CN212887594U

CN212887594U - Warehouse inspection robot

Info

Publication number: CN212887594U
Application number: CN202020865002.8U
Authority: CN
Inventors: 李柏毅
Original assignee: Harbin Kejia General Mechanical and Electrical Co Ltd
Current assignee: Harbin Kejia General Mechanical and Electrical Co Ltd
Priority date: 2020-05-21
Filing date: 2020-05-21
Publication date: 2021-04-06
Anticipated expiration: 2030-05-21

Abstract

A warehouse inspection robot relates to the technical field of rail vehicle detection. The utility model relates to a solve the trackless check out test set and stop the problem that motion positioning accuracy is low. The warehouse inspection robot is characterized in that the bottom of the warehouse inspection robot is a trolley capable of freely walking, when the trolley moves to a set position, deviation and characteristic diagrams of the trolley and the bottom of the trolley are collected, an offset is obtained by means of an image recognition technology, and then the position of a fixed-point scanning assembly is compensated through a mechanical arm and a three-dimensional sliding table, so that position errors caused by stopping of the trolley are compensated, and the purpose of improving detection precision is finally achieved.

Description

Warehouse inspection robot

Technical Field

The utility model belongs to the technical field of rail vehicle detects.

Background

At present, in China, a camera is usually used for photographing to acquire image information of a rail vehicle to be detected aiming at detection equipment of the rail vehicle in a garage. When the vehicle is shot, the detected rail vehicle is parked on the rail, and the camera assembly is installed on the detection equipment and scans the detected rail vehicle. Because the precision requirement to the photo that takes is higher, so the check out test set of installation image acquisition equipment all need walk on the track of installing for its special use to improve the precision of shooing. The installation tracks are required to carry out earthwork construction on the built garage, one track can only be provided with one detection device, each maintenance line is required to be provided with one track and one set of detection device for the garage with a plurality of maintenance lines, and the installation is complicated and the cost is high.

The trackless detection equipment does not need to be provided with a track, and the movement flexibility is high during detection. However, this also results in low positioning accuracy of the trackless detection apparatus, and it is difficult to ensure the accuracy of the stop position.

SUMMERY OF THE UTILITY MODEL

The utility model relates to a solve the trackless check out test set and stop the problem that motion positioning accuracy is low, provide a warehouse inspection robot with stop position compensation function now.

A stock inspection robot, comprising: wheeled motion, N detection group, quick scanning subassembly and controller, every detection group includes: the device comprises a three-dimensional sliding table, a mechanical arm, a fixed point scanning assembly and a visual positioning assembly, wherein N is 1, 2 or 3;

the N detection groups, the fast scanning assembly and the controller are all fixed on the wheel type movement mechanism,

in each detection group, a mechanical arm is fixed on the motion end of a three-dimensional sliding table, so that the three-dimensional sliding table can drive the mechanical arm thereon to make linear motion along three mutually perpendicular directions, a fixed point scanning assembly is fixed at the free end of the mechanical arm, and a visual positioning assembly is fixed on the fixed point scanning assembly;

the fixed point scanning assembly and the rapid scanning assembly are used for collecting images of the bottom of a detected rail vehicle, an image output end of the fixed point scanning assembly and an image output end of the rapid scanning assembly are simultaneously connected with an image input end of the controller, the visual positioning assembly is used for collecting characteristic images of characteristic points of the bottom of the detected rail vehicle and the distance from the fixed point scanning assembly to the bottom of the detected rail vehicle, a distance output end of the visual positioning assembly is connected with a distance input end of the controller, a characteristic image output end of the visual positioning assembly is connected with a characteristic image input end of the controller, and a driving signal output end of the controller is connected with a driving signal input end of the three-dimensional sliding table, the characteristic points are stopping points of the warehouse inspection robot relative to the inspected vehicle, the standard distance is stored in the controller, and the controller drives the three-dimensional sliding table to compensate the positions from the fixed point scanning assembly to the characteristic points according to the standard distance and the characteristic images.

Above-mentioned wheeled motion is the trolley-bus dolly, trolley-bus dolly upper surface is the rectangular plate, and when N equals 1, the detection group is fixed in the one end of rectangular plate, and when N equals 2, 2 detection groups are fixed respectively at the both ends of rectangular plate, and when N equals 3, 3 detection groups are fixed respectively at the both ends and the intermediate position of rectangular plate.

The three-dimensional sliding table comprises: the device comprises a longitudinal horizontal movement mechanism, a vertical movement mechanism and a transverse horizontal movement mechanism; the longitudinal horizontal movement mechanism is fixed on the rectangular plate, the vertical movement mechanism is fixed on the sliding end of the longitudinal horizontal movement mechanism, the transverse horizontal movement mechanism is fixed on the sliding end of the vertical movement mechanism, the sliding end of the longitudinal horizontal movement mechanism can slide along the length direction of the rectangular plate, the sliding end of the vertical movement mechanism can slide along the direction perpendicular to the rectangular plate, and the transverse horizontal movement mechanism can slide along the width direction of the rectangular plate.

The controller includes: the device comprises a comparator, an image recognition chip and a driving circuit, wherein a standard distance is stored in the comparator, the distance output end of the visual positioning assembly is connected with the signal input end of the comparator, the characteristic image output end of the visual positioning assembly is connected with the image input end of the image recognition chip, the control signal output end of the image recognition chip is connected with the control signal input end of the driving circuit, and the driving signal output end of the driving circuit is connected with the driving signal input end of the three-dimensional sliding table.

A storehouse inspection robot, the dolly of bottom for can freely walking, when the dolly removes the settlement position, gather the deviation and the characteristic map of dolly and vehicle bottom, utilize image recognition technique to obtain the offset, and then compensate the position of fixed point scanning subassembly through manipulator and three-dimensional slide platform to the compensation dolly stops the position error who brings, finally reaches the purpose that improves the detection precision.

And simultaneously, because the utility model discloses under the condition of guaranteeing the precision of shooing, need not lay the track in overhauing the place to one set of system can be shared to many detection lines, has reduced the site operation degree of difficulty and use cost, is applicable to and detects rail vehicle.

Drawings

Fig. 1 is a schematic structural diagram of a warehouse inspection robot.

Detailed Description

The first embodiment is as follows: specifically, the present embodiment will be described with reference to fig. 1, and the inventory inspection robot according to the present embodiment includes: the device comprises a wheel type motion mechanism 1, N detection groups, a quick scanning assembly 8, a stable platform 9 and a controller 10, wherein N is 1, 2 or 3.

The wheel type movement mechanism 1 is a trackless trolley and can freely walk on the common ground without installing a track. The trackless trolley upper surface is the rectangular plate, and N detection group, stabilized platform 9 and controller 10 are all fixed on the rectangular plate, and quick scanning subassembly 8 is fixed on stabilized platform 9, and stabilized platform 9 can measure the angle of pitch and the roll angle that wheeled motion 1 produced because the ground is uneven to compensate. Specifically, in practical application, the stabilization platform 9 is implemented by adopting a three-degree-of-freedom parallel structure.

Each detection group includes: three-dimensional slip table, arm 5, fixed point scanning subassembly 6, vision locating component 7, three-dimensional slip table includes: a longitudinal horizontal movement mechanism 2, a vertical movement mechanism 3 and a transverse horizontal movement mechanism 4;

the longitudinal horizontal movement mechanism 2 is fixed on the rectangular plate, the vertical movement mechanism 3 is fixed on the sliding end of the longitudinal horizontal movement mechanism 2, the transverse horizontal movement mechanism 4 is fixed on the sliding end of the vertical movement mechanism 3, the sliding end of the longitudinal horizontal movement mechanism 2 can slide along the length direction of the rectangular plate, the sliding end of the vertical movement mechanism 3 can slide along the direction perpendicular to the rectangular plate, and the transverse horizontal movement mechanism 4 can slide along the width direction of the rectangular plate;

the mechanical arm 5 is fixed on the moving end of the transverse horizontal moving mechanism 4, so that the mechanical arm 5 can do linear motion along three mutually perpendicular directions, the fixed point scanning assembly 6 is fixed at the free end of the mechanical arm 5, and the visual positioning assembly 7 is fixed on the fixed point scanning assembly 6.

The fixed point scanning assembly 6 and the rapid scanning assembly 8 are both used for collecting images of the bottom of the detected rail vehicle, and an image output end of the fixed point scanning assembly 6 and an image output end of the rapid scanning assembly 8 are simultaneously connected with an image input end of the controller 10. The visual positioning assembly 7 is used for collecting a characteristic image at a characteristic point at the bottom of the detected rail vehicle and the distance from the fixed-point scanning assembly 6 to the bottom of the detected rail vehicle, the characteristic image output end of the visual positioning assembly 7 is connected with the characteristic image input end of the controller 10, the characteristic point is a stop point of the library inspection robot relative to the detected vehicle, and the driving signal output end of the controller 10 is connected with the driving signal input end of the three-dimensional sliding table.

Specifically, the controller includes: a comparator, an image recognition chip and a drive circuit, wherein the comparator stores a standard distance, the distance output end of the visual positioning component is connected with the signal input end of the comparator,

the characteristic image output end of the visual positioning assembly is connected with the image input end of the image recognition chip, the control signal output end of the image recognition chip is connected with the control signal input end of the driving circuit, and the driving signal output end of the driving circuit is connected with the driving signal input end of the three-dimensional sliding table.

The specific working principle of the warehouse inspection robot is as follows:

after shooting the characteristic points at the bottom of the detected rail vehicle, the visual positioning component 7 transmits image information containing the characteristic points to the controller 10, the controller 10 judges the deviation distance of the library inspection robot relative to the expected stopping point by using an image recognition technology, the distance comprises longitudinal deviation (deviation in the advancing direction) and transverse deviation, and after the deviation amount is obtained, the errors generated when the wheel type moving mechanism 1 advances and stops are compensated by respectively controlling the longitudinal horizontal moving mechanism 2 and the transverse horizontal moving mechanism 4 to do linear motion; the vision positioning assembly 7 is also used for identifying the distance between the fixed point scanning assembly 6 and the bottom of the measured rail vehicle, transmitting the distance to the controller 10, comparing the distance with the standard height, and then realizing height compensation through the movement of the vertical movement mechanism 3.

The comparator compares the acquired distance with a standard distance, and belongs to the conventional application of the comparator. Meanwhile, the recognition of images by an image recognition chip is also a common application of the image recognition chip. The longitudinal horizontal movement mechanism 2, the vertical movement mechanism 3 and the transverse horizontal movement mechanism 4 are all driven by controlling a servo motor through the controller 10, the absolute position of the current mechanism can be recorded, and the controller 10 combines the position information of the servo motor with the position information obtained after the visual positioning assembly 7 identifies to form closed-loop control.

In practical application, when N is 1, the detection groups are fixed at one end of the rectangular plate, when N is 2, 2 detection groups are respectively fixed at two ends of the rectangular plate, and when N is 3, 3 detection groups are respectively fixed at two ends and a middle position of the rectangular plate. When N is 2 or 3, the detection group is a straight line or staggered, and the staggered arrangement can compensate the deficiency of the photographing range of the visual positioning component 7 in the width direction. The mechanical arm 5 adopts a cooperative mechanical arm and has a torque measurement function and a protection function. The mechanical arm 5 works simultaneously when the wheel type movement mechanism 1 stops, and the detection efficiency is improved.

Claims

1. A stock inspection robot, comprising: wheeled motion (1), N detection group, quick scanning subassembly (8) and controller (10), each detection group includes: the device comprises a three-dimensional sliding table, a mechanical arm (5), a fixed point scanning assembly (6) and a visual positioning assembly (7), wherein N is 1, 2 or 3;

the N detection groups, the fast scanning assembly (8) and the controller (10) are all fixed on the wheel type movement mechanism (1),

in each detection group, a mechanical arm (5) is fixed on the motion end of a three-dimensional sliding table, so that the three-dimensional sliding table can drive the mechanical arm (5) on the three-dimensional sliding table to make linear motion along three mutually perpendicular directions, a fixed point scanning assembly (6) is fixed at the free end of the mechanical arm (5), and a visual positioning assembly (7) is fixed on the fixed point scanning assembly (6);

the fixed point scanning assembly (6) and the rapid scanning assembly (8) are used for collecting images of the bottom of a detected rail vehicle, an image output end of the fixed point scanning assembly (6) and an image output end of the rapid scanning assembly (8) are simultaneously connected with an image input end of the controller (10), the visual positioning assembly (7) is used for collecting characteristic images of characteristic points of the bottom of the detected rail vehicle and the distance from the fixed point scanning assembly (6) to the bottom of the detected rail vehicle, a distance output end of the visual positioning assembly (7) is connected with a distance input end of the controller (10), a characteristic image output end of the visual positioning assembly (7) is connected with a characteristic image input end of the controller (10), a driving signal output end of the controller (10) is connected with a driving signal input end of the three-dimensional sliding table, the characteristic points are stopping points of the library detection robot relative to the detected rail vehicle, and standard distances are stored in the controller (10), the controller (10) drives the three-dimensional sliding table to compensate the position from the fixed point scanning assembly (6) to the characteristic point according to the standard distance and the characteristic image.

2. The warehouse inspection robot according to claim 1, further comprising a stabilization platform (9), wherein the fast scanning assembly (8) is fixed on the wheel-type moving mechanism (1) through the stabilization platform (9), and the stabilization platform (9) is a three-degree-of-freedom parallel structure.

3. The warehouse inspection robot according to claim 1, wherein the wheeled movement mechanism (1) is a trackless cart.

4. The warehouse inspection robot as claimed in claim 3, wherein the upper surface of the trackless trolley is a rectangular plate,

when N is 1, the detection group is fixed at one end of the rectangular plate,

when N is 2, 2 detection groups are respectively fixed at two ends of the rectangular plate,

when N is 3, 3 detection groups are respectively fixed at two ends and the middle position of the rectangular plate.

5. The library inspection robot of claim 4, wherein the three-dimensional slide table comprises: a longitudinal horizontal movement mechanism (2), a vertical movement mechanism (3) and a transverse horizontal movement mechanism (4);

the longitudinal horizontal movement mechanism (2) is fixed on the rectangular plate, the vertical movement mechanism (3) is fixed on the sliding end of the longitudinal horizontal movement mechanism (2), the transverse horizontal movement mechanism (4) is fixed on the sliding end of the vertical movement mechanism (3),

the sliding end of the longitudinal horizontal movement mechanism (2) can slide along the length direction of the rectangular plate, the sliding end of the vertical movement mechanism (3) can slide along the direction vertical to the rectangular plate, and the transverse horizontal movement mechanism (4) can slide along the width direction of the rectangular plate.

6. A library inspection robot according to claim 5, characterised in that the controller (10) comprises: a comparator, an image recognition chip and a drive circuit, wherein the comparator stores a standard distance,

the distance output end of the visual positioning component (7) is connected with the signal input end of the comparator,

the characteristic image output end of the visual positioning assembly (7) is connected with the image input end of the image recognition chip, the control signal output end of the image recognition chip is connected with the control signal input end of the driving circuit, and the driving signal output end of the driving circuit is connected with the driving signal input end of the three-dimensional sliding table.