智能巡检机器人在地铁检修库内的可行性应用  

作　　者：曹巍 周治宇 刘辉 杨松丽 徐淼 夏密秘 朱冬 

机构地区：[1]成都川哈工机器人及智能装备产业技术研究院有限公司,成都610095

出　　处：《科技创新与应用》2023年第23期54-57,共4页Technology Innovation and Application

基　　金：四川省科技计划项目(2021YFG0197);四川省科技计划项目(2022YFG0250);四川省科技计划项目(2023YFG0194)。

摘　　要：该文针对目前地铁车辆检修任务日益繁重的痛点,设计使用图像特征分析识别、深度学习、导航调度和机器人控制等技术的智能巡检机器人,研究其在地铁检修库内进行自动检修的可行性应用。通过对列车底部及侧面转向架、牵引逆变箱、蓄电池箱和辅助逆变器箱等关键设备的自动巡检,探索提高检修效率、降低工作强度和提高准确率的方法,并总结分析目前影响机器人检测的主要因素及优化方法。Aiming at the increasingly onerous pain points of subway vehicle maintenance task,this paper designs an intelligent patrol robot which uses image feature analysis and recognition,deep learning,navigation scheduling and robot control technology.The feasibility of automatic maintenance in subway maintenance depot is studied.Through the automatic inspection of the key equipment such as the bottom and side bogies of the train,the traction inverter box,the battery box and the auxiliary inverter box,this paper explores the methods to improve the maintenance efficiency,reduce the work intensity and improve the accuracy.The main factors affecting robot detection and optimization methods are summarized and analyzed.

关 键 词：地铁 智能检修 AGV导航 视觉识别 机器臂 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]