CN113911074B - Purging navigation system and method based on vehicle bottom and vehicle side identification - Google Patents
Purging navigation system and method based on vehicle bottom and vehicle side identification Download PDFInfo
- Publication number
- CN113911074B CN113911074B CN202011462870.2A CN202011462870A CN113911074B CN 113911074 B CN113911074 B CN 113911074B CN 202011462870 A CN202011462870 A CN 202011462870A CN 113911074 B CN113911074 B CN 113911074B
- Authority
- CN
- China
- Prior art keywords
- navigation
- vehicle
- magnetic
- intelligent
- dust
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000010926 purge Methods 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000010408 sweeping Methods 0.000 claims abstract description 69
- 238000004140 cleaning Methods 0.000 claims abstract description 24
- 239000013307 optical fiber Substances 0.000 claims abstract description 15
- 239000000428 dust Substances 0.000 claims description 98
- 238000007664 blowing Methods 0.000 claims description 51
- 230000008859 change Effects 0.000 claims description 30
- 238000001914 filtration Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 5
- 230000003137 locomotive effect Effects 0.000 claims description 5
- 230000005355 Hall effect Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 4
- 230000001960 triggered effect Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 239000000835 fiber Substances 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000006870 function Effects 0.000 description 6
- 238000007789 sealing Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 241000405070 Percophidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/006—Vehicle cleaning apparatus not integral with vehicles specially adapted for railway vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a purging navigation system based on vehicle bottom and vehicle side identification, which comprises three purging devices, wherein two purging devices are distributed on the left side and the right side of a running rail and are responsible for purging the vehicle side; one is distributed in the trench and is responsible for carrying out key purging on the vehicle bottom equipment; an intelligent sweeping robot aiming at the side of a train bottom car is carried by an intelligent AGV car, and a magnetic strip is paved on the ground, so that a magnetic navigation sensor is loaded on the intelligent AGV car, and accurate navigation of intelligent sweeping equipment at the end reaching the car is realized; by using a dual navigation method of two-dimension code and optical fiber positioning and magnetic navigation, accurate navigation of the intelligent purging equipment aiming at key cleaning of the key parts of the train in the maintenance trench is realized.
Description
Technical Field
The invention belongs to the field of purging navigation of urban rail transit vehicles, and particularly relates to a purging navigation system and method based on vehicle bottom and vehicle side identification.
Background
According to the requirements of subway design specifications, maintenance facilities of a subway vehicle section comprise train purging facilities. The purging operation is a step which must be carried out by urban rail transit vehicles before overhauling, and is mainly used for cleaning vehicle parts, particularly important parts aiming at the vehicle bottom, so that the overhauling of the vehicles is facilitated.
According to the investigation condition of the market at present, no intelligent purging system with good effect exists in a vehicle section which is put into operation in China, most purging operation modes for the vehicle bottom are mainly manual operation, dust emission is large during operation, pollution to the site environment is serious, operators need to wear protective clothing and respirators, operation intensity is high, working efficiency is low, and in the scheme of the existing intelligent purging robot, a complete set of navigation method special for the intelligent purging robot does not exist. Chinese patent applications CN201710764135.9 and CN202010220379.2 are only described for the path method of magnetic navigation of the intelligent AGV trolley, and are not specifically described for the autonomous navigation mode of the intelligent AGV trolley with the purge device in the purge warehouse. Thus, a new purge navigation method is needed.
Disclosure of Invention
Aiming at least one of the defects or the improvement demands of the prior art, the invention provides a purging navigation system based on vehicle bottom and vehicle side identification, which aims at an intelligent purging robot for cleaning the vehicle bottom and vehicle side of a train, and carries the robot with an intelligent AGV, and accurate navigation of intelligent purging equipment at the vehicle end is realized by paving a magnetic stripe on the ground and loading a magnetic navigation sensor on the intelligent AGV; by using a dual navigation method of two-dimension code and optical fiber positioning and magnetic navigation, accurate navigation of the intelligent purging equipment aiming at key cleaning of the key parts of the train in the maintenance trench is realized.
To achieve the above object, according to one aspect of the present invention, there is provided a purge navigation system based on vehicle bottom side recognition, comprising:
the intelligent sweeping dust collection robot at the bottom of the vehicle is loaded with a magnetic navigation sensor, and walks in a trench at the inner side of a track bridge of the urban rail vehicle through a paved navigation magnetic stripe;
the intelligent sweeping and dust collecting robot at the vehicle side is respectively positioned at two transverse sides of the intelligent sweeping and dust collecting robot at the vehicle bottom, is oppositely arranged, is provided with a magnetic navigation sensor, walks on the ground outside a track bridge of the urban rail vehicle through a navigation magnetic stripe paved on the ground, and walks synchronously with the intelligent sweeping and dust collecting robot at the vehicle bottom;
the intelligent sweeping and dust collecting robot at the bottom of the vehicle is provided with an optical fiber positioner for determining initial coordinates;
the intelligent sweeping and dust collecting robot at the vehicle bottom is provided with a code reader which is used for reading information of vehicle bottom equipment which is recorded by a two-dimensional code belt arranged on the inner side surface of the bridge pier and is parked at the two-dimensional code belt to determine the coordinates of important cleaning parts at the vehicle bottom;
the code reader comprises a laser emission source, a receiver and a code reader bracket; the laser emission source and the receiver are fixed on the intelligent sweeping dust collection robot at the bottom of the vehicle through the code reader bracket, the laser emission source emits laser to the two-dimensional code belt, and the laser emission source receives reflected light to read coordinate information.
In order to achieve the above object, according to another aspect of the present invention, there is also provided a navigation method of the purge navigation system based on vehicle bottom and vehicle side recognition, including the steps of:
paving a navigation magnetic stripe which bypasses the obstacle on the ground of the sweeping warehouse;
three robots start from the initial position in turn, based on the Hall effect, utilize magnetic navigation sensor perception navigation magnetic stripe to send magnetic field information, according to the environmental change in the actual storehouse of blowing, around keeping away all barriers, wherein:
when the linear section of the navigation magnetic stripe runs, the magnetic field change information of the navigation magnetic stripe on the ground is the same, and the three robots run according to the straight line;
when turning around an obstacle, at the starting end of the curve, the magnetic field change information of the navigation magnetic stripe changes, the magnetic navigation sensor senses the information of the magnetic field change, and the turning action is performed through a preset instruction;
when the ground paved navigation magnetic stripe is bifurcated, at the beginning end of bifurcation, the magnetic navigation sensor receives two different magnetic field change information, namely, receives the information of a turnout, and operates to different turnouts according to a preset path;
the three robots respectively reach the end parts of the vehicles and are distributed in the two sides of the train and the trench below the locomotive head, the intelligent sweeping and dust collecting robot at the train side still adopts a magnetic navigation mode, and the intelligent sweeping and dust collecting robot at the train bottom adopts a double navigation mode of an optical fiber locator-two-dimensional code belt and magnetic navigation, and meanwhile, the three robots synchronously and forwards run at uniform speed in a stepping mode.
Preferably, when three robots are required to accelerate in the running process, the strength of the magnetic field change of the magnetic stripe is enhanced, and the magnetic navigation sensor performs acceleration running after receiving the magnetic field information.
Preferably, when three robots are in operation and fail to operate due to emergency, the magnetic field information of the navigation magnetic stripe is interrupted, the magnetic navigation sensor receives the interrupted magnetic field change information, an emergency alarm button is triggered, an alarm is sent out through an audible and visual alarm device, and the operation is stopped emergently.
Preferably, the dual navigation mode is as follows:
the walking among carriages adopts magnetic navigation;
determining initial coordinates in a cleaning area of a single carriage by a fiber positioner arranged on a running mechanism;
and reading a two-dimensional code belt through a code reader to accurately position the important cleaning part of the vehicle bottom in the cleaning area of the single carriage.
Preferably, the key cleaning part comprises a traction box, an auxiliary inverter box, a high-low voltage electric box, a circulating air box and a brake resistor box.
Preferably, the intelligent sweeping and dust collection robot at the bottom of the vehicle comprises a multi-shaft manipulator arranged outside a dust shield on a running mechanism, and a blowing nozzle and a dust collection nozzle are arranged at the front end of the multi-shaft manipulator.
Preferably, the intelligent vehicle-side blowing dust collection robot comprises an upper blowing system and a lower multistage filtering device which are arranged on a running mechanism, and side seals with front and rear ends extending towards a vehicle and a track bridge.
Preferably, the multistage filtering device comprises a filter screen and a filter element, wherein the filter screen is arranged in front, the filter element is arranged in back, and the filter screen and the filter element are connected.
Preferably, an automatic blowing system, an air source system, an electric control system and an air compressor are arranged in the dust shield of the intelligent vehicle bottom blowing dust collection robot and the intelligent vehicle side blowing dust collection robot;
the blowing nozzle of the multi-axis manipulator at the bottom of the vehicle is communicated with an automatic blowing system, an air source system and an air compressor, and the dust suction nozzle generates negative pressure suction by the air compressor;
the vehicle-side blowing system is communicated with the automatic blowing system, the air source system and the air compressor, and the rear end of the multistage filtering device is pumped by the air compressor in the lateral direction under negative pressure.
The above-described preferred technical features may be combined with each other as long as they do not collide with each other.
In general, the above technical solutions conceived by the present invention have the following beneficial effects compared with the prior art:
1. according to the purging navigation system and method based on the vehicle bottom and vehicle side identification, the navigation magnetic stripe is paved on the ground, the magnetic navigation sensor is loaded on the intelligent AGV trolley, the intelligent AGV trolley carrying the purging equipment is navigated by sensing the information of the change of the ground magnetic field, the flexibility is high, the path is easy to identify, the magnetic tape is easier to lay, no interference to sound and light is caused, the avoidance of close-range obstacles can be realized, the situation that the purging equipment cannot work due to the collision with the obstacles is avoided, and the accurate navigation from three intelligent AGV trolleys to the vehicle end is realized.
2. According to the purging navigation system and method based on the vehicle bottom and vehicle side identification, the navigation of the intelligent AGV trolley carrying the purging equipment in the trench is realized by using the optical fiber locator and the two-dimensional code belt locating system; the combined use of the two positioning modes has better fault tolerance and realizes more accurate navigation; meanwhile, the two-dimensional code belt is insensitive to dust and damage, and the whole set of positioning system is more reliable, more practical and more durable; no moving parts, mechanically stronger; and moreover, the function of remote obstacle avoidance can be realized by using the optical fiber positioning, so that the whole set of purging equipment can safely and accurately run forward.
Drawings
FIG. 1 is an overall schematic axial side view of a purge system of an integrated underbody side-blown dust removal device of an embodiment of the invention;
FIG. 2 is an overall plan schematic view of a purge system of an integrated underbody side-blowing dust removing device of an embodiment of the present invention;
FIG. 3 is a schematic perspective view of a purge system of an integrated underbody side-blowing dust removing device of an embodiment of the present invention;
FIG. 4 is a schematic illustration of a navigation magnetic stripe of a purge system of an integrated underbody side-blowing dust removal device of an embodiment of the present invention;
FIG. 5 is a schematic diagram of a code reader of a purge system of an integrated underbody side-blowing dust removing device of an embodiment of the present invention;
fig. 6 is an internal schematic diagram of a vehicle-side intelligent purge dust collection robot of a purge system of an integrated vehicle-bottom vehicle-side purge dust collection device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. 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 invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other. The present invention will be described in further detail with reference to the following embodiments.
As a preferred embodiment of the present invention, as shown in fig. 1-6, the present invention provides a purge navigation system based on vehicle bottom and vehicle side recognition, and the specific configuration includes the following:
the intelligent sweeping and dust collecting robot 1 at the bottom of the vehicle is provided with a magnetic navigation sensor, and walks in a trench at the inner side of a track bridge of the urban rail vehicle through a paved navigation magnetic stripe 13;
the intelligent sweeping and dust collecting robot 2 at the vehicle side is respectively positioned at two transverse sides of the intelligent sweeping and dust collecting robot 1 at the vehicle bottom, is oppositely arranged, is provided with a magnetic navigation sensor, walks on the ground outside a track bridge of the urban rail vehicle through a navigation magnetic stripe 13 paved on the ground, and walks synchronously with the intelligent sweeping and dust collecting robot 1 at the vehicle bottom;
the intelligent sweeping and dust collecting robot 1 at the bottom of the vehicle is provided with an optical fiber positioner 102 for determining initial coordinates;
the intelligent sweeping and dust collecting robot 1 at the bottom of the vehicle is provided with a code reader 16 which is used for reading information recorded by a two-dimensional code belt 15 arranged on the inner side surface of a bridge pier of a track and stopping at the position of the two-dimensional code belt to determine the coordinates of important cleaning positions at the bottom of the vehicle;
the code reader 16 comprises a laser emission source 161, a receiver and a code reader bracket 162; the laser emission source 161 and the receiver are fixed on the intelligent sweeping and dust collecting robot 1 at the vehicle bottom through the code reader bracket 162, the former emits laser to the two-dimensional code belt 15, and the latter receives reflected light to read coordinate information.
Preferably, the key cleaning part comprises a traction box, an auxiliary inverter box, a high-low voltage electric box, a circulating air box and a brake resistor box.
Preferably, the intelligent sweeping and dust collecting robot 1 at the bottom of the vehicle comprises a multi-shaft manipulator 8 arranged outside a dust shield 7 on a running mechanism, and the front end of the multi-shaft manipulator is provided with a blowing nozzle 9 and a dust collecting nozzle at the same time.
Preferably, the intelligent vehicle-side sweeping and dust-absorbing robot 2 comprises an upper blowing system 17 and a lower multistage filtering device 14 arranged on a running mechanism, and side seals 12 with front and rear ends extending towards the vehicle and a track bridge.
Preferably, the multi-stage filtration device 14 comprises a filter screen 141 and a filter cartridge 142, the filter screen 141 being forward and the filter cartridge 142 being rearward, the two being connected. The filter screen 141 is a sheet-type filter screen, and is trapezoidal in side view; the filter element 142 is a cartridge filter element, and is partially located outside the dust cover 7 and partially located inside.
Preferably, an automatic blowing system 3, an air source system 4, an electric control system 5, an air compressor 6 and a dust storage barrel 10 are arranged in a dust blocking cover 7 of the vehicle bottom intelligent sweeping dust collection robot 1 and the vehicle side intelligent sweeping dust collection robot 2; a dust removal and filtration system is arranged in the intelligent sweeping and dust collection robot 1 at the bottom of the vehicle;
the blowing nozzle 9 of the multi-axis manipulator 8 at the bottom of the vehicle is communicated with the automatic blowing system 3, the air source system 4 and the air compressor, and the dust suction nozzle generates negative pressure suction by the air compressor;
the vehicle-side blowing system 17 is communicated with the automatic blowing system 3, the air source system 4 and the air compressor, and the rear end of the multistage filtering device 14 is pumped by the air compressor in the lateral direction under negative pressure.
Preferably, the vehicle side blowing system 17 comprises an array of nozzles, with the orientation angle of the nozzles being adjustable.
Preferably, the side seal 12 comprises a rigid portion, the rear end of which is fixed to the dust cover 7, and a flexible portion, the front end of which is fixed to the flexible portion, which is allowed to come into contact with the vehicle. The rigid part is a sealing plate, and the flexible part is a flexible brush.
Preferably, the intelligent sweeping and dust-collecting robot further comprises a trolley line 11 which is arranged along the track direction and is arranged on the side face of the bridge pier lower than the bottom of the running track, and is used for carrying out contact power supply when the intelligent sweeping and dust-collecting robot 1 at the bottom of the vehicle and the intelligent sweeping and dust-collecting robot 2 at the side of the vehicle walk.
Preferably, the code reader 16 is fixed on the end face of the dust shield 7 of the intelligent sweeping and dust sucking robot 1 along the track direction.
Preferably, the intelligent sweeping and dust collecting robot 1 at the bottom of the vehicle is further provided with a high-definition camera for machine identification and capture of the structure and equipment at the bottom of the vehicle.
Preferably, the front end of the multi-axis manipulator 8 is provided with a plurality of switchable blowing nozzles 9, including a cluster type blowing nozzle, a flat type blowing nozzle and a duckbill type blowing nozzle, which are used for targeted blowing of different vehicle bottom parts.
Preferably, the length of the intelligent vehicle-side sweeping and dust collecting robot 2 along the track direction is greater than or equal to that of the intelligent vehicle-bottom sweeping and dust collecting robot 1, and the intelligent vehicle-side sweeping and dust collecting robot 1 is located on two sides when walking, so that the negative suction effect is improved. Specifically, the size of the intelligent vehicle bottom sweeping and dust sucking robot 1 is 1000mm in height, 1000mm in width and 2000mm in length, and the size of the intelligent vehicle side sweeping and dust sucking robot 2 is 1900mm in height, 1000mm in width and 3000mm in length and 3m in length can meet local blowing and sucking requirements.
According to the blowing system for the integrated vehicle bottom and vehicle side dust-cleaning equipment, the vehicle bottom and the vehicle side intelligent blowing dust-cleaning robot on two sides are different in structure, but are moving trend type, the carried equipment also moves integrally therewith, blowing and sucking functions are achieved, a fixed pipeline is not arranged in a blowing warehouse, loading and transporting can be normally carried out in the existing blowing warehouse, and iteration upgrading of equipment system products is not limited by a factory building.
The sweeping system of the side sweeping dust removing equipment of the integrated vehicle bottom vehicle has the advantages that the side sealing body is also movable, a closed negative pressure space with the local sweeping range being approximately 3m is constructed, the sweeping system is composed of a semi-rigid semi-flexible component, the main body is a sealing plate, and the front end of the sealing plate is a flexible brush, so that the sealing effect is achieved, and the vehicle body component is not damaged due to collision.
The sweeping system of the side sweeping dust removing equipment of the integrated vehicle bottom vehicle has the advantages that the relative position of each key sweeping part is matched with the optical fiber through the two-dimensional code band, and the coordinate is automatically calculated by a program, and the sweeping system has the advantages that: the code strip is insensitive to dust and damage; more reliable, more practical and more durable; no moving parts are present, and the mechanical aspect is stronger; the service life is longer without using a laser diode.
According to the sweeping system of the integrated vehicle-bottom side sweeping dust removing device, three vehicles synchronously travel, automatically blow and suck and synchronously filter and self-clean, negative pressure of a sweeping local working space is formed, a miniaturized dust removing and filtering system is integrated in the vehicle-side intelligent sweeping dust collecting robot on two sides, the dust collecting effect is remarkably improved by dust removing and filtering, meanwhile, the filtered dust is subjected to dust collecting treatment, and the dust collecting is transferred by using a stopping period after one operation, so that the repeated use is realized, a large number of external fixed pipelines are planned and distributed in a warehouse and a fixed sealing block for forming a sweeping closed space is avoided, occupation of the sweeping device in the warehouse is reduced, other maintenance operations are not influenced and interfered, and the operation environment is improved.
According to the purging system of the side-blowing dust removing equipment of the integrated vehicle bottom, the three vehicles are linked with the central control system, the automatic dust removing process can be optimized in the later period by depending on a program algorithm and the support of big data, and for a space with larger dust concentration, the dust collecting and removing effect can be enhanced by machine identification and capturing, and the accurate cleaning is realized.
According to the blowing system of the integrated vehicle bottom side blowing dust removing device, the flexible and flexible mechanical arm is arranged on the vehicle bottom intelligent blowing dust collecting robot, the high-pressure fan and the air gun on the mechanical arm are connected through the flexible air pipe, and the improved dust removing nozzle is arranged, so that the important part of the vehicle bottom can be blown. The noise shielding and sound absorbing and noise reducing technology is applied to equipment such as an air pipe nozzle and the like in a fused mode, and a more humanized dust removing working environment is guaranteed.
The purging system of the side-blowing dust-removing equipment for the integrated vehicle bottom vehicle has the advantages that three vehicles synchronously walk, start and stop one-key control is realized, the running speed can be adjusted at any time through the on-site use working condition, and other functions are not influenced to synchronously work in the running process.
The invention relates to a blowing system of an integrated vehicle bottom side blowing dust removing device, which comprises three vehicles for automatic blowing and sucking: in the running process of the three vehicles, the purging and dedusting functions are synchronously carried out, the high-pressure air flow directly blows dust and dirt on the surface to be cleaned, and blown dust particles are instantly sucked and filtered by the dedusting and filtering system due to negative pressure, so that secondary dust emission is avoided.
The invention relates to a sweeping system of an integrated vehicle bottom side sweeping dust removing device, which comprises the following steps of synchronous filtration and self-cleaning: the intelligent sweeping and dust sucking robot on the vehicle side realizes synchronous filtration and self-cleaning.
The navigation method of the purging navigation system based on the vehicle bottom and vehicle side identification comprises the following steps:
paving a navigation magnetic stripe which bypasses the obstacle on the ground of the sweeping warehouse;
three robots start from the initial position in turn, based on the Hall effect, utilize magnetic navigation sensor perception navigation magnetic stripe to send magnetic field information, according to the environmental change in the actual storehouse of blowing, around keeping away all barriers, wherein:
when the linear section of the navigation magnetic stripe runs, the magnetic field change information of the navigation magnetic stripe on the ground is the same, and the three robots run according to the straight line;
when turning around an obstacle, at the starting end of the curve, the magnetic field change information of the navigation magnetic stripe changes, the magnetic navigation sensor senses the information of the magnetic field change, and the turning action is performed through a preset instruction;
when the ground paved navigation magnetic stripe is bifurcated, at the beginning end of bifurcation, the magnetic navigation sensor receives two different magnetic field change information, namely, receives the information of a turnout, and operates to different turnouts according to a preset path;
the three robots respectively reach the end parts of the vehicles and are distributed in the two sides of the train and the trench below the locomotive head, the intelligent sweeping and dust collecting robot 2 at the train side still adopts a magnetic navigation mode, the intelligent sweeping and dust collecting robot 1 at the locomotive bottom adopts a double navigation mode of an optical fiber locator-two-dimensional code belt and magnetic navigation, and meanwhile, the three robots synchronously and forwards run at uniform speed in a stepping mode.
Preferably, when three robots are required to accelerate in the running process, the strength of the magnetic field change of the magnetic stripe is enhanced, and the magnetic navigation sensor performs acceleration running after receiving the magnetic field information.
Preferably, when three robots are in operation and fail to operate due to emergency, the magnetic field information of the navigation magnetic stripe is interrupted, the magnetic navigation sensor receives the interrupted magnetic field change information, an emergency alarm button is triggered, an alarm is sent out through an audible and visual alarm device, and the operation is stopped emergently.
Preferably, the dual navigation mode is as follows:
the walking among carriages adopts magnetic navigation;
determining initial coordinates in a clean area of a single car by a fiber positioner 102 equipped on a running gear;
the two-dimensional code belt 15 is read by the code reader 16 to accurately position the important cleaning position of the vehicle bottom in the cleaning area of the single carriage.
More specifically, after the intelligent AGV trolley receives a purging instruction, the intelligent AGV trolley is firstly carried with purging equipment to be transported to the end position of the vehicle; the navigation magnetic stripes are paved on the ground, the magnetic navigation sensors are arranged in the three intelligent AGV trolleys, and based on the Hall effect, the position deviation of the vehicle relative to the target and between the paths is obtained through measuring the magnetic field signals on the paths, so that the accurate navigation of the intelligent AGV trolleys is realized.
Because of the complexity of the environment in the purging warehouse, the intelligent AGV trolley always encounters obstacles such as other equipment or walls in the purging warehouse after starting from the starting position, and it is particularly important to change the path for accurate navigation through magnetic navigation. When the intelligent AGV runs in a straight line section, the magnetic field change information of the magnetic stripes on the ground is the same, and three intelligent AGV trolley carrying purge devices sequentially run in a straight line according to the existing program instructions; when the vehicle turns around an obstacle, at the starting end of the curve, the magnetic field change information of the navigation magnetic stripe changes, a magnetic navigation sensor in the intelligent AGV car senses the information of the magnetic field change, and the turning action of the intelligent AGV car is realized through a preset program instruction; when the ground paved navigation magnetic stripe is bifurcated, at the beginning end of bifurcation, the magnetic navigation sensor receives two different magnetic field change information, and the system program receives the bifurcation information and can realize different bifurcation operation according to the program instruction of the path; when the intelligent AGV trolley carries the purging equipment in the operation process, when acceleration is needed, information of change of the magnetic stripes paved on the ground is strong, at the moment, the magnetic navigation sensor receives magnetic field information, and the trolley can realize acceleration operation according to a preset program. Thus, according to the continuously changing magnetic field information, the running path of the intelligent AGV trolley can be changed, and the purging equipment is conveyed to the end part of the vehicle from the starting position.
In the operation process of the intelligent AGV trolley, if other equipment and obstacles in the purging warehouse are touched due to emergency, the magnetic navigation sensor receives the magnetic field information intermittently, an emergency alarm button is triggered, a mechanical anti-collision device is started, an alarm instruction is sent out through audible and visual alarm, and the intelligent AGV trolley is stopped in an emergency.
After three intelligent AGV dollies reach the vehicle tip through magnetic navigation with purge unit from the home position, two distribute in the both sides of car, and middle one distributes in the trench. When the key position of the vehicle needs to be purged, the initial coordinates are determined through the optical fiber locator arranged on the intelligent AGV trolley, and then the key position of the vehicle bottom needs to be purged in a key way through the intelligent AGV trolley carrying purge equipment in the middle, so that the coordinates of the key cleaning position of the vehicle bottom can be confirmed through the two-dimensional code locating system consisting of the two-dimensional code belt fixed on the sliding contact line mounting bracket and the code reader fixed on the current collector clamp. The laser generating source in the two-dimensional code reader can emit corresponding laser to the two-dimensional code band, so that corresponding position coordinate information is read, and accurate positioning is realized.
Meanwhile, as the navigation magnetic strips are still paved on the ground inside the trench, the intelligent AGV trolley can be lowered to a required destination through multiple navigation. Meanwhile, due to the specificity of the optical fiber positioner, the remote obstacle avoidance function can be realized, whether an obstacle exists in front or not is judged in advance, the change of a path is made in time, and the safe operation of the intelligent AGV trolley is ensured.
In summary, compared with the prior art, the scheme of the invention has the following remarkable advantages:
1. according to the purging navigation system and method based on the vehicle bottom and vehicle side identification, the navigation magnetic stripe is paved on the ground, the magnetic navigation sensor is loaded on the intelligent AGV trolley, the intelligent AGV trolley carrying the purging equipment is navigated by sensing the information of the change of the ground magnetic field, the flexibility is high, the path is easy to identify, the magnetic tape is easier to lay, no interference to sound and light is caused, the avoidance of close-range obstacles can be realized, the situation that the purging equipment cannot work due to the collision with the obstacles is avoided, and the accurate navigation from three intelligent AGV trolleys to the vehicle end is realized.
2. According to the purging navigation system and method based on the vehicle bottom and vehicle side identification, the navigation of the intelligent AGV trolley carrying the purging equipment in the trench is realized by using the optical fiber locator and the two-dimensional code belt locating system; the combined use of the two positioning modes has better fault tolerance and realizes more accurate navigation; meanwhile, the two-dimensional code belt is insensitive to dust and damage, and the whole set of positioning system is more reliable, more practical and more durable; no moving parts, mechanically stronger; and moreover, the function of remote obstacle avoidance can be realized by using the optical fiber positioning, so that the whole set of purging equipment can safely and accurately run forward.
It will be appreciated that the embodiments of the system described above are merely illustrative, in that the elements illustrated as separate components may or may not be physically separate, may be located in one place, or may be distributed over different network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
In addition, it will be understood by those skilled in the art that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the description of the embodiments of the invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the above description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects.
However, the disclosed method should not be construed as reflecting the intention that: i.e., an embodiment of the invention that is claimed, requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the embodiments of the present invention, and are not limited thereto; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. The navigation method of the purging navigation system based on the vehicle bottom and vehicle side identification is characterized in that the purging navigation system comprises the following steps:
the intelligent sweeping and dust collecting robot (1) at the bottom of the vehicle is provided with a magnetic navigation sensor, and walks in a trench at the inner side of a track bridge of the urban rail vehicle through a paved navigation magnetic stripe (13);
the intelligent sweeping and dust collecting robot (2) at the vehicle side is respectively positioned at two transverse sides of the intelligent sweeping and dust collecting robot (1) at the vehicle bottom, is oppositely arranged, is provided with a magnetic navigation sensor, walks on the ground outside a track bridge of the urban rail vehicle through a navigation magnetic stripe (13) paved on the ground, and walks synchronously with the intelligent sweeping and dust collecting robot (1) at the vehicle bottom;
an optical fiber positioner (102) is arranged on the intelligent sweeping dust collection robot (1) for determining initial coordinates;
the intelligent sweeping and dust collecting robot (1) at the bottom of the vehicle is provided with a code reader (16) which is used for reading information of vehicle bottom equipment which is recorded by a two-dimensional code belt (15) arranged on the inner side surface of a bridge pier and is parked at the two-dimensional code belt to determine the coordinates of important cleaning parts at the bottom of the vehicle;
the code reader (16) comprises a laser emission source (161), a receiver and a code reader bracket (162); the laser emission source (161) and the receiver are fixed on the intelligent sweeping and dust collecting robot (1) at the vehicle bottom through the code reader bracket (162), the laser emission source emits laser to the two-dimensional code belt (15), and the laser emission source receives reflected light to read coordinate information;
the navigation method of the purging navigation system comprises the following steps:
paving a navigation magnetic stripe which bypasses the obstacle on the ground of the sweeping warehouse;
three robots start from the initial position in turn, based on the Hall effect, utilize magnetic navigation sensor perception navigation magnetic stripe to send magnetic field information, according to the environmental change in the actual storehouse of blowing, around keeping away all barriers, wherein:
when the linear section of the navigation magnetic stripe runs, the magnetic field change information of the navigation magnetic stripe on the ground is the same, and the three robots run according to the straight line;
when turning around an obstacle, at the starting end of the curve, the magnetic field change information of the navigation magnetic stripe changes, the magnetic navigation sensor senses the information of the magnetic field change, and the turning action is performed through a preset instruction;
when the ground paved navigation magnetic stripe is bifurcated, at the beginning end of bifurcation, the magnetic navigation sensor receives two different magnetic field change information, namely, receives the information of a turnout, and operates to different turnouts according to a preset path;
the three robots respectively reach the end parts of the vehicles and are distributed in the two sides of the train and the trench below the locomotive head, the intelligent sweeping and dust collecting robot (2) at the train side still adopts a magnetic navigation mode, the intelligent sweeping and dust collecting robot (1) at the locomotive bottom adopts a double navigation mode of an optical fiber locator-two-dimensional code belt and magnetic navigation, and meanwhile, the three robots synchronously move forwards at uniform speed in a stepping mode.
2. The navigation method of a purge navigation system based on vehicle bottom and vehicle side identification of claim 1, wherein:
when three robots are required to accelerate in the running process, the strength of the magnetic field change of the magnetic stripe is enhanced, and the magnetic navigation sensor performs acceleration running after receiving the magnetic field information.
3. The navigation method of a purge navigation system based on vehicle bottom and vehicle side identification of claim 1, wherein:
when three robots are in operation and fail to operate due to emergency, the magnetic field information of the navigation magnetic stripe is interrupted, the magnetic navigation sensor receives the interrupted magnetic field change information, an emergency alarm button is triggered, an alarm is sent out through an audible and visual alarm device, and the operation is stopped emergently.
4. The navigation method of a purge navigation system based on vehicle bottom and vehicle side identification of claim 1, wherein:
the double navigation mode is as follows:
the walking among carriages adopts magnetic navigation;
determining initial coordinates in a cleaning area of a single carriage by a fiber positioner (102) equipped on a running gear;
and the important cleaning parts of the vehicle bottom in the cleaning area of the single carriage are accurately positioned by reading the two-dimensional code belt (15) through the code reader (16).
5. The navigation method of a purge navigation system based on vehicle bottom and vehicle side identification of claim 1, wherein:
the key cleaning part comprises a traction box, an auxiliary inverter box, a high-low voltage electric box, a circulating bellows and a brake resistor box.
6. The navigation method of a purge navigation system based on vehicle bottom and vehicle side identification of claim 1, wherein:
the intelligent sweeping and dust sucking robot (1) at the bottom of the vehicle comprises a multi-shaft manipulator (8) arranged outside a dust shield (7) on a running mechanism, and a blowing nozzle (9) and a dust sucking nozzle are arranged at the front end of the multi-shaft manipulator.
7. The method for navigating a purge navigation system based on vehicle bottom and vehicle side identification of claim 6, wherein:
the intelligent vehicle-side sweeping and dust sucking robot (2) comprises an upper blowing system (17) and a lower multistage filtering device (14) which are arranged on a running mechanism, and side seals (12) with front ends and rear ends extending towards a vehicle and a track bridge.
8. The method for navigating a purge navigation system based on vehicle bottom side identification of claim 7, wherein:
the multistage filtering device (14) comprises a filter screen (141) and a filter element (142), wherein the filter screen (141) is arranged in front, and the filter element (142) is arranged in back, and the filter screen and the filter element are connected.
9. The method for navigating a purge navigation system based on vehicle bottom side identification of claim 7, wherein:
an automatic blowing system (3), an air source system (4), an electric control system (5) and an air compressor (6) are arranged in a dust shield (7) of the intelligent sweeping dust collection robot (1) at the bottom of the vehicle and the intelligent sweeping dust collection robot (2) at the side of the vehicle;
a blowing nozzle (9) of a multi-axis manipulator (8) at the bottom of the vehicle is communicated with the automatic blowing system (3), the air source system (4) and the air compressor, and the dust suction nozzle generates negative pressure suction by the air compressor;
the vehicle-side blowing system (17) is communicated with the automatic blowing system (3), the air source system (4) and the air compressor, and the rear end of the multistage filtering device (14) is pumped by the air compressor in the lateral direction under negative pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011462870.2A CN113911074B (en) | 2020-12-14 | 2020-12-14 | Purging navigation system and method based on vehicle bottom and vehicle side identification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011462870.2A CN113911074B (en) | 2020-12-14 | 2020-12-14 | Purging navigation system and method based on vehicle bottom and vehicle side identification |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113911074A CN113911074A (en) | 2022-01-11 |
| CN113911074B true CN113911074B (en) | 2023-04-28 |
Family
ID=79232389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011462870.2A Active CN113911074B (en) | 2020-12-14 | 2020-12-14 | Purging navigation system and method based on vehicle bottom and vehicle side identification |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113911074B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07117635A (en) * | 1993-10-27 | 1995-05-09 | Shin Meiwa Ind Co Ltd | Washing device for track vehicle |
| CN201138451Y (en) * | 2007-12-10 | 2008-10-22 | 华中科技大学 | Robot self-positioning system |
| CN204700877U (en) * | 2015-05-20 | 2015-10-14 | 国家电网公司 | A kind of track machine people walking positioning device |
| CN107632017B (en) * | 2017-08-15 | 2023-08-15 | 广东省特种设备检测研究院珠海检测院 | Elevator T-shaped guide rail seam detection system and method |
| CN208411674U (en) * | 2018-04-18 | 2019-01-22 | 山东华力机电有限公司 | A kind of new energy Intelligent unattended driving cleaning vehicle |
| CN111103863B (en) * | 2018-10-29 | 2022-08-30 | 株洲中车时代电气股份有限公司 | Intelligent maintenance robot, system and method for rail transit vehicle |
| CN109733334B (en) * | 2019-02-28 | 2024-03-15 | 中铁第四勘察设计院集团有限公司 | Relative intelligent purging system and method based on electromagnetic guide double-side rails |
| CN210819569U (en) * | 2019-06-14 | 2020-06-23 | 广州普华灵动机器人技术有限公司 | Vehicle bottom inspection robot and inspection system based on two-dimensional code positioning |
| CN111452758A (en) * | 2020-05-14 | 2020-07-28 | 中铁第四勘察设计院集团有限公司 | Automatic sweeping system for rail transit vehicle bottom |
-
2020
- 2020-12-14 CN CN202011462870.2A patent/CN113911074B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113911074A (en) | 2022-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR100690669B1 (en) | Position-reconizing system for a self-moving robot | |
| US8732903B2 (en) | Cleaning nozzle and method for vacuum cleaning | |
| US20060150361A1 (en) | Autonomous machine | |
| CN109747594B (en) | Intelligent purging system and method with ultrasonic cleaning function based on laser guidance | |
| CN200974567Y (en) | Cleaning robot running gear | |
| KR102339531B1 (en) | Experience-based roadmap for a robotic cleaning device | |
| CN111452758A (en) | Automatic sweeping system for rail transit vehicle bottom | |
| CN103054517A (en) | Robot cleaner and control method for the same | |
| JPH0680203A (en) | Control method for floor surface cleaning robot | |
| JP2001525567A (en) | Improvement of mobile robot and its control system | |
| CN109733335B (en) | Intelligent purging system and method with ultrasonic cleaning function based on electromagnetic guidance | |
| CN105862635B (en) | Suitable for the retractable full-automatic sweeping robot and method of work of highway | |
| JP2014186680A (en) | Automatic conveyance vehicle | |
| CN213904140U (en) | Sweeping navigation device based on vehicle bottom vehicle side recognition | |
| CN113911074B (en) | Purging navigation system and method based on vehicle bottom and vehicle side identification | |
| CN214516467U (en) | Intelligent flexible manipulator device that railcar vehicle bottom sweeps | |
| CN113911075B (en) | Sweeping system of side-blowing dust removing equipment of integrated vehicle bottom vehicle | |
| CN209776385U (en) | Intelligent purging system with ultrasonic cleaning function based on laser guidance | |
| CN109733336B (en) | Convection type intelligent purging system and method for single-side track | |
| CN102176162A (en) | Control method of cleaning path of air-conditioner duct cleaning robot | |
| CN213892447U (en) | Sweeping device of integrated vehicle bottom vehicle side sweeping dust removal equipment | |
| CN212103865U (en) | Track cleaning device for track traffic | |
| CN113017492A (en) | Object recognition intelligent control system based on cleaning robot | |
| CN108319270B (en) | Automatic dust collection robot optimal path planning method based on historical data analysis | |
| JPH03242710A (en) | Running control system for cleaning robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |