference plane in a plurality of ways. In one embodiment, the processing device 330 obtains the first detection distance, and obtains distance information of the reference scale 311 along the first direction relative to the first reference plane, so as to calculate and obtain distance information of the inspection robot 400 along the first direction relative to the first reference plane, and obtain first distance information. The processing device 330 further obtains the first record information of the inspection robot 400, and calculates, according to the first record information and the first distance information, a pose offset of the inspection robot 400 along the first direction relative to the first reference plane. The first record information may be obtained by an encoder or the like acquisition module of the vehicle body 411 of the inspection robot 400.

In this embodiment, the distance information of the inspection robot 400 relative to the reference scale 311 is detected by the first distance detecting device 321, and then the pose offset of the inspection robot 400 relative to the first reference plane along the first direction is calculated by the processing device 330. The embodiment realizes the detection of the offset of the inspection robot 400 along the y axis, provides a basis for the subsequent positioning and correction in the y axis direction, further eliminates the y axis deviation of the inspection robot 400 caused by the factors such as uneven walking ground, wheel abrasion, navigation system deviation and the like, and realizes the accurate positioning of inspection.

In one embodiment, the reference coordinates include the second reference plane and the second direction. The reference datum 310 also includes a datum slope 312. The reference inclined plane 312 is disposed at an end of the reference scale 311 away from the ground on which the inspection robot 400 travels along the extending direction of the track 100. That is, the reference slope 312 is provided on top of the reference scale 311. And the reference slope 312 is disposed obliquely with respect to the reference scale 311. The included angle between the reference inclined plane 312 and the reference scale 311 may be set as required. In a specific embodiment, the reference slope 312 is at an angle of 45 ° to the reference scale 311.

The pose detection device 320 further comprises a second distance detection device 322. The second distance detecting device 322 is disposed at a second position of the vehicle body 411 of the inspection robot 400. The second position is located on the same surface of the vehicle body 411 of the inspection robot 400 as the first position. That is, the second position is also provided on the side of the vehicle body 411 close to the reference scale. The second position the second distance detecting means 322 includes, but is not limited to, a laser range finder. The second distance detecting device 322 is configured to detect distance information of the second position along the first direction relative to the reference slope 312, so as to obtain a second detection distance. The specific setting of the second position may be adjusted and selected according to the setting position of the reference inclined plane 312, so as to ensure that the second distance detecting device 322 can detect the distance information of the second position along the first direction relative to the reference inclined plane 312. For example, the second position is located above the first position and the second position is higher than the lowest point of the reference slope 312, so that the second distance detecting device 322 can detect distance information of the second position with respect to the reference slope.

The second distance detection device 322 is communicatively coupled to the processing device 330. The processing device 330 calculates a pose offset of the inspection robot 400 along the second direction relative to the second reference plane according to the first detection distance and the second detection distance.

Taking an example that the included angle between the reference inclined plane 312 and the reference scale 311 is 45 °, the first detection distance is y1, and the second detection distance is y2. Assuming that the inspection robot 400 has no offset along the second direction relative to the second reference plane, the second detection distance y2=y1, and the difference y1-y2 between the first detection distance and the second detection distance is the pose offset of the inspection robot 400 along the z-axis direction relative to the second reference plane.

The inspection pose detection system 30 provided in this embodiment realizes the detection of the second detection distance through the second distance detection device 322 and the reference inclined plane 312, so as to calculate the pose offset of the inspection robot 400 along the second direction relative to the second reference plane. The system provided by the embodiment is simple and effective, and can accurately detect and calculate the offset of the inspection robot 400 along the z-axis direction, so that errors in the z-axis direction caused by abrasion of wheels of the inspection robot 400, uneven walking ground and the like can be eliminated.

In one embodiment, the first position and the second position are located on a line perpendicular to the second reference plane. That is, the first position and the second position are disposed on a straight line parallel to the second direction, so that a position difference between the first position and the second position in the third direction is zero, thereby eliminating an influence caused by tilting of the vehicle body of the inspection robot 400 when calculating the pose offset in the y-axis direction, and improving accuracy of detecting and calculating the pose offset in the z-axis direction.

In one embodiment, the reference coordinates include the second direction. The pose detection device 320 further comprises a third distance detection device 323. The third distance detecting device 323 is disposed at a third position of the inspection robot. The third distance detecting means 323 includes, but is not limited to, a laser range finder. The third distance detecting device 323 is configured to detect distance information of the third position along the first direction relative to the reference scale 311, so as to obtain the third detection distance. The third position and the first position are located on the same plane. The third position and the first position are respectively disposed at different positions along the extending direction of the track 100. That is, the coordinate values of the third position and the first position at the third coordinate axis are different. The first position and the third position are disposed in tandem on the side surface of the vehicle body 411 of the inspection robot 400.

The third distance detection means 323 is communicatively connected to the processing means 330. The processing device 330 calculates a rotation angle of the inspection robot 400 around the second direction according to the first detection distance and the third detection distance. The rotation angle of the inspection robot 400 about the second direction, that is, the inclination angle of the vehicle body 411 of the inspection robot 400.

Referring to fig. 15, the first detection distance is y1, the third detection distance is y3, and the distance between the first position and the third position is d, and then the degree of +.1 can be calculated according to d, y3-y1, which is the rotation angle of the inspection robot 400 around the second direction.

In this embodiment, the third distance detecting device 323 detects the third detection distance, and calculates the rotation angle of the inspection robot 400 around the second direction according to the first detection distance and the third detection distance, so as to eliminate the inclination of the vehicle body caused by uneven walking ground, wheel abrasion, wheel slipping and the like of the inspection robot 400, and improve the positioning accuracy.

Referring to fig. 12, in one embodiment, the reference coordinates include the third reference plane and the third direction. The reference standard 310 includes the standard scale 311. The reference scale 311 includes scale information. The pose detection device 320 further comprises an identification device 324. The identification device is used for equipment scale information of the reference scale so as to obtain position information of the inspection robot along the third direction relative to the third reference plane. That is, the recognition device 324 recognizes the scale information of the reference scale 311, and obtains the position information of the inspection robot 400 along the traveling direction, and further obtains the position information of the inspection robot 400 along the third direction with respect to the third reference plane. The system provided in this embodiment can further detect the deviation between the actual walking position and the target position of the inspection robot 400 in the third direction caused by wheel slip, deviation of the navigation system, and the like, so that the accuracy of subsequent positioning can be improved, and the quality and efficiency of inspection work can be improved.

The display form of the scale information on the reference scale 311 and the specific structure of the identifying device 324 are not limited, as long as the two can cooperate to obtain the position information. In one embodiment, the reference scale 311 is a two-dimensional code band. The two-dimensional code band comprises y-axis information and x-axis information. The recognition device 324 is an image acquisition device. The image acquisition device includes, but is not limited to, a camera or the like. The image acquisition device is arranged on the vehicle body 411 of the inspection robot 400 and is used for acquiring information of the two-dimensional code band to obtain image information. The pose detection device 320 further comprises a first processing mechanism 325. The first processing mechanism 325 is communicatively coupled to the image capture device. The first processing mechanism 325 obtains the image information and obtains, according to the image information, positional information of the inspection robot 400 along the first direction with respect to the first reference plane, and positional information of the inspection robot 400 along the third direction with respect to the third reference plane. That is, the first processing mechanism 325 acquires the current position of the inspection robot 400 in the y-axis direction and the position in the x-axis direction according to the acquired information of the two-dimensional code band by the image acquisition device 324. It is understood that the first distance detecting device 321 may not be provided when information is acquired through the two-dimensional code band and the image acquisition device.

In this embodiment, by matching the two-dimensional code band with the image acquisition device, detection of the position of the inspection robot 400 along the x-axis direction and along the y-axis direction is achieved, so that the pose offset of the inspection robot 400 in the x-axis direction and the y-axis direction can be obtained, and the detection method is simple and accurate.

In one embodiment, the reference scale 311 is a two-dimensional code strip or a bar code strip. The identification device 324 is a code reader. The code reader is used for identifying the information of the two-dimensional code band or the bar code band. The bar code strip includes x-axis information. The pose detection device 320 further comprises a second processing mechanism 326. The second processing mechanism 326 is communicatively coupled to the code reader. The second processing mechanism 326 is configured to obtain, according to the information of the two-dimensional code band or the barcode band, positional information of the inspection robot 400 along the third direction with respect to the third reference plane. That is, the x-axis information on the two-dimensional code band or the bar code band is read by the code reader, so as to obtain the current position information of the inspection robot 400 in the x-axis direction.

In this embodiment, the detection of the inspection robot 400 along the x-axis direction is implemented by the cooperation of the two-dimensional code band or the bar code band and the code reader, so that the pose offset of the inspection robot 400 in the x-axis direction can be obtained, and the detection method is simple and accurate.

In one embodiment, the pose detection device 320 further comprises a fourth distance detection device 327. The fourth distance detection device 327 is disposed at the top of the inspection robot 400. The fourth distance detection device 327 includes, but is not limited to, a laser range finder. The fourth distance detecting device 327 is configured to detect distance information of the bottom of the vehicle to be detected relative to the fourth distance detecting device 327, so as to obtain a fourth detection distance. The fourth distance detection means 327 is communicatively connected to the processing means 330. The processing device 330 is configured to calculate a pose offset of the vehicle to be detected according to the fourth detection distance.

And the fourth detection distance is the height information of the vehicle bottom of the vehicle to be detected. The fourth distance detecting device 327 continuously moves in the inspection groove 300, so as to collect the height information curve of the bottom of the vehicle to be inspected. Meanwhile, when the inspection robot 400 moves, the identification device 324 can also identify the information of the reference scale 311, and obtain the position information of the x-axis direction corresponding to the height information, so as to obtain the height length curve information of the vehicle bottom of the vehicle to be detected. The processing device 330 calculates the pose offset of the vehicle to be detected according to the height length curve information. The pose offset of the vehicle to be detected includes, but is not limited to, a pose offset of the vehicle to be detected along the second direction relative to the second reference plane, and a pose offset of the vehicle to be detected along the third direction relative to the third reference plane, namely: and the offset of the vehicle to be detected in the z-axis direction and the offset of the vehicle to be detected in the x-axis direction. The process of processing the calculations by the processing means 330 may be seen in the embodiments of the method described below.

In this embodiment, the fourth distance detecting device 327 is used to detect the pose offset of the vehicle to be detected, so that the parking deviation of the vehicle to be detected in the x-axis direction caused by the navigation error and the like and the pose deviation of the vehicle to be detected in the z-axis direction caused by the abrasion of the wheels of the vehicle to be detected can be eliminated, thereby achieving positioning accuracy.

Referring to fig. 16, an embodiment of the present application provides a method for detecting a patrol pose of rail transit rolling stock, which can utilize the patrol pose detection system 30 described above to detect the pose. The execution subject of the method is a computer device. The computer device may be the processing device 330 in the track traffic rolling stock inspection pose detection system 30, the control device 600, or any other computer device including a memory and a processor, capable of processing a computer program.

The method comprises the following steps:

and S10, acquiring the pose offset of the vehicle to be detected relative to the reference coordinates to obtain the pose offset of the vehicle.

S20, acquiring the pose offset of the inspection robot 400 relative to the reference coordinates to obtain the pose offset of the robot.

S30, obtaining the track traffic rolling stock inspection work pose offset according to the vehicle pose offset and the robot pose offset.

The reference coordinates are defined as in the above embodiments. The pose offset of the vehicle to be detected with respect to the reference coordinates may be detected by the fourth distance detecting device 327 and the processing device 330, the identifying device 324, the first processing mechanism 325, and the second processing mechanism 326 as described above. The pose offset of the inspection robot 400 with respect to the reference coordinates may be detected by the first distance detecting device 321, the second distance detecting device 322, and/or the third distance detecting device 323, and the processing device 330, the identifying device 324, the first processing mechanism 325, and the second processing mechanism 326. The vehicle pose offset can be acquired and stored in a memory of the computer device after the vehicle to be detected is parked in place. The robot pose offset is obtained in real time during the inspection operation of the inspection robot 400.

After the computer equipment respectively obtains the vehicle pose offset and the robot pose offset, the vehicle pose offset and the robot pose offset are calculated and processed according to a preset method, and the total pose offset in the inspection operation process, namely the track traffic locomotive vehicle inspection operation pose offset, is obtained. Methods of calculation include, but are not limited to, summation or weighted summation of the same coordinate axis pose offset, and other related quantities. The specific calculation method can be set according to actual requirements.

The position and posture offset of the inspection operation of the rail transit rolling stock is transmitted to the control device 600. The control device 600 corrects and adjusts the walking direction of the inspection robot 400 in real time according to the pose offset, so as to accurately position and accurately detect the vehicle to be detected.

In this embodiment, the pose offset of the rail transit rolling stock in the inspection process is obtained by obtaining the pose offset of the vehicle and the pose offset of the robot, and according to the pose offset of the vehicle and the pose offset of the robot. The method provided by the embodiment not only considers the pose deviation of the inspection robot 400 in the process of the inspection operation of rail transit rolling stock, but also considers the pose deviation of the vehicle to be detected, eliminates positioning errors in multiple aspects, improves positioning accuracy, and further improves the inspection effect.

In one embodiment, the reference coordinates include a first reference plane and a first direction, and S20 includes:

s210, obtaining distance information of the first position of the inspection robot 400 relative to the first reference plane along the first direction, and obtaining first distance information.

The obtaining of the first distance information may include, but is not limited to, detecting a distance between the first position and the reference scale 311 by the first distance detecting device 321 in the above-described embodiment, and obtaining the first detected distance. And then calculating the first distance information according to the distance of the reference scale 311 relative to the first reference plane along the first direction and the first detection distance. Of course, the first reference plane may be set as the reference scale, and the first distance information is the first detection distance.

The first distance information characterizes actual distance information of the first position of the inspection robot 400 relative to the first reference plane along the first direction. The above embodiment is continued, that is, the first distance is distance information of the first position of the inspection robot 400 along the y-axis with respect to the first reference plane.

S220, acquiring the recorded information of the first position along the first direction relative to the first reference plane, and obtaining first recorded information.

The first recorded information characterizes an ideal or target position of the first position of the inspection robot 400 along the first direction relative to the first reference plane. The first record information may be obtained by a navigation module such as an encoder of the inspection robot 400.

And S230, calculating the pose offset of the first position along the first direction relative to the first reference plane according to the first distance information and the first record information. Methods of calculation include, but are not limited to, subtraction of the two or addition of a scaling factor, etc.

In this embodiment, the pose offset of the first position of the inspection robot 400 along the first direction relative to the first reference plane is obtained by obtaining the first distance information and the first record information, and then the pose offset of the inspection robot 400 along the x-axis is obtained according to the first distance information and the first record information.

Referring to fig. 18, in one embodiment, the reference coordinates include the second reference plane and the second direction, and S20 includes:

S240, obtaining distance information of the second position of the inspection robot 400 relative to the reference inclined plane along the first direction, and obtaining second distance information. The reference inclined plane is obliquely arranged relative to the second reference plane, and the first position and the second position are located on the same plane of the inspection robot 400. And the first position and the second position are located on a straight line perpendicular to the second reference plane.

S250, according to the first distance information and the second distance information, the pose offset of the inspection robot 400 along the second direction relative to the second reference plane is obtained.

The second distance information is obtained, and the pose offset of the inspection robot 400 along the second direction with respect to the second reference plane is calculated and obtained as shown in fig. 14 and the above embodiment. And will not be described in detail herein.

Referring to fig. 19, in one embodiment, the reference coordinates include the second direction. S20 includes:

And S260, obtaining the distance information of the third position of the inspection robot 400 along the first direction relative to the first reference plane, and obtaining third distance information. The third position and the first position are located on the same surface of the inspection robot 400, and the first position and the third position are respectively disposed at different positions of the inspection robot 400 along the extending direction of the track 100.

And S270, obtaining the rotation angle of the inspection robot 400 around the second direction according to the first distance information and the third distance information.

The third distance information is acquired similarly to the first distance information. Calculation and acquisition of the rotation angle of the inspection robot 400 around the second direction are the same as those of the above embodiment and fig. 15. And will not be described in detail herein.

Referring to fig. 20, in one embodiment, the reference coordinates include the second reference plane, the third reference plane, the second direction, and the third direction. S10 comprises the following steps:

S110, acquiring distance information of each position of the vehicle bottom to be detected along the third direction relative to the second reference plane along the second direction, and acquiring distance information of the vehicle bottom to be detected along the third direction relative to the third reference plane, so as to obtain vehicle bottom height length curve information.

S120, standard height length curve information of the vehicle bottom of the vehicle to be detected is obtained.

And S130, acquiring the attitude offset of the vehicle to be detected along the second direction relative to the second reference plane and the attitude offset of the vehicle to be detected along the third direction according to the height length curve information of the vehicle bottom and the standard height length curve information.

And the height length curve information represents the position of each component at the bottom of the vehicle at the z-axis and the position corresponding relation between the z-axis and the x-axis when the vehicle to be detected is parked at the actual parking position. And the standard height length curve information represents the position of each component at the bottom of the vehicle at the z-axis and the position corresponding relation between the z-axis and the x-axis when the vehicle to be detected is positioned at the accurate target parking position.

Referring to fig. 21, the inspection robot 400 carries the fourth distance detection device to move along the vehicle bottom to be detected, and obtains the height information of the vehicle bottom to be detected, and at the same time, the identification device 324 identifies the information of the reference scale 311, so as to obtain the position information of each position of the vehicle bottom to be detected along the third direction relative to the third reference plane. Thereby obtaining the height length curve information.

According to the comparison of the height length curve information of the vehicle bottom and the standard height length curve information, the deviation of the vehicle to be detected along the z axis and the parking deviation along the x axis can be obtained rapidly.

For example, in fig. 21, as can be seen from a comparison of fig. a and b, the z-axis deviation is z1a to z1b, and the x-axis deviation is x1a—0=x1a.

According to the method provided by the embodiment, the attitude deviation of the vehicle to be detected along the z-axis and the parking deviation of the vehicle to be detected along the x-axis can be rapidly and accurately obtained by obtaining the height length curve information of the vehicle bottom of the vehicle to be detected and the standard height length curve information.

In one embodiment, S130 includes:

s131, according to the height and length curve information of the vehicle bottom, obtaining distance information of the wheel position of the vehicle to be detected relative to the first reference plane along the first direction, and obtaining the wheel position information.

S132, obtaining standard distance information of the wheel set position of the vehicle to be detected relative to the first reference plane along the first direction according to the standard height length curve information, and obtaining standard wheel set information.

And S133, obtaining the attitude offset of the vehicle with the inspection vehicle relative to the second reference plane along the second direction and the attitude offset of the vehicle to be inspected relative to the third reference plane along the third direction according to the wheel set position information and the standard wheel set position information.

With continued reference to fig. 21, from fig. a, the actual parking position of the wheel set is found to be the x-axis x1a point and the height is found to be z2a. From graph b, the ideal parking position for the wheel set can be found as the x-axis x2b point and the height as z2b. Thus, the vehicle to be detected is offset by z2a-z2b along the z-axis, and the vehicle to be detected is offset by x2a-x2b along the x-axis.

In this embodiment, by identifying the position of the wheel set, the attitude offset of the vehicle to be detected along the second direction relative to the second reference plane and the attitude offset of the vehicle to be detected along the third direction relative to the third reference plane can be quickly and accurately obtained, so that the calculation speed of the attitude offset is improved.

In one embodiment, the control device 600 of the rail transit rolling stock inspection device 10 is communicatively coupled to the processing device 330. The pose offset of the inspection robot 400 relative to the reference coordinates, the pose offset of the vehicle to be detected relative to the reference coordinates, and/or the pose offset of the rail transit rolling stock inspection operation calculated by the processing device 330 are transmitted to the control device 600. The control device 600 controls the walking of the inspection robot 400 according to the above offset, thereby realizing accurate positioning and accurate inspection.

Referring to fig. 22, an embodiment of the present application provides a rail transit rolling stock inspection system 1. The rail transit rolling stock inspection system 1 comprises the rail transit rolling stock inspection device 10 and the dispatching device 20. Wherein the number of inspection robots 400 is at least 2. The dispatch device 20 is communicatively coupled to the inspection robot 400. The dispatching device 20 is configured to dispatch the inspection robot 400.

The rail transit rolling stock inspection system 1 includes a plurality of the inspection robots 400. The control device 600 of each rail transit rolling stock device 10 may be separately provided to control the corresponding inspection robot 400, or may control a plurality of inspection robots by one control device 600.

Likewise, the scheduling device 20 may be a device separately provided, or may be a module of the control device 600. The dispatching device 20 is configured to formulate a working sequence and a walking route of each inspection robot 400 according to the inspection job content requirement and the state of the inspection robot 400. The dispatching device 20 may also be configured to control the lifting of the lifting device 501 according to the working requirement and the working state of the inspection robot 400. In addition, the scheduling device 20 may also control the operation of the inspection auxiliary device 900 according to the operation requirement and the operation state of the inspection robot 400.

In this embodiment, the scheduling device 20 controls the inspection robots 400 to work, so that the inspection robots 400 can perform inspection operation simultaneously, thereby greatly shortening the inspection operation time and improving the inspection operation efficiency.

There are various ways in which the scheduling apparatus 20 controls a plurality of inspection robots 400, and in one embodiment, each inspection robot 400 may be provided with a plurality of different inspection apparatuses 430 according to the requirements. The dispatching device 20 is configured to control each inspection robot 400 to respectively complete a plurality of inspection items for one vehicle to be inspected. That is, the dispatching device 20 controls each inspection robot 400 to complete all inspection items required for one vehicle to be inspected. And a plurality of inspection robots 400 simultaneously complete the inspection of a plurality of vehicles to be inspected. In this embodiment, the inspection robot 400 does not need to perform cross-track detection, so that the running time of the inspection robot 400 is saved, and the detection efficiency is improved.

In another embodiment, a plurality of inspection robots 400 are respectively provided with different inspection devices 430. The dispatching device 20 is configured to control each inspection robot 400 to respectively complete one inspection item for a plurality of vehicles to be inspected. That is, the inspection robots 400 are respectively provided with the inspection devices 430 to complete the inspection items. And a plurality of inspection robots 400 simultaneously inspect, wherein each inspection robot 400 performs inspection on a plurality of vehicles to be inspected across tracks, thereby simultaneously performing inspection on a plurality of vehicles to be inspected. In this embodiment, each inspection robot 400 does not need to replace the detection device 430, which saves time and resources for the inspection robot 400 to replace the device 400 to be detected, and improves inspection efficiency.

The working process of the rail transit rolling stock inspection device 10 and the rail transit rolling stock inspection system 1 will be described with reference to the embodiments.

Referring to fig. 23, the rail transit rolling stock inspection system 1 includes 6 inspection robots 400, which are respectively positioned at positions P001-P006, from M5 (1) to M5 (6). The rail transit rolling stock inspection system 1 further comprises 2 inspection auxiliary devices 900, namely M6 (1) and M6 (2), which are respectively parked at the positions P007 and P008. In the figure, pxxx represents a position. J1-J6 indicated by dotted lines are different compartments of the vehicle to be detected. M7 (1) and M7 (2) represent the lifting device 501. Assuming that the lifting device 501 is communicatively connected to the scheduling apparatus 20, the lifting operation of the lifting device 501 is controlled by the scheduling apparatus 20.

The P001-P186 positions in the figure are described below:

P001-P006: and the inspection robots M5 (1) -M5 (6) arranged on the vehicle side L of the vehicle to be detected are standby positions.

P007-P008: the inspection auxiliary devices M6 (1) -M6 (2) arranged on the vehicle side L of the vehicle to be inspected are in standby positions.

P120: the point (the middle datum point of the vehicle side L) on the lifting platform of the lifting device M7 (1) moves between the plane of the inspection platform 200 and the plane of the inspection groove 300 on the vehicle side L of the vehicle to be inspected.

P110, P130: and datum points at two ends of the vehicle side L of the vehicle to be detected.

P114-P119, P121-P126: and detecting a stop point on a typical vehicle side L corresponding to each carriage of the vehicle to be detected.

P150: a middle datum point in the inspection groove 300.

P140, P160: datum points at two ends in the inspection groove 300.

P144-P149, P151-P156: and detecting stop points by using typical vehicle bottom inspection grooves corresponding to all carriages of the vehicle to be detected.

P180: a point (vehicle side R middle reference point) on the lifting table of the lifting device M7 (2) moves between a plane on which the inspection platform 200 of the vehicle side to be inspected is located and a plane on which the inspection groove 300 is located.

P170, P190: and the datum points at two ends of the vehicle side R of the vehicle to be detected.

P174-P179, P181-P186: and detecting a stop point on a typical vehicle side R corresponding to each carriage of the vehicle to be detected.

In one embodiment, the rail transit rolling stock inspection system 1 includes 1 inspection robot 400, and the inspection process is as follows:

s101, the self-checking of each working module of the rail transit rolling stock inspection device 10 is normal, and each part of functions are ready.

S102, the on-site working condition detection device 700 acquires working condition parameters of the inspection site.

Specifically, the effusion detection mechanism 710 detects the effusion situation in the inspection groove 300, and the intrusion detection component 730 detects whether the inspection site has an intrusion or not. If there is an abnormality, the on-site operation condition detecting device 700 or the control device 600 alarms.

Meanwhile, the vehicle to be detected in-place detecting component 720 detects whether the vehicle to be detected is parked in place. If the lead detection vehicle is parked in place, the lead detection vehicle can be used as a starting enabling signal.

S103, the control device 600 confirms whether the operation can be started or not according to the detection condition of the on-site working condition detection device 700, and if yes, sends a start signal.

S104, the scheduling device 20 obtains the information of the activated and standby inspection robot 400, allocates an inspection task to the inspection robot M5 (1), and issues a job control instruction. Assume that the patrol task is: a certain inspection item at P150 in the figure is completed.

S105, the inspection robot M5 (1) operates according to the following 4 steps:

1) The dispatching device 20 controls the inspection robot M5 (1) to walk from P001 to P120, and after the inspection robot M5 (1) is ready, the state is fed back to the dispatching device 20.

2) The dispatching device 20 sends a descending command to the lifting device M7 (1), and the lifting device M7 (1) executes descending action and feeds back to the dispatching device 20 after the descending action is in place.

3) The dispatching device 20 sends a command 'P120- > P150' to the inspection robot M5 (1), and when the inspection robot M5 (1) walks to P150, the inspection robot enters the inspection groove 300 and feeds back the state to the dispatching device 20.

4) The scheduling device 20 issues a "rise" command to the lifting device M7 (1), and the lifting device M7 (1) performs a rise motion.

S106, the control device 600 sends a command of 'positioning detection on the vehicle to be detected' to the inspection robot M5 (1), and the inspection robot M5 (1) performs walking measurement along the direction of 'J4- > J5- > J6- > J3- > J2- > J1', so as to obtain the parking deviation delta X of the vehicle to be detected and the height deviation delta Yn of the component.

S107, the control device 600 sends an instruction of "detecting the vehicle bottom of the vehicle to be detected" to the inspection robot M5 (1), and the inspection robot M5 (1) moves along the direction of "P140- > P150- > P160" to detect the vehicle bottom item of the vehicle to be detected.

S108, the detection operation of the under-vehicle item of the vehicle to be detected comprises the following steps:

1) The inspection robot M5 (1) stops at P144, and the control device 600 controls the end of the mechanical arm 420 of the inspection robot M5 (1) to a predetermined detection position.

2) The detecting device 430 installed at the end of the mechanical arm 420 starts to operate, collects information about the detected items, and transmits the information to the control device 600.

3) The control device 600 processes the related information and confirms whether there is a fault.

4) And (3) the inspection robot M5 (1) walks to the next detection stop position, and the steps 1) to 3) are repeated until the detection operation corresponding to all the detection required positions in the P140 to the P160 is completed.

And S109, after finishing the detection operation of the vehicle bottom of the vehicle to be detected, the inspection robot M5 (1) returns to P150, and then the state is fed back to the control device 600.

S110 assumes that the inspection robot M5 (1) is currently located at the P150 position, and the control device 600 sends an instruction "complete detection of a certain item at P110" to the inspection robot M5 (1), which includes the following steps:

1) The dispatching device 20 sends a descending command to the lifting equipment M7 (1), and the lifting equipment M7 (1) executes descending action and feeds back the dispatching device 20 after the descending action is in place.

2) The dispatching device 20 sends a command "P150- > P120" to the inspection robot M5 (1), and when the inspection robot M5 (1) walks to P120, the inspection robot goes out of the inspection groove 300 and feeds back the state to the control device 600.

3) The control device 600 sends a "rising" command to the lifting device M7 (1), and the lifting device M7 (1) performs a rising action and feeds back to the scheduling device 20 after the rising action is in place.

4) The dispatching device 20 sends an instruction "P120- > P110" to the inspection robot M5 (1), and when the inspection robot M5 (1) walks to P110, the action is completed.

The inspection robot M5 (1) in S111 performs the detection operation on the vehicle side L of the vehicle to be detected in P110 to P130, and the process is similar to S108, and will not be repeated here. After the inspection robot M5 (1) completes the inspection, P130 is reached.

S112, the scheduling device 20 sends an instruction "execute P130- > P170 action" to the inspection robot M5 (1), and the steps are as follows:

1) The dispatching device 20 controls the inspection robot M5 (1) to walk from P130 to P120. After in place, the inspection robot M5 (1) feeds back the status to the scheduling device 20.

2) The dispatching device 20 sends a descending instruction to the lifting equipment M7 (1) and the lifting equipment M7 (2), and the lifting equipment M7 (1) and the lifting equipment M7 (2) execute descending actions and feed the descending actions back to the dispatching device 20 after the descending actions are in place.

3) The dispatching device 20 sends an instruction 'P120-P180' to the inspection robot M5 (1), and when the inspection robot M5 (1) walks to P180, the inspection robot walks out of a trench, and the state is fed back to the dispatching device 20.

4) The scheduling device 20 sends a "rise" command to the lifting device M7 (1) and the lifting device M7 (2), and the lifting device M7 (1) and the lifting device M7 (2) perform a rise motion. After in place, the lifting device M7 (1) and the lifting device M7 (2) feed back information to the scheduling means 20.

5) The dispatching device 20 sends an instruction "P180- > P170" to the inspection robot M5 (1), and when the inspection robot M5 (1) walks to P170, the action is completed.

The inspection robot M5 (1) in S113 performs the detection operation of the R on the vehicle side between P170 and P190, and the process is similar to S108, and will not be described herein.

In the process of inspection and detection above S114, or after the inspection and detection operation is completed, the detection device 430 transmits the collected information to the control device 600 for processing. The control device 600 feeds back the fault information to the maintenance personnel through the client for confirmation. And confirming the faulty component and prompting an overhauling personnel to overhaul. Cannot be confirmed, and can be confirmed again after the recheck. The recheck procedure is similar to the procedure described above.

After the manual maintenance of S115 is completed, the scheduling device 20 controls the inspection robot M5 (1) to travel to the inspected position, and the control device 600 controls the inspection robot M5 (1) to perform re-information collection recording of the inspected items after the maintenance.

It is understood that, when the rail transit rolling stock inspection system 1 includes 1 inspection robot 400, the travel route control, inspection work control, and the like of the inspection robot 400 may be controlled by the control device 600. The lifting control of the lifting device 501 can also be controlled by the control means 600.

In yet another embodiment, the scheduling device 20 schedules 3 inspection robots 400 to perform inspection operations simultaneously, where the inspection operations are as follows:

s201, checking and task acquisition before inspection operation, which specifically comprises the following steps:

And S2011, the self-checking of each working module of the rail transit rolling stock inspection system 1 is normal, and each part of functions are ready.

The on-site condition detection device 700 of S2012 obtains the condition parameters of the inspection site. Specifically, step S102 is performed.

The control device 600 in S2013 confirms whether the operation can be started or not according to the detection of the on-site working condition detection device 700, and if yes, sends a start signal.

The scheduling device 20 in S2014 obtains the information of the activated standby patrol robot 400, allocates patrol tasks to the patrol robots M5 (1), M5 (2) and M5 (3), and issues job control instructions. Assume that the patrol task is assigned as: the inspection robot M5 (1) completes a first inspection project at a position P150 in the drawing; the inspection robot M5 (2) completes a second inspection project at P110 in the figure; the inspection robot M5 (3) completes the third inspection item at P170 in the figure.

The inspection robots M5 (1), M5 (2), and M5 (3) in S2015 walk to the positions P150, P110, and P170 according to the instructions of the scheduling device 20 and the control device 600, respectively.

The control device 600 sends a command of "positioning and detecting the vehicle to be detected" to the inspection robot M5 (1) or M5 (2) or M5 (3), and the inspection robot M5 (1) or M5 (2) or M5 (3) performs walking measurement along the direction of "J4- > J5- > J6- > J3- > J2- > J1" to obtain the parking deviation Δx of the vehicle to be detected and the height deviation Δyn of the component.

S202, the inspection robots M5 (1), M5 (2) and M5 (3) walk in place and feed back information to the control device 600.

S203 the control device 600 sends an "under-vehicle detection for the vehicle to be detected" instruction to the inspection robot M5 (1), and the inspection robot M5 (1) moves along the direction "P140-P150-P160" to detect the under-vehicle item.

S204 the control device 600 sends an instruction of "detecting the vehicle side L to be detected" to the inspection robot M5 (2), and the inspection robot M5 (2) moves along the direction of "P110- > P120- > P130" to detect the vehicle side L item.

S205 the control device 600 sends an instruction of "detect the vehicle R on the vehicle to be detected" to the inspection robot M5 (3), and the inspection robot M5 (3) moves along the direction of "P170- > P180- > P190" to detect the vehicle R item.

S206 is the same as steps S114 to S115.

In one embodiment, the scheduling device 20 schedules 6 inspection robots M5 to perform inspection operations on the driving side L of the vehicle to be inspected at the same time, and the steps are as follows:

S211 is the same as step S201.

S212, in S2014, the scheduling device 20 sends "P001- > P110" to the inspection robot M5 (1); the dispatching device 20 sends 'P002- > P114' to the inspection robot M5 (2); the dispatching device 20 sends 'P003- > P116' to the inspection robot M5 (3); the dispatching device 20 sends 'P004- > P118' to the inspection robot M5 (4); the dispatching device 20 sends 'P005- > P123' to the inspection robot M5 (5); the dispatching device 20 sends 'P006- > P125' to the inspection robot M5 (6); the dispatch device 20 sends "P144- > P125" to the inspection robot M5 (6). The walking process of the inspection robot is similar to S110, and after the inspection robot is in place, information is fed back to the control device 600.

The control device 600 sends a command of "vehicle side L-J1 detection" to the inspection robot M5 (2), and the inspection robot M5 (2) moves along the direction of "P114-P115 for the vehicle to be detected" to perform vehicle side L-J1 project detection.

S214, the control device 600 sends an instruction of detecting the vehicle side L-J2 of the vehicle to be detected to the inspection robot M5 (3), and the inspection robot M5 (3) moves along the direction of P116-P117 to detect the vehicle side L-J2.

S215 the control device 600 sends an instruction of detecting the vehicle side L-J3 of the vehicle to be detected to the inspection robot M5 (4), and the inspection robot M5 (4) walks along the direction of P118-P119 to detect the vehicle side L-J3.

S216, the control device 600 sends an instruction of detecting the vehicle side L-J4 of the vehicle to be detected to the inspection robot M5 (1), and the inspection robot M5 (1) moves along the direction of P121-P122 to detect the vehicle side L-J4.

S217, the control device 600 sends an instruction of detecting the vehicle side L-J5 of the vehicle to be detected to the inspection robot M5 (5), and the inspection robot M5 (5) moves along the direction of P123-P124 to detect the vehicle side L-J5.

S218, the control device 600 sends an instruction of detecting the vehicle side L-J6 of the vehicle to be detected to the inspection robot M5 (6), and the inspection robot M5 (6) moves along the direction of P125-P126 to detect the vehicle side L-J6.

S219 is identical to steps S114 to S115.

In one embodiment, the process of docking the inspection robots M5 (1) and M5 (2) through the docking device 440 and performing the cooperative work at the positions P122 and P123 is as follows:

s301 the inspection robot M5 (1) reaches the inspection point P123.

S302, the inspection robot M5 (2) reaches the inspection point P122 and is mechanically connected with the inspection robot M5 (1) through the real-time docking device 440.

S303, the inspection robots M5 (1) and M5 (2) are cooperated to operate under the condition that the relative positions are kept in a static state according to the process requirements.

After the inspection robots M5 (1) and M5 (2) complete in S304, the docking device 440 is disconnected.

In one embodiment, the inspection assisting device M6 (1) performs an assisting operation on the inspection robot M5 (1) as follows:

s401 during the detection operation in the above step S108 (assuming that the parking position is P121), the inspection robot M5 (1) controls the end of the robot arm 420 to a predetermined detection position. The detection device 430 starts the detection operation. After the acquisition test is completed, the test device 430 needs to be replaced for another test.

The scheduling device 20 sends a command "position P121 replaces the robot arm end detection device" to the inspection auxiliary device M6 (1) S402. The inspection assist device M6 (1) performs a "P007- > P121" operation, and walks from P007 to the P121 position. After the inspection robot M5 (1) is in place, the inspection robot M is in butt joint with the butt joint device 440, so that mechanical connection is realized. After completion, the status is fed back to the control device 600.

S403, the control device 600 issues a command to replace the detection device, and the inspection robot M5 (1) replaces the detection device at the end of the mechanical arm 420 with the detection device on the tool rack 920 of the inspection auxiliary device M6 (1). After the completion, the inspection robot M5 (1) is separated from the inspection auxiliary device M6 (1), and the inspection auxiliary device M6 (1) returns.

In one embodiment, the inspection assisting device M6 (1) performs an auxiliary emergency rescue on the inspection robot M5 (1), which comprises the following steps:

S501 encounters a fault at the position P121 in the process of the inspection operation of the inspection robot M5 (1), and cannot work normally. After the scheduling device 20 acquires the abnormality information, it sends a command "rescue at position P121" to the inspection robot M6 (1).

S502, the inspection robot M6 (1) walks to the P121 and is in butt joint with the failed inspection robot M5 (1) to realize mechanical and electrical connection.

S503, diagnosing the inspection robot M5 (1) through the inspection auxiliary device M6 (1), and if the inspection robot M5 (1) has a software fault, repairing and restarting the software. And then determines whether the fault condition is still present.

S504, if the software repair is unsuccessful, the inspection auxiliary device M6 (1) is used for conducting electric connection inspection on the inspection robot M5 (1), and if the inspection robot M5 (1) is in electric failure, the driving control mode of the travelling part is tried to be switched. The inspection robot M5 (1) can walk to a maintenance area by self.

S505, if the driving control mode of the inspection robot M5 (1) is not successfully switched, the inspection robot M5 (1) is directly pushed to a maintenance area.

S506, the inspection auxiliary device M6 (1) is separated from the docking device 440 of the inspection robot M5 (1), and the inspection auxiliary device M6 (1) returns.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims

1. The utility model provides a rail transit rolling stock inspection device, its characterized in that, rail transit rolling stock inspection device is used for waiting to detect the vehicle, wait to detect the vehicle and park in track (100), the track sets up in inspection platform (200), just inspection platform (200) are followed track (100) extending direction corresponds sets up inspection recess (300), rail transit rolling stock inspection device includes:

A patrol robot (400);

The lifting equipment set (500) comprises at least one lifting equipment (501), wherein the lifting equipment (501) is arranged on the side surface of the extending direction of the track (100), the lifting equipment (501) is of a lifting structure, and the lifting equipment (501) can be in butt joint with the inspection groove (300) and can be in leveling with the surface of the inspection platform (200) through lifting; the lifting equipment (501) comprises a lifting platform plate (510), a driving device (520) and a lifting control device (530), wherein when the lifting platform plate (510) is in a lifting state, the lifting platform plate (510) is level with a plane where the inspection platform (200) is located; when the lifting platform plate (510) is in a descending state, the lifting platform plate (510) is level with and communicated with the plane where the inspection groove (300) is located; the inspection platform (200) is a plane which is level with the ground or lower than the ground; the inspection groove (300) is a pit which is recessed in the inspection platform (200) and has a groove structure;

A reference standard (310) provided on one side of the rail (100) along the extending direction of the rail (100);

the pose detection device (320) is arranged on the inspection robot (400) and is used for detecting distance information of the inspection robot (400) relative to the reference datum (310);

the processing device (330) is in communication connection with the pose detection device (320) and is used for calculating the pose offset of the inspection robot (400) relative to the reference coordinates according to the distance information of the inspection robot (400) relative to the reference coordinates (310);

The control device (600) is in communication connection with the inspection robot (400) and is used for controlling the inspection robot (400) to work; the control device (600) is also in communication connection with the processing device (330) and is used for controlling the walking of the inspection robot (400) according to the pose offset.

2. The rail transit rolling stock inspection device according to claim 1, characterized in that the lifting device group (500) comprises at least 2 lifting devices (501), at least 2 lifting devices (501) are respectively arranged at two sides of the extending direction of the rail (100), and at least 2 lifting devices (501) can be in butt joint communication with the inspection groove (300) and form at least one passage.

3. The rail transit rolling stock inspection device of claim 2, wherein the number of rails (100) is at least 2 groups, the number of inspection grooves (300) is at least 2, and the number of lifting equipment groups (500) is at least 2 groups;

each inspection groove (300) is arranged corresponding to one group of tracks (100);

each group of the rails (100) is correspondingly provided with a group of lifting equipment groups (500);

A plurality of lifting devices (501) of at least 2 sets of lifting device sets (500) are capable of docking communication with at least 2 of the inspection recesses (300) and form at least one cross-track path.

4. The rail transit rolling stock inspection device according to claim 1, further comprising a field working condition detection device (700) disposed on the rail (100), the inspection platform (200) and/or the inspection groove (300), and communicatively connected to the control device (600) for detecting working conditions of an inspection field.

5. The rail transit rolling stock inspection device of claim 4, wherein the on-site operating condition detection device (700) comprises at least one of a liquid accumulation detection mechanism (710), a vehicle on-site detection assembly (720) to be detected, and an intrusion detection assembly (730);

The effusion detection mechanism (710) is arranged in the inspection groove (300), is in communication connection with the control device (600) and is used for detecting the effusion condition in the inspection groove (300);

The vehicle to be detected in-situ detection assembly (720) is arranged on the track (100), is in communication connection with the control device (600) and is used for detecting whether the vehicle to be detected is parked in place or not;

The intrusion detection assembly (730) is arranged on the track (100), the inspection platform (200) and/or the inspection groove (300), is in communication connection with the control device (600), and is used for detecting whether the inspection site is intruded or not.

6. The rail transit rolling stock inspection device of claim 1, wherein the inspection robot (400) comprises:

the working walking device (410) comprises a vehicle body (411) and wheels (412), wherein the wheels (412) are arranged at the bottom of the vehicle body (411), and the vehicle body (411) comprises a containing cavity (413);

the mechanical arm (420) is arranged on the vehicle body (411) and is in communication connection with the control device (600), the mechanical arm (420) is of a foldable structure, and the mechanical arm (420) can be accommodated in the accommodating cavity (413).

7. The rail transit rolling stock inspection device of claim 6, wherein the inspection robot (400) further comprises:

And the detection device (430) is arranged at the tail end of the mechanical arm (420) and is in communication connection with the control device (600).

8. The rail transit rolling stock inspection device of claim 7, wherein the inspection robot (400) further comprises:

and the docking device (440) is arranged on the vehicle body (411) and is used for docking with other equipment.

9. The rail transit rolling stock inspection device of claim 6, wherein the inspection robot (400) further comprises:

an auxiliary charging terminal (450) provided on the vehicle body (411).

10. The rail transit rolling stock inspection device of claim 9, further comprising:

And the auxiliary charging device (800) is arranged on the track (100), matched with the auxiliary charging end (450) and used for providing power supply for the auxiliary charging end (450).

11. The rail transit rolling stock inspection device of claim 8, further comprising an inspection assist device (900), the inspection assist device (900) comprising:

An auxiliary walking device (910);

And the tool rack (920) is arranged on the auxiliary walking device (910) and is used for placing the detection device to be replaced.

12. The rail transit rolling stock inspection device of claim 11, wherein the inspection assist device (900) further comprises:

the mechanical emergency device (941) is arranged on the auxiliary walking device (910), is matched with the docking device (440) in structure and is used for realizing mechanical docking with the inspection robot (400).

13. The rail transit rolling stock inspection device of claim 12, wherein the detection device (430) is connected to the end of the mechanical arm (420) by a quick change device (431);

The quick-change device (431) comprises a mechanical arm end (433) and a tool end (435), the mechanical arm end (433) is connected with the mechanical arm (420), the tool end (435) is connected with the detection device (430), and the mechanical arm end (433) and the tool end (435) can be spliced to realize electrical connection and mechanical connection;

The tool rack (920) of the inspection auxiliary device (900) is provided with a detection device to be replaced, one end of the detection device to be replaced is connected with the tool end (435), and the tool end (435) is used for being connected with the mechanical arm end (433) to realize connection of the detection device to be replaced and the mechanical arm (420).

14. A rail transit rolling stock inspection system, comprising:

The rail transit rolling stock inspection device (10) of any of claims 1-13, wherein the number of inspection robots (400) is at least 2;

and the dispatching device (20) is in communication connection with the inspection robot (400) and is used for dispatching the inspection robot (400).

15. The rail transit rolling stock inspection system according to claim 14, wherein at least 2 inspection robots (400) are respectively provided with different inspection devices (430), and the scheduling device (20) is configured to control each inspection robot (400) to respectively complete one inspection project for a plurality of vehicles to be inspected.