In the scene of rail transit operation and maintenance, accuracy is the bottom line of safety.

Many people think that the train inspection robot is just an automatic device that "runs after power on and leaves after filming", but people who really understand the industry know that simple running is meaningless, and stable, accurate and highly consistent repeated inspection is the core hard power.

The same track, the same car, the same parts, the shooting positions of today and tomorrow need to be highly consistent, so that data can be compared, hidden dangers can be traced back, and operation and maintenance can be accurate.

To do this, it is far from enough to rely on a single navigation and positioning technology.

KING YOUNG's train inspection robot, from start-up and standby to inspection and return, through multi-sensor collaborative sensing and multi-layer technology linkage such as positioning, navigation and terminal compensation, finally achieves millimeter-level operation accuracy and maintains a highly consistent repeated inspection effect.

Today, in the vernacular that everyone can understand, the operational logic of this set of automatic and high-precision inspection is dismantled.

First, boot positioning: power on and start, and determine your own position.

Ordinary people work = work directly. Our robot is turned on = "self-positioning and status confirmation" first.

At the moment when the robot is powered on, the whole sensing system wakes up instantly, and multiple devices start working synchronously:

IMU (Inertial Measurement Unit) and wheeled odometer: continuously provide robot posture and motion information to support continuous positioning;

Sensors such as laser radar: scan the surrounding environment, match with the pre-established positioning map, and complete the current position confirmation and necessary repositioning of the robot;

Two-dimensional code deployment: using known landmarks to provide absolute position constraints and assist in position correction.

To put it simply, no matter whether it is restarted or stopped, the robot will reconfirm its position based on the unified map and positioning benchmark, reduce the deviation of startup positioning, and provide a consistent spatial benchmark for subsequent inspection tasks.

Second, the overall driving of the reservoir area: cross-track maneuvering, steady words as the first step

After receiving the inspection instruction, the robot will start from the standby position and cross the track to the target train. This long-distance movement tests the stability and anti-interference ability of navigation.

We use 3D laser positioning as the main method, combined with IMU, wheel odometer and other multi-source information as the auxiliary positioning navigation mode, and make targeted configuration according to different site environments.

In the area with stable fixed environment characteristics, the robot scans the surrounding environment by lidar, matches it with the pre-established positioning map, continuously calculates its own position, and drives autonomously according to the established inspection task and navigation route; When the trains are side by side, the environmental structure is highly similar, and the laser positioning is easy to be "face blind", IMU, wheel odometer, etc. can continuously provide the robot attitude and motion information, provide assistance for short-term positioning continuity, and reduce the influence of local environmental characteristics changes on the robot operation.

At the same time, it is equipped with obstacle perception and obstacle avoidance function, which can automatically avoid obstacles when encountering staff, temporary tooling and sundries, and it is equipped with acousto-optic early warning to ensure safe and stable operation throughout the process.

The final realization: the robot travels back and forth to the charging position and track for thousands of times, maintaining high-precision and high-consistency driving and in-place effect, and the travel route of each inspection is highly consistent.

Third, the trench fine inspection: flexible response to narrow occlusion scenes

If the road driving in the reservoir area is a "regular copy", then the inspection of the narrow trench and vehicle bottom is a "difficult copy" of the robot.

After entering the maintenance trench, the train body, bogie and underbody structure will block the surrounding environment to varying degrees, and the fixed environmental characteristics that can be used for positioning in some areas will be reduced, which will obviously increase the difficulty of positioning and navigation.

According to the structure and characteristic conditions of the site environment, the robot uses stable fixed structures such as walls and columns to locate and match; For areas with relatively insufficient natural environment features, artificial auxiliary features such as anti-light beams and reflective stickers can be arranged in combination with site conditions to further enhance the environmental recognition and positioning stability between different locations.

After reaching the preset detection point, combined with chassis closed-loop control and necessary position correction, the fixed-point docking is realized.

Finally, the working positioning accuracy of 5 mm is achieved. In the process of repeated inspections, the mechanical arm can stably aim at the key parts of the bogie, coupler and chassis, and keep the shooting angle and framing range highly consistent, so that each group of inspection data has comparative value, and there is no hidden danger.

Fourth, the mission ends and returns: accurate homing, closed-loop operation

After the vehicle bottom inspection task is completed, the robot drives out of the trench autonomously and switches back to the global positioning navigation mode of the reservoir area according to the current working area. Finally, stop at the charging standby position accurately, and complete the complete closed-loop operation of "start-driving-inspection-correction-return".

Many technologies seem to be low-key, but they are the core of operation and maintenance security.

KING YOUNG Technology, a multi-technology collaborative positioning and navigation system, does not have fancy gimmicks, but only solves one core problem: to maintain high precision, high stability and high consistency in every inspection.

From the detailed control of starting and positioning, to the stable control of the track crossing the track, to the millimeter-level operation accuracy of the vehicle bottom fine inspection and the reliable bottom in abnormal scenes.

We use multi-layer technology cooperation and algorithm adaptation to improve the standardization, quantification and traceability of inspection work in different field environments.

The ultimate meaning of science and technology is never to show off skills, but to use stable and reliable technical capabilities to make accuracy the norm and protect the safety of every train.