rail robot
23913492
Research on a rail robot based remote three dimensional inspection system for switch stations in power distribution network
There are a large number of switch stations that are discretely distributed in the power distribution network. Traditional inspection methods cannot detect heating hazards and partial discharge inside the switchgear in time, and cannot accurately identify the operation conditions of the switchgear. It lacks effective means to manage switch station equipment. This paper designs a rail robot based remote three dimensional inspection system for switch stations. Remote automatic inspection of the switchgear and real time monitoring of the switch station environment are achieved by providing an infrared window on the switchgear and mounting a rail robot equipped with an infrared thermal imager and an ultrasonic partial discharge detector outside the switchgear. Further, video analysis technologies are used in the system to identify operation conditions of switch station equipment, which together with fault alarming, event linkage action and other functions. It is conducive to the monitoring and management of the switch station, thus improving the security and reliability of the switch stations.
2017 Chinese Automation Congress (CAC)
Tang Haiguo Zhu Jiran Gong Fangliang Leng Hua Fan Min Han Qi
204079721
System and method for detecting open state of well lid and locating well lid based on rail robot
The invention discloses a system and method for detecting the open state of a well lid and locating the well lid based on a rail robot. The system includes a rail robot device, an I beam rail, an RFIDgeographical tag, a mounting bracket, a wifi base station, and a data analysis platform. The rail robot device includes: a rail robot body, a RFID reader, an illumination sensor, a microprocessor, apower module, a lithium battery and a motor. The rail robot is equipped with the illumination sensor. Each well lid is provided with a RFID geographical tag. When detecting a light source with specific intensity in a running process on the rail, the robot determines a position by means of RFID and determines whether the well lid at the position is open so as to determine the position of the open well lid. The system avoids casualties caused by the theft and the damage of well lids in urban streets and has a great value to the application and promotion of various urban large and medium sized underground galleries.
5060901
Design and modelling of a cable driven cart rail robot for farm automation
Vertical farming is an innovative method to grow crops in constrained spaces and controlled environment. Crop failure is reduced compared to traditional farming. Moreover, with automation, production of crops increases. In the proposed system, a cart rail robot is used to automate different farming tasks. Unlike a conventional system that usually uses rack and pinion or is limited to 1 Degree Of Freedom(DOF) motion, the proposed system uses a cable that actuates the entire motion of the cart providing 2 DOF motion. It works like a Cartesian robot; the motion of the cart is constrained to the XY plane and further constrained to the rail. The paper describes the mechanical design, state space modeling and analysis of the cart rail robot. The rails are laid out in columns with a single row. Vertical shelves stacked with crops are kept beside the column rails. A closed loop linear feedback controller was designed using state space representation and the gains were selected using pole placement method. A study of dynamic system response characteristics for the variation in braking distance due to change in payload was simulated. We have observed that a 1cm position accuracy is achieved. Velocity is limited to the range of 0.1 m/s to 0.2 m/s for the given payload of 25 kg.
2017 International Conference on Intelligent Computing, Instrumentation and Control Technologies (ICICICT)
Abel V David Harish T Mohan Rao R Bhavani
225079345
Research on automatic cleaning method for hole work piece in rail transit by intelligent robot
With the rapid development of rail transit in China, there is a great demand for the manufacturing capacity of intelligent equipment. Facing the demand of efficient cleaning of work piece in rail transit, this paper proposes the automatic cleaning of assembly work piece of railway vehicle by intelligent robot.Intelligent industrial robots are used to wash and deburr the work piece in the intelligent processing. The main cleaning parts are fasteners, rods and valve bodies. The main technology is clean and deburr the work piece with holes and deep holes. Binocular vision is used to identify the coarse positioning and fine positioning of the work piece with holes, and different types of work pieces are stored in memory, which is convenient for the robot to quickly clean and deburr. According to the coordinates of image processing holes, the robot can automatically optimize the path and complete the cleaning work.
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)
Ronghua Li Zhidong Wang Jingshan Yang Qi Lu
221912961
Path planning based on the analytical inverse kinematics of the rail mounted industrial robot for continuous trajectory tracking
In this paper, the path planning method of a redundant robotic work cell consisting of an overhead linear rail and a FANUC 6 joint robot mounted on it is studied for the continuous trajectory tracking task. The existence of the solution of the inverse kinematics problem of the rail mounted industrial robot (RMIR) is discussed and an analytical redundancy resolution scheme for RMIR is proposed based on the workspace. The path planning method with the performance evaluation mechanism makes the end effector (EE) of robot reach the target position and posture and avoid joint limit, which makes the best of the redundant degree of freedom to improve the robot performance. The results of simulation and experiment prove that the proposed method is effective in the application of the long and closed trajectory tracking. The above research findings are integrated into the robot off line programming (OLP) software developed based on the UG platform and successfully applied to the robotic induction hardening for the chamfers of the large automobile panel dies.
2020 12th International Conference on Intelligent Human Machine Systems and Cybernetics (IHMSC)
Nanyan Shen Yang Wu Jing Li Ninghe Lu Jiajing Yao
229310845
Design and Application of Rail type Inspection Robot for GIS High Voltage Substation
In high voltage power system, with the gradual increment of SF6 gas closed end insulation composite appliance, the application of Gas insulated switchgear (GIS) becomes more and more widely accepted based on its high reliability, less maintenance, long maintenance cycle, and low failure rate (only 20% ~40% of conventional equipment) However, the GIS has its inherent shortcomings, as a result of the SF6 gas leakage, external water infiltration, the conductive impurities as well as insulator aging factors, such as internal flashover. To this end, this paper designs a rail type inspection robot for GIS substation. First, it analyzes the background of high voltage substation and GIS. Secondly, considering the distribution of GIS and the task of substation inspection, the paper gives the key components of rail type inspection robot, such as straight walking components, turning and changing track component, partial discharge (PD) detection component. Thirdly, it proposes that the architecture of rail type inspection robot system is a network distributed, which includes three parts: the background layer, communication layer and terminal layer. In addition, it discusses in detail the motion control method of inspection, especially positioning control. Then it explains the software and hardware structure of the motion control system: Radio frequency identification (RFID) is used for motion positioning of inspection robots; the background layer controls the motion of the inspection robot and uses the background software to analyze the detection data. Finally, the paper proves that the inspection robot has good balance, flexible turning, and a large inspection range. The robot can completely inspect work well instead of staff.
2020 IEEE International Conference on High Voltage Engineering and Application (ICHVE)
He-Song Liu Hong-yu Ni Dong-cheng Zhou Su Huang Wei-Ming Wei Wen-xu Yan
226578840
Rail transit assembly robot systems
Abstract An assembly robot is a special kind of industrial robot. It has the advantages of high assembly quality, fast response, and automatic operation. It can achieve high precision assembly, a high assembly speed, and a low total assembly cost. Therefore, assembly robots are rapidly developing in the rail transit field. This chapter introduces progress in the development of assembly robots and their key technologies and the main components of assembly robots: machinery components, sensors, controllers, and actuators. Arm dynamics is a hot topic of assembly robots. This chapter introduces mathematical models of forward and inverse dynamics, discusses various trajectory planning algorithms in joint and Cartesian space, and discusses the artificial neural network algorithm for the inverse dynamics optimization calculation of the robot arm. Finally, the chapter presents the future direction of intelligent assembly robots.
H Liu
226462987
Rail transit channel robot systems
Abstract This chapter provides a background on rail transit equipment and the history of the development and hardware composition of the channel robot, including the ground rail, dual arm robot, infrared thermometer, laser sensor, and so on. Then, the Trouble of Moving Electric Multiple Units Detection System intelligent sensing system is described in detail, including visible image intelligent analysis, infrared thermal image temperature warning, location detection, big data analysis, and autonomous recharging. Finally, the bogie fault diagnosis algorithm based on a deep learning model is introduced, including signal acquisition, signal feature extraction based on wavelet analysis and empirical mode decomposition, and fault diagnosis model based on the convolution neural network.
H Liu
114119279
A Study on the Effective Communication Protocol of the Surface Inspection Rail Robot that it can be a Self checking
The robots that they inspect the rail surface with running above the rail will be a means to replace the existing expensive equipments. This can be very effectively used in the process of construction and maintenance of continuous increased rail industry. Especially, it can detect the small change via the build of database for detecting the state of the rail. And it is possible the continuous management by recording this information. However, these rail robots are attached a number of different rail parts. Thus, if these components are not gonna work, it can occur problems such as stop on the rail or derailed. These issues can be occurred to other train that it runs above the rail. Therefore, it needs the method for ensuring the safety. In this paper, in order to solve these problems, we define the components and performance parts that rail robot should have it. And also, we divide into three groups of devices by analyzing the properties of each of the components. Each of the group was divided according to the calculation processing capability and communication capability. The self verification of equipments performs with fitting the framework. And they examine its own equipment validation and review whether the operation is enabled or impossible to perform in accordance with the information. In addition, the rail robot continues send the information for the rail status via wireless network with control center. Thus, we propose an efficient communication protocol in consideration of security issues that there may occur in sending process and the scalability of the function side for rail robot.
CSA/CUTE
Yun-Seok Lee Eun Kim Sung-yun Kim Seokhoon Kim
112054967
A Rail Robot Based on Micro Camera for Substation Inspection
According to the deficiency of mobile robot for substation,a rail robot system which is based on micro camera for substation inspection was proposed to meet the trend of intelligence and automation in substation.By laying micro,low power sensors and cameras in substation,the system is able to implement all dimensional inspection to electrical equipment in substation. The technical framework of the robot was described. Key techniques such as location,information collection of equipment,image thermometry,reading recognition for instrument,power supply system were all analyzed.
Su Shangli