城市轨道交通车辆智能巡检机器人定位系统

Intelligent Inspection Robot Positioning System for Vehicles of Urban Rail Transit

解决机器人在股道地沟内相对于城市轨道交通列车的定位问题,是将机器人应用于轨道交通日常巡检业务的基础条件。针对地沟高低起伏、新旧车辆车轮磨损不同以及列车停车位置变化等原因所导致的巡检机器人定位误差,首先通过定位相机实现机器人初步定位,然后分别利用反光贴对机器人X,Y方向定位误差补偿,利用二维码及二维码相机对Z方向进行补偿,使机器人准确到达每一个位置点,完成待检修零部件的图像采集工作。通过获取巡检任务时机器人在各个巡检点的坐标数据,对比分析可知机器人定位稳定,满足日常作业使用要求,机器人借助股道内的举升装置能够自动进出股道地沟,根据检修平台下发的检修指令不同,能够对不同股道上方城轨车辆开展智能巡检任务。

Solving the robot positioning problem relative to urban rail transit vehicles in track trenches is the basic condition for applying robots to the daily inspection business of rail transit. The positioning errors of inspection robots are mainly caused by the undulating height of trenches, varied wear of new and old vehicle wheels, and change in the stopping positions of vehicles. Given these errors, the initial positioning of a robot was realized first by the positioning camera. Then, the positioning errors of the robot in the X and Y directions were compensated for by reflective stickers,and the QR(quick response) code and the QR code camera were used to compensate for that in the Z direction. In this way, the robot could accurately reach each position point and complete the image acquisition of the parts to be overhauled. The coordinate data of each inspection point during the inspection task were obtained, and the comparative analysis shows that the robot positioning is stable and meets the requirements of daily operation. With the help of the lifting device, the robot can automatically enter and exit the track trench. Depending on the maintenance instructions issued by the maintenance platform, it can carry out intelligent inspection tasks on urban rail vehicles above different tracks.