CN116728378A - Butt-joint robot based on computer vision - Google Patents
Butt-joint robot based on computer vision Download PDFInfo
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- CN116728378A CN116728378A CN202310792087.XA CN202310792087A CN116728378A CN 116728378 A CN116728378 A CN 116728378A CN 202310792087 A CN202310792087 A CN 202310792087A CN 116728378 A CN116728378 A CN 116728378A
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- 210000001503 joint Anatomy 0.000 claims abstract description 19
- 230000003137 locomotive effect Effects 0.000 claims abstract description 16
- 230000000007 visual effect Effects 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 63
- 238000003032 molecular docking Methods 0.000 claims description 27
- 238000000034 method Methods 0.000 claims description 11
- 238000007781 pre-processing Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 6
- 230000007797 corrosion Effects 0.000 claims description 4
- 238000005260 corrosion Methods 0.000 claims description 4
- 238000007405 data analysis Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 abstract description 15
- 238000012423 maintenance Methods 0.000 description 10
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005498 polishing Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a butt-joint robot based on computer vision, which relates to the technical field of computer vision and comprises the following components: the butt joint type robot comprises a robot A and a robot B, wherein the robot A and the robot B are in butt joint on a railway track to form a 1-piece integral structure, the integral structure moves along the railway track and acquires visual information on the surface of the railway track through a first camera arranged on the integral structure, and a controller, a storage battery and a wireless signal receiving and transmitting device are further arranged on the integral structure. Before the locomotive passes, the butt-joint type robot is decomposed into a robot A and a robot B, the robot A and the robot B respectively move to two sides of a railway to avoid, and after the locomotive passes, the robot A and the robot B return to the track again and are in butt joint to form an integral structure to continue inspection.
Description
Technical Field
The utility model relates to the technical field of computer vision, in particular to a docking robot based on computer vision.
Background
Railway maintenance is mainly two aspects of railway line maintenance and railway building maintenance, wherein railway line maintenance is maintenance and maintenance operation on roadbeds, rails and the like, and a rail can provide extremely smooth and hard medium to enable train wheels to roll on the rail with minimum friction force, so that people feel more comfortable on the rail, and energy can be saved.
In order to inspect and ensure the smooth characteristics of the rail and discover damages such as cracks on the surface of the rail in time, railway staff needs to examine and repair the rail regularly, and a great deal of time cost and labor cost are consumed due to long railway trunk lines. Although, some patent documents disclose some rail inspection devices, such as CN202220285508.0, which discloses a railway maintenance device based on computer vision, including a maintenance platform, the upper side of the maintenance platform is fixedly connected with a power distribution cabinet, the other two sides of the maintenance platform are fixedly connected with track boards, the front and rear ends of the track boards are respectively provided with a translation assembly, wherein the upper side of the track boards is provided with a polishing assembly, and the inner wall of the track boards is located between the polishing assembly and the front translation assembly and is fixedly provided with a first camera. However, such devices also require specialized personnel and equipment to follow during inspection to suspend the device from the rail as the locomotive passes, in order to avoid a collision event. This makes such devices usable only for special periods of time when no locomotive is passing on the track, resulting in great inconvenience.
Disclosure of Invention
The utility model provides a computer vision-based butt joint type robot which can realize automatic inspection of the surface of a railway track in a full time period, can automatically realize avoiding action when a locomotive passes through the robot, and can automatically go on a rail to continue inspection after the locomotive passes through the robot.
In order to solve the problems, the technical scheme of the utility model is as follows:
a docking robot based on computer vision comprises a docking robot body;
the butt joint type robot body comprises a robot A and a robot B, wherein the robot A and the robot B comprise a bottom plate, side plates hinged to the outer side ends of the bottom plate and a first moving mechanism arranged on the outer side of the lower surface of the bottom plate;
the first moving mechanism is used for being matched with 1 railway track in the railway track to be inspected, and the outer surface of the side plate is provided with a second moving mechanism;
the second moving mechanism is used for moving the robot A or the robot B out of the track and adjusting the position of the robot A or the robot B, the inner surface of the side plate is also provided with a movable weight mechanism, and the center of gravity is adjusted between the bottom plate and the side plate through the adjustment of the movable weight mechanism;
the middle part of the outer surface of the side plate is provided with a control box, and the control box is provided with a controller and a storage battery which are electrically connected with each other;
the lower surface of the bottom plate is provided with a butt joint recognition mechanism, the upper surface of the bottom plate is provided with a wireless signal transceiver, and the outer side of the lower surface of the bottom plate is provided with a first camera for acquiring visual information of the surface of the rail;
the controller is configured to control the first moving mechanism and the second moving mechanism, and is respectively connected with the wireless signal receiving and transmitting device, the first camera and the docking identification mechanism through wires in a signal mode, and the robot A and the robot B are combined into 1 integral structure through the positioning mechanism.
Preferably, the robot a is provided with a bottom plate a, the robot B is provided with a bottom plate B, and the first moving mechanism comprises 2 rail wheels arranged at the outer side end of the lower surface of the bottom plate a or the bottom plate B;
the first camera is arranged on the lower surface of the bottom plate A or the bottom plate B between the 2 track wheels, and a lighting lamp is further arranged on the lower surface of the bottom plate A or the bottom plate B near the position where the first camera is positioned;
the track wheel is provided with a first servo motor, and the illuminating lamp and the first servo motor are electrically connected with a controller of the robot A or the robot B through wires.
Preferably, the second moving mechanism comprises first electric push rods fixedly arranged at four corners of the outer surface of the side plate;
the fixed end of the first electric push rod is fixedly connected with the outer surface of the side plate, the telescopic end is connected with travelling wheels, and each travelling wheel is provided with a second servo motor;
the first electric push rod is arranged along the direction perpendicular to the outer surface of the side plate, and the first electric push rod and the second servo motor are electrically connected with a controller of the robot A or the robot B respectively through wires.
Preferably, a second electric push rod is respectively connected between the front end of the bottom plate and the front end of the side plate and between the rear end of the bottom plate and the rear end of the side plate;
the two ends of the second electric push rod are respectively hinged with the front end and the rear end of the bottom plate or the side plate, and the second electric push rod is electrically connected with the controller through a wire;
the controller judges the included angle between the bottom plate and the side plate according to the telescopic amplitude of the second electric push rod; when the second electric push rod stretches to set the amplitude, the inner surface of the side plate and the upper surface of the bottom plate are in the same plane, and a first pressure sensor is arranged between the fixed end of the first electric push rod and the outer surface of the side plate;
the first pressure sensor is in signal connection with the corresponding controller through a wire, when the second electric push rod stretches but does not reach the set amplitude, and the first pressure sensor detects a pressure signal, namely, at least part of the travelling wheels are in contact with the ground, at the moment, the controller controls the first electric push rod to shorten, the second electric push rod stretches in a matched mode in the process until the second electric push rod stretches to reach the set amplitude, at the moment, the first electric push rod is locked, and the upper surface of the bottom plate and the inner surface of the side plate are coplanar; when the second electric push rod is extended to a set amplitude, but the first pressure sensor does not detect the pressure signal, the first electric push rod is extended until the first pressure sensor detects the pressure signal.
Preferably, the movable counterweight mechanism comprises a counterweight beam, a screw rod, a third servo motor and a mounting plate, wherein the counterweight beam is transversely arranged on the inner surface of the side plate, and the screw rods are respectively and longitudinally screwed at two ends of the counterweight beam;
the two ends of the screw rod are rotationally connected with mounting plates, the lower ends of the mounting plates are fixedly connected with the inner surfaces of the side plates, the third servo motor is fixedly arranged on the outer surfaces of 1 mounting plates, the output shaft of the third servo motor is fixedly connected with the end parts of the screw rod, and the weight beam is driven to move along the screw rod through synchronous rotation of the 2 third servo motors, so that the gravity center between the bottom plate and the side plates is adjusted;
the third servo motor is electrically connected with the corresponding controller through a wire, when all travelling wheels of the second travelling mechanism touch the ground and the robot A and the robot B are separated from each other, the third servo motor rotates and drives the counterweight beam to move to the side far away from the bottom plate, then the second electric push rod shortens to pull the bottom plate to separate from the rail, and then under the rotation of 4 travelling wheels of the second travelling mechanism, the robot A or the robot B moves to a position keeping a safe distance from the inspected rail.
Preferably, the upper surface of the bottom plate A is provided with a positioning block, the upper surface of the bottom plate B opposite to the positioning block is provided with a third electric push rod, and the outer surface of the positioning block is provided with a positioning hole;
the telescopic end of the third electric push rod is fixedly connected with a positioning rod, the positioning rod is matched with the positioning hole for use, and the upper end of the positioning rod is provided with a fixing hole;
the locating device is characterized in that a sliding hole penetrating through the top end of the locating block is formed in the upper wall of the locating hole, a fourth electric push rod is fixedly connected to the upper surface of the locating block where the top end of the sliding hole is located, a locating pin is fixedly connected to the telescopic end of the fourth electric push rod, the locating pin is matched with the fixing hole for use, and the third electric push rod and the fourth electric push rod are respectively and electrically connected with corresponding controllers through wires.
Preferably, the third electric putter, fourth electric putter, locating hole have 2 respectively, the locating hole in the bottom still be equipped with second pressure sensor, second pressure sensor and corresponding controller signal connection, when 2 second pressure sensor detected pressure signal, represent that the locating lever inserts the locating hole in place, the controller that is equipped with second pressure sensor one side controls fourth electric putter action and inserts the locating pin in the fixed orifices, at this moment, robot A and robot B constitute overall structure.
Preferably, the lower surfaces of the bottom plate A and the bottom plate B are positioned at the same relative position, and the second cameras are arranged along the direction vertical to the lower surface of the bottom plate A or the bottom plate B;
when the robot A and the robot B are separated from each other and the locomotive has travelled, the robot A and the robot B respectively adjust the bottom plates to form an angle of 90 degrees with the side plates, the controller judges whether the robot A and the robot B are approximately aligned through the images acquired by the 2 second cameras, and when the 2 controllers judge that the images acquired by the 2 second cameras are consistent and the 2 second cameras are aligned with each other, the robot A and the robot B are approximately aligned, and at the moment, the second moving mechanism acts to enable the robot A and the robot B to move a certain distance towards the direction approaching the track.
Preferably, the lower surface of the bottom plate A or the bottom plate B is respectively provided with a transmitting end and a receiving end of the correlation photoelectric sensor, and the transmitting end or the receiving end is respectively connected with a corresponding controller through signals;
the lower surface of the bottom plate A or the bottom plate B is provided with a laser ranging sensor, and when the laser ranging sensor detects that the distance between the robot A and the robot B reaches a preset certain distance, the second moving mechanism controls the robot A and the robot B to finely adjust the positions of the robot A and the robot B, and the transmitting end and the receiving end are opposite;
the correlation type photoelectric sensor is provided with 2 groups, when the transmitting end and the receiving end of the 2 groups of correlation type photoelectric sensors are aligned, the second electric push rod stretches to enable the bottom plate A to be horizontally opposite to the bottom plate B, the third electric push rod stretches to enable the positioning rod to be inserted into the positioning hole, the fourth electric push rod further realizes locking of the robot A and the robot B, and after locking, the butt type robot continues to patrol along the track.
Preferably, the second camera is further used for collecting visual information of passing of the train, and when the controller judges that the train passes, the butt joint program of the robot A and the robot B is started;
the controller comprises a satellite positioning module, a control module, a data receiving and preprocessing module and a data analysis module, wherein the satellite positioning module is used for positioning the position of the robot A or the robot B, and the control module is used for controlling various actions of the robot A or the robot B;
the data receiving and preprocessing module is used for receiving, preprocessing and primarily identifying visual information or remote information, the data analyzing module is used for judging corrosion and damage of the railway track surface and satellite coordinate positions where the corrosion and damage are located according to the primarily identified information, and is also used for judging and analyzing instructions or information remotely sent by the railway track safety management center.
The butt-joint robot based on computer vision has the following beneficial effects:
the utility model can realize the whole-time period inspection of the railway track, can transmit the rust and crack information on the surface of the track to the railway track safety management center, realizes the automatic inspection and the management function of the Internet of things, and can greatly reduce the labor intensity of workers and improve the inspection efficiency. The butt-joint robot can be decomposed into the robot A and the robot B before the locomotive is started, the decomposed robot A and the decomposed robot B are separated from the track to avoid, and after the locomotive is started, the robot A and the robot B can return to the track and are in butt joint to form an integral structure to continue inspection, so that the operation safety of the railway track is ensured while the inspection work is finished.
Drawings
FIG. 1 is a schematic diagram of a front view of a docking robot in use;
FIG. 2 is a schematic side view of a butt robot according to the present utility model;
FIG. 3 is a schematic front view of the inner surface of the side plate of the docking robot;
fig. 4 is a schematic structural diagram of the butt-joint robot of the present utility model when the base plate a and the base plate B are butt-jointed;
FIG. 5 is a schematic structural diagram of the butt robot in the inspection process;
FIG. 6, a schematic view of the present utility model during the disengagement of robot A and robot B from each other;
1: bottom plate B,2: bottom plates a,3: side plate, 4: control box, 5: first electric putter, 6: walking wheels, 7: second servo motor, 8: mounting plate, 9: third servo motor, 10: lead screw, 11: weight beam, 12: second electric putter, 13: positioning blocks, 14: fourth electric putter, 15: third electric putter, 16: positioning rod, 17: second pressure sensor, 18: a second camera; 19: second camera (on second bottom plate), 20: fixing base, 21: transmitting end, 22: receiving end, 23: rail wheel, 24: first servo motor, 25: first camera, 26: rail, 27: and a wireless signal transceiver.
Detailed Description
The following detailed description of the embodiments of the present utility model in a stepwise manner is provided merely as a preferred embodiment of the present utility model, and is not intended to limit the scope of the present utility model, but any modifications, equivalents, improvements, etc. within the spirit and principles of the present utility model should be included in the scope of the present utility model.
In the description of the present utility model, it should be noted that, the positional or positional relationship indicated by the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, and specific orientation configuration and operation, and thus should not be construed as limiting the present utility model.
Example 1,
A railway track inspection method based on computer vision, as shown in fig. 1-6, comprises the following steps: the method comprises the steps of designing a butt joint type robot, wherein the butt joint type robot comprises a robot A and a robot B, and the robot A and the robot B are in butt joint on a railway track to form a 1-piece integral structure.
The integrated structure moves along the railway track and acquires visual information on the surface of the railway track through a first camera 25 arranged on the integrated structure, a controller, a storage battery and a wireless signal transceiver 27 are further arranged on the integrated structure, the controller is electrically connected with the storage battery and is in signal connection with the first camera and the wireless signal transceiver through wires, and the controller transmits rust or damage information on the identified surface of the railway track to a railway track safety management center through the wireless signal transceiver.
The railway track safety management center of the locomotive is used for transmitting information about passing the locomotive to the controller through the wireless signal transceiver in advance for a certain time, the controller breaks down the whole structure into a robot A and a robot B when receiving the signal about passing the locomotive, the broken-down robot A and the robot B respectively move out of the track through the moving mechanism, and the robot A and the robot B are both provided with a second camera.
The second camera is used for collecting visual information of the locomotive passing through and is connected with the controller through a wire in a signal mode, and the controller judges that after the locomotive passes through, the robot A and the robot B return to the track again and are in butt joint to form an integral structure to continue inspection.
EXAMPLE 2,
On the basis of the disclosure of embodiment 1, this embodiment is further disclosed as follows:
as shown in fig. 1-6, the controller includes a satellite positioning module, a control module, a data receiving and preprocessing module, and a data analysis module, wherein the satellite positioning module is used for positioning the position of the robot a or the robot B, the control module is used for controlling various actions of the robot a or the robot B, the data receiving and preprocessing module is used for receiving, preprocessing and primarily recognizing visual information or remote information, and the data analysis module is used for judging rust and damage on the surface of the railway track, and the satellite coordinate position where the rust and damage are located according to the primarily recognized information, and is also used for judging and analyzing instructions or information remotely sent by the railway track safety management center.
As shown in fig. 1-6, the robot a and the robot B are respectively used for inspecting the rail on one side or the other side of the railway track, and the robot a and the robot B are respectively used for inspecting rust or damage information on the surfaces of different rails.
As shown in fig. 1-6, the robots a and B are each configured with a controller and a moving mechanism, and the moving mechanism includes a first moving mechanism for moving on the surface of the rail and a second moving mechanism for moving the robot a or the robot B out of the rail.
As shown in fig. 1 to 6, the robot a and the robot B are further provided with a docking recognition mechanism, respectively, and when the robot a and the robot B are on the track again, the positions of the robot a and the robot B are recognized by the docking recognition mechanism and docking is completed, and the robot a and the robot B form an integral structure after docking.
As shown in fig. 1 to 6, the controller controls the second moving mechanism according to the information of the docking identifying mechanism to enable the robot a and the robot B to be in an aligned position, and the docking action of the robot a and the robot B is completed on the basis of the aligned position. And (5) continuing inspection after butt joint.
The method can be realized by robots with different structures and can realize the functions, and when the method is concretely implemented, a technician can specifically design the structure of the robot according to the thought of the method.
EXAMPLE 3,
The embodiment provides a docking robot capable of implementing the method described in embodiment 2 on the basis of embodiment 2, which specifically includes the following steps:
the utility model provides a butt joint formula robot based on computer vision, as shown in fig. 1-6, includes butt joint formula robot body, butt joint formula robot body include robot A and robot B, robot A and robot B all include the bottom plate, articulate in the curb plate 3 of bottom plate outside end, locate the first mobile mechanism in the bottom plate lower surface outside, first mobile mechanism be used for mutually supporting with 1 rail 26 among the railway track that patrols and examines, curb plate 3 surface be equipped with second mobile mechanism, second mobile mechanism be used for with robot A or robot B remove out of the track and adjust robot A or robot B's position.
The inner surface of curb plate 3 still be equipped with portable counter weight mechanism, bottom plate and curb plate 3 between realize gravity center regulation through portable counter weight mechanism's regulation, curb plate surface middle part all be equipped with control box 4, control box 4 install mutual electric connection's controller and battery (not shown in the figure), the bottom plate lower surface be equipped with docking identification mechanism, the bottom plate upper surface be equipped with wireless signal transceiver 27, the outside of bottom plate lower surface is equipped with the first camera 25 that is used for gathering rail surface visual information, the controller be configured to control first moving mechanism, second moving mechanism to respectively through wire and wireless signal transceiver 27, first camera 25, docking identification mechanism signal connection, robot A and robot B combine into 1 overall structure through positioning mechanism.
As shown in fig. 1 to 6, the robot a is configured with a base plate A2, the robot B is configured with a base plate B1, the first moving mechanism includes 2 rail wheels 23 mounted on the outer side end of the lower surface of the base plate A2 or the base plate B1, and the first camera 25 is disposed on the lower surface of the base plate a or the base plate B between the 2 rail wheels.
The lower surface of the bottom plate A or the bottom plate B near the position of the first camera 25 is also provided with an illuminating lamp (not shown in the figure, and the purpose is to realize shooting at night or in dim light), the track wheel is provided with a first servo motor 24, and the illuminating lamp and the first servo motor 24 are electrically connected with a controller of the robot A or the robot B through wires. Namely, the robot A and the robot B control the first servo motors on two sides to synchronously work so as to realize the movement of the whole structure of the butt-joint robot.
As shown in fig. 1-6, the second moving mechanism comprises a first electric push rod 5 fixedly arranged at four corners of the outer surface of the side plate 3, a fixed end 5 of the first electric push rod is fixedly connected with the outer surface of the side plate 3, a telescopic end is connected with travelling wheels 6, and each travelling wheel is provided with a second servo motor 7.
The first electric push rod 5 is arranged along the direction vertical to the outer surface of the side plate 3, and the first electric push rod 5 and the second servo motor 7 are respectively electrically connected with a controller of the robot A or the robot B through wires. When the 4 travelling wheels land, the 2 travelling wheels on one side rotate in the same direction, and the 2 travelling wheels on the other side are not moved, so that left-turning or right-turning actions can be realized; in order to facilitate the movement of the robot, the travelling wheels are arranged as Mecanum wheels.
Example 4, based on the disclosure of example 3, this example is further disclosed as follows
As shown in fig. 1-6, a second electric push rod 12 is respectively connected between the front end of the bottom plate and the front end of the side plate and between the rear end of the bottom plate and the rear end of the side plate, two ends of the second electric push rod 12 are respectively hinged with the front end and the rear end of the bottom plate or the side plate 3, the second electric push rod is electrically connected with a controller through a wire, and the controller judges the included angle between the bottom plate and the side plate according to the expansion and contraction amplitude of the second electric push rod 12; when the second electric push rod stretches to set amplitude, the inner surface of the side plate 3 and the upper surface of the bottom plate are in the same plane.
A first pressure sensor (not shown in the figure) is further installed between the fixed end of the first electric push rod and the outer surface of the side plate, the first pressure sensor is in signal connection with a corresponding controller through a wire, when the second electric push rod stretches but does not reach a set amplitude, the first pressure sensor detects a pressure signal, namely, at least part of the walking wheels are in contact with the ground (for example, the 2 first pressure sensors on the outer surface of the bottom plate, which is close to one side of the track, detect signals, namely, the walking wheels are in contact with the ground), at the moment, the controller controls the first electric push rod to shorten, the second electric push rod stretches in a matched mode in the process until the second electric push rod stretches to reach the set amplitude, the first electric push rod is locked, and the upper surface of the bottom plate and the inner surface of the side plate are coplanar.
When the second electric push rod stretches to a set amplitude, but the first pressure sensor does not detect a pressure signal, namely the walking wheel is in contact with the ground, the first electric push rod stretches until the first pressure sensor detects the pressure signal, the implementation mode adapts to the condition of uneven ground, and the inner surface of the side plate and the upper surface of the bottom plate can be controlled to be coplanar although the ground is uneven, so that conditions are provided for automatic accurate control.
As shown in fig. 1-6, the movable counterweight mechanism comprises a counterweight beam 11, a screw rod 10, a third servo motor 9 and a mounting plate 8, wherein the counterweight beam 11 is transversely arranged on the inner surface of the side plate 3, the screw rod 10 is respectively and longitudinally screwed at two ends of the counterweight beam 11, and the mounting plate 8 is rotatably connected at two ends of the screw rod 10.
The lower end of the mounting plate 8 is fixedly connected with the inner surface of the side plate 3, the third servo motor 9 is fixedly arranged on the outer surface of 1 mounting plate 8, the output shaft of the third servo motor 9 is fixedly connected with the end part of the screw rod 10, and the weight beam 11 is driven to move along the screw rod 10 through synchronous rotation of 2 third servo motors 9, so that the gravity center adjustment between the bottom plate and the side plate 3 is realized.
The third servo motor 9 is electrically connected with the corresponding controller through a wire, when all travelling wheels of the second travelling mechanism touch the ground and the robot A and the robot B are separated from each other, the third servo motor 9 rotates and drives the counterweight beam 11 to move to the side far away from the bottom plate, and then the second electric push rod 12 shortens to pull the bottom plate out of the rail, namely, the lever principle; then, robot a or robot B is moved to a position at a safe distance from the inspected rail by rotation of 4 traveling wheels of the second moving mechanism. On the contrary, as shown in fig. 5, when the docking robot is patrolled and examined on the track, in order to increase stability, the weight beam can be moved to the side plate inner surface near one side of the bottom plate by the inward folding angle of the 2 side plates.
As shown in fig. 1-6, the upper surface of the bottom plate A2 is provided with a positioning block 13, the upper surface of the bottom plate B1 opposite to the positioning block 13 is provided with a third electric push rod 15, the outer surface of the positioning block 13 is provided with a positioning hole (not labeled in the figure), the telescopic end of the third electric push rod 15 is fixedly connected with a positioning rod 16, and the positioning rod 16 is matched with the positioning hole for use.
The locating rod 16 upper end be equipped with the fixed orifices (not marked in the figure), the locating hole upper wall be equipped with the slide hole (not marked in the figure) that link up locating piece 13 top, locating piece 13 upper surface fixedly connected with fourth electric putter 14 that slide hole top is located, the flexible end fixedly connected with locating pin (not marked in the figure) of fourth electric putter 14, locating pin and fixed orifices cooperation use, third electric putter 15, fourth electric putter 14 be connected with corresponding controller electricity through the wire respectively.
As shown in fig. 1-6, the number of the third electric push rod 15, the fourth electric push rod 14 and the positioning holes is 2, the bottom in the positioning hole is also provided with a second pressure sensor 17, the second pressure sensor 17 is in signal connection with a corresponding controller, when the 2 second pressure sensors 17 detect pressure signals, the positioning rod is inserted into the positioning hole in place, the controller provided with one side of the second pressure sensor controls the fourth electric push rod 14 to act and inserts the positioning pin into the fixing hole, and at this time, the robot a and the robot B form an integral structure.
As shown in fig. 1-6, the lower surfaces of the bottom plate A2 and the bottom plate B1 are located at the same opposite position, and the second cameras 18 are arranged along the direction perpendicular to the lower surface of the bottom plate A2 or the bottom plate B1, and when the robot a and the robot B are separated from each other and the locomotive has run, the robot a and the robot B respectively adjust the respective bottom plates to an angle of 90 degrees with the side plates.
The controller judges whether the robot A and the robot B are approximately aligned through the images acquired by the 2 second cameras 18, when the 2 controllers judge that the images acquired by the 2 second cameras 18 are consistent and the 2 second cameras are opposite to each other, the robot A and the robot B are approximately aligned, and at the moment, the second moving mechanism acts to enable the robot A and the robot B to move a certain distance in a direction approaching to the track.
As shown in fig. 1-6, the lower surface of the bottom plate A2 or the bottom plate B1 is respectively provided with a transmitting end 21 and a receiving end 22 of an opposite-type photoelectric sensor, the transmitting end 21 or the receiving end 22 is respectively connected with a corresponding controller signal, the lower surface of the bottom plate A2 or the bottom plate B1 is provided with a laser ranging sensor, when the laser ranging sensor detects that the distance between the robot a and the robot B reaches a preset certain distance (namely, the distance between the detection and the opposite-side bottom plate) is met, the second moving mechanism controls the robot a and the robot B to finely adjust the positions of the robot a and the robot B, the transmitting end and the receiving end are opposite, the opposite-type photoelectric sensor is provided with 2 groups, when the transmitting end and the receiving end of the 2 groups of opposite-type photoelectric sensor are opposite, the second electric push rod 12 extends to enable the bottom plate a and the bottom plate B to be horizontally opposite, the third electric push rod extends to insert a positioning rod into a positioning hole, and the fourth electric push rod further realizes locking of the robot a and the robot B, and after locking, the robot a and the robot B continue inspection along a track of the opposite-type robot.
As shown in fig. 1-6, the second camera 18 is further configured to collect visual information of the passing train, and when the controller determines that the train has passed, the controller starts the docking procedure of the robot a and the robot B.
It should be noted that, the electric push rod in the technical scheme of the utility model can be replaced by other devices which can realize the same function, such as a cylinder and a hydraulic cylinder.
Claims (10)
1. The utility model provides a butt joint type robot based on computer vision which characterized in that: comprises a butt joint type robot body;
the butt joint type robot body comprises a robot A and a robot B, wherein the robot A and the robot B comprise a bottom plate, side plates hinged to the outer side ends of the bottom plate and a first moving mechanism arranged on the outer side of the lower surface of the bottom plate;
the first moving mechanism is used for being matched with 1 railway track in the railway track to be inspected, and the outer surface of the side plate is provided with a second moving mechanism;
the second moving mechanism is used for moving the robot A or the robot B out of the track and adjusting the position of the robot A or the robot B, the inner surface of the side plate is also provided with a movable weight mechanism, and the center of gravity is adjusted between the bottom plate and the side plate through the adjustment of the movable weight mechanism;
the middle part of the outer surface of the side plate is provided with a control box, and the control box is provided with a controller and a storage battery which are electrically connected with each other;
the lower surface of the bottom plate is provided with a butt joint recognition mechanism, the upper surface of the bottom plate is provided with a wireless signal transceiver, and the outer side of the lower surface of the bottom plate is provided with a first camera for acquiring visual information of the surface of the rail;
the controller is configured to control the first moving mechanism and the second moving mechanism, and is respectively connected with the wireless signal receiving and transmitting device, the first camera and the docking identification mechanism through wires in a signal mode, and the robot A and the robot B are combined into 1 integral structure through the positioning mechanism.
2. A computer vision based docking robot as recited in claim 1, wherein: the robot A is provided with a bottom plate A, the robot B is provided with a bottom plate B, and the first moving mechanism comprises 2 rail wheels arranged at the outer side end of the lower surface of the bottom plate A or the bottom plate B;
the first camera is arranged on the lower surface of the bottom plate A or the bottom plate B between the 2 track wheels, and a lighting lamp is further arranged on the lower surface of the bottom plate A or the bottom plate B near the position where the first camera is positioned;
the track wheel is provided with a first servo motor, and the illuminating lamp and the first servo motor are electrically connected with a controller of the robot A or the robot B through wires.
3. A computer vision based docking robot as recited in claim 2, wherein: the second moving mechanism comprises first electric push rods fixedly arranged at four corners of the outer surface of the side plate;
the fixed end of the first electric push rod is fixedly connected with the outer surface of the side plate, the telescopic end is connected with travelling wheels, and each travelling wheel is provided with a second servo motor;
the first electric push rod is arranged along the direction perpendicular to the outer surface of the side plate, and the first electric push rod and the second servo motor are electrically connected with a controller of the robot A or the robot B respectively through wires.
4. A computer vision based docking robot as recited in claim 3, wherein: a second electric push rod is respectively connected between the front end of the bottom plate and the front end of the side plate and between the rear end of the bottom plate and the rear end of the side plate;
the two ends of the second electric push rod are respectively hinged with the front end and the rear end of the bottom plate or the side plate, and the second electric push rod is electrically connected with the controller through a wire;
the controller judges the included angle between the bottom plate and the side plate according to the telescopic amplitude of the second electric push rod; when the second electric push rod stretches to set the amplitude, the inner surface of the side plate and the upper surface of the bottom plate are in the same plane, and a first pressure sensor is arranged between the fixed end of the first electric push rod and the outer surface of the side plate;
the first pressure sensor is in signal connection with the corresponding controller through a wire, when the second electric push rod stretches but does not reach the set amplitude, and the first pressure sensor detects a pressure signal, namely, at least part of the travelling wheels are in contact with the ground, at the moment, the controller controls the first electric push rod to shorten, the second electric push rod stretches in a matched mode in the process until the second electric push rod stretches to reach the set amplitude, at the moment, the first electric push rod is locked, and the upper surface of the bottom plate and the inner surface of the side plate are coplanar; when the second electric push rod is extended to a set amplitude, but the first pressure sensor does not detect the pressure signal, the first electric push rod is extended until the first pressure sensor detects the pressure signal.
5. A computer vision based docking robot as recited in claim 4, wherein: the movable counterweight mechanism comprises a counterweight beam, a screw rod, a third servo motor and a mounting plate, wherein the counterweight beam is transversely arranged on the inner surface of the side plate, and the screw rods are respectively and longitudinally screwed at two ends of the counterweight beam;
the two ends of the screw rod are rotationally connected with mounting plates, the lower ends of the mounting plates are fixedly connected with the inner surfaces of the side plates, the third servo motor is fixedly arranged on the outer surfaces of 1 mounting plates, the output shaft of the third servo motor is fixedly connected with the end parts of the screw rod, and the weight beam is driven to move along the screw rod through synchronous rotation of the 2 third servo motors, so that the gravity center between the bottom plate and the side plates is adjusted;
the third servo motor is electrically connected with the corresponding controller through a wire, when all travelling wheels of the second travelling mechanism touch the ground and the robot A and the robot B are separated from each other, the third servo motor rotates and drives the counterweight beam to move to the side far away from the bottom plate, then the second electric push rod shortens to pull the bottom plate to separate from the rail, and then under the rotation of 4 travelling wheels of the second travelling mechanism, the robot A or the robot B moves to a position keeping a safe distance from the inspected rail.
6. A computer vision based docking robot as recited in claim 5, wherein: the upper surface of the bottom plate A is provided with a positioning block, the upper surface of the bottom plate B opposite to the positioning block is provided with a third electric push rod, and the outer surface of the positioning block is provided with a positioning hole;
the telescopic end of the third electric push rod is fixedly connected with a positioning rod, the positioning rod is matched with the positioning hole for use, and the upper end of the positioning rod is provided with a fixing hole;
the locating device is characterized in that a sliding hole penetrating through the top end of the locating block is formed in the upper wall of the locating hole, a fourth electric push rod is fixedly connected to the upper surface of the locating block where the top end of the sliding hole is located, a locating pin is fixedly connected to the telescopic end of the fourth electric push rod, the locating pin is matched with the fixing hole for use, and the third electric push rod and the fourth electric push rod are respectively and electrically connected with corresponding controllers through wires.
7. A computer vision based docking robot as recited in claim 6, wherein: the third electric putter, fourth electric putter, locating hole have 2 respectively, the locating hole in the bottom still be equipped with second pressure sensor, second pressure sensor and corresponding controller signal connection, when 2 second pressure sensor detected pressure signal, represent locating lever insert the locating hole in place, the controller that is equipped with second pressure sensor one side controls fourth electric putter action and inserts the locating pin in the fixed orifices, at this moment, robot A and robot B constitute overall structure.
8. A computer vision based docking robot as recited in claim 7, wherein: the lower surfaces of the bottom plate A and the bottom plate B are positioned at the same relative position, and second cameras are arranged along the direction perpendicular to the lower surface of the bottom plate A or the bottom plate B;
when the robot A and the robot B are separated from each other and the locomotive has travelled, the robot A and the robot B respectively adjust the bottom plates to form an angle of 90 degrees with the side plates, the controller judges whether the robot A and the robot B are approximately aligned through the images acquired by the 2 second cameras, and when the 2 controllers judge that the images acquired by the 2 second cameras are consistent and the 2 second cameras are aligned with each other, the robot A and the robot B are approximately aligned, and at the moment, the second moving mechanism acts to enable the robot A and the robot B to move a certain distance towards the direction approaching the track.
9. A computer vision based docking robot as recited in claim 8, wherein: the lower surface of the bottom plate A or the bottom plate B is respectively provided with a transmitting end and a receiving end of the correlation photoelectric sensor, and the transmitting end or the receiving end is respectively connected with a corresponding controller through signals;
the lower surface of the bottom plate A or the bottom plate B is provided with a laser ranging sensor, and when the laser ranging sensor detects that the distance between the robot A and the robot B reaches a preset certain distance, the second moving mechanism controls the robot A and the robot B to finely adjust the positions of the robot A and the robot B, and the transmitting end and the receiving end are opposite;
the correlation type photoelectric sensor is provided with 2 groups, when the transmitting end and the receiving end of the 2 groups of correlation type photoelectric sensors are aligned, the second electric push rod stretches to enable the bottom plate A to be horizontally opposite to the bottom plate B, the third electric push rod stretches to enable the positioning rod to be inserted into the positioning hole, the fourth electric push rod further realizes locking of the robot A and the robot B, and after locking, the butt type robot continues to patrol along the track.
10. A computer vision based docking robot as recited in claim 9, wherein: the second camera is also used for collecting visual information of passing of the train, and when the controller judges that the train passes, the butt joint program of the robot A and the robot B is started;
the controller comprises a satellite positioning module, a control module, a data receiving and preprocessing module and a data analysis module, wherein the satellite positioning module is used for positioning the position of the robot A or the robot B, and the control module is used for controlling various actions of the robot A or the robot B;
the data receiving and preprocessing module is used for receiving, preprocessing and primarily identifying visual information or remote information, the data analyzing module is used for judging corrosion and damage of the railway track surface and satellite coordinate positions where the corrosion and damage are located according to the primarily identified information, and is also used for judging and analyzing instructions or information remotely sent by the railway track safety management center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310792087.XA CN116728378A (en) | 2023-06-30 | 2023-06-30 | Butt-joint robot based on computer vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310792087.XA CN116728378A (en) | 2023-06-30 | 2023-06-30 | Butt-joint robot based on computer vision |
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| CN116728378A true CN116728378A (en) | 2023-09-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310792087.XA Withdrawn CN116728378A (en) | 2023-06-30 | 2023-06-30 | Butt-joint robot based on computer vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117823753A (en) * | 2024-03-06 | 2024-04-05 | 济宁市特种设备检验研究院 | Pipeline nondestructive testing crawling robot and detection method |
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2023
- 2023-06-30 CN CN202310792087.XA patent/CN116728378A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117823753A (en) * | 2024-03-06 | 2024-04-05 | 济宁市特种设备检验研究院 | Pipeline nondestructive testing crawling robot and detection method |
| CN117823753B (en) * | 2024-03-06 | 2024-05-14 | 济宁市特种设备检验研究院 | Pipeline nondestructive testing crawling robot and detection method |
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