The invention discloses an intelligent water feeding robot system for a passenger train and a water feeding control method of the intelligent water feeding robot system. The system comprises a water injection nozzle 1, a mechanical arm robot 2, a water injection nozzle grabbing jig 3, a 3D depth camera 4, an intelligent control electric box 5, a track 8, a track trolley 6 and a track trolley limiting device 7. The intelligent water feeding control method comprises the following steps that a rail trolley 6 is started, after a 3D depth camera 4 recognizes a train water injection opening 91, the rail trolley 6 stops, the 3D depth camera 4 gives the coordinate position of the train water injection opening 91, a water injection nozzle 1 is inserted into the train water injection opening 91 and tightly holds the train water injection opening 91, and a water injection nozzle grabbing jig 3 is separated from the water injection nozzle 1; the rail trolley 6 starts the 3D depth camera 4 and stops when recognizing a train overflow port 92, and the water injection nozzle 1 begins to inject water; and when the 3D depth camera 4 recognizes that water overflows from the train overflow port 92, water injection of the water injection nozzle 1 is closed, residual water in the water injection pipeline is pumped back, the rail trolley 6 returns to the position of the train water injection port 91, the water injection nozzle 1 is taken back by the water injection nozzle grabbing jig 3, and the rail trolley 6 returns to the original safe standby position. According to the water feeding robot system, the problem of accurately recognizing a target object indoors and outdoors can be solved, water is supplemented according to the amount of water needing to be supplemented by a train, the mechanical arm robot 2 and the water injection nozzle 1 are designed to be separated, the mechanical arm robot 2 can be expanded to complete more work tasks, and the cost performance of a product is improved.
本发明公开了一种旅客列车智能上水机器人系统及其上水控制方法,该系统包括:注水嘴1、机械臂机器人2、注水嘴抓取治具3和3D深度相机4、智能控制电箱5、轨道8、轨道小车6和轨道小车限定装置7;该智能上水控制方法包括如下步骤:轨道小车6启动,3D深度相机4识别到列车注水口91后轨道小车6停止,3D深度相机4给出列车注水口91坐标位置,注水嘴1插入列车注水口91并抱紧,注水嘴抓取治具3与注水嘴1分离,轨道小车6启动3D深度相机4识别到列车溢水口92时停止,注水嘴1开始注水;当3D深度相机4识别到列车溢水口92溢水时关闭注水嘴1注水并回抽注水管道余水,轨道小车6重回到列车注水口91位置,注水嘴抓取治具3取回注水嘴1,轨道小车6重回至原始安全待机位置。本发明的上水机器人系统能解决室内、室外精准识别目标物的难题,解决了根据列车需补水量大小进行补水,机械臂机器人2与注水嘴1分离的设计,使机械臂机器人2能够扩展完成更多的工作任务,提高了产品性价比。
Intelligent water feeding robot system for passenger train and water feeding control method of intelligent water feeding robot system
旅客列车智能上水机器人系统及其上水控制方法
2024-04-26
Patent
Electronic Resource
Chinese
IPC: | B61K Andere Hilfseinrichtungen für Eisenbahnen , OTHER AUXILIARY EQUIPMENT FOR RAILWAYS |
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