Contents
Chapter 1 Introduction 1
1.1 Overview of rail transit robots 1
1.2 Fundamental key problems of rail transit robot systems 19
1.3 Scope of this book 27
References 29
Chapter 2 Rail Transit Assembly Robot Systems 37
2.1 Overview of assembly robots 37
2.2 Main components of rail transit assembly robots 44
2.3 Arm dynamics of rail transit assembly robots 58
2.4 Arm inverse dynamic application of rail transit assembly robots 76
2.5 Conclusion and outlook 79
References 81
Chapter 3 Rail Transit Collaborative Robot Systems 85
3.1 Overview of collaborative robots 85
3.2 Main components of rail transit collaborative robots 101
3.3 Visual perceptions of rail transit collaborative robots 115
3.4 Conclusion and outlook 129
References 131
Chapter 4 Automatic Guided Vehicles (AGVs) in Rail Transit Intelligent
Manufacturing Environment1344.1Overview of AGVs 134
4.2 Main components of AGVs 139
4.3 Key technologies in AGVs 142
4.4 AGV path planning application in rail transit intelligent manufacturing
Environment 166
4.5 Conclusion and outlook 170
References 172
Chapter 5 Autonomous Rail Rapid Transit (ART) Systems179
5.1 Overview of AR T179
5.2 Main components of trams and ART 184
5.3 Key technologies in ART 196
5.4 Pedestrian detection algorithms for ART 203
5.5 Conclusion and outlook 216
References 218
Chapter 6 Rail Transit Inspection Robot Systems 223
6.1 Overview of rail transit inspection robots 223
6.2 Main components of rail transit inspection robots 229
6.3 Key technologies in rail transit inspection robots 242
6.4 Conclusion and outlook 259
References 261
Chapter 7 Rail Transit Channel Robot Systems 266
7.1 Overview of rail transit channel robots 266
7.2 Main components of rail transit channel robots 273
7.3 Channel robot TEDS 280
7.4 Bogie fault diagnosis based on deep learning 292
7.5 Conclusion and outlook 304
References 305
Chapter 8 Rail Transit Inspection Unmanned Aerial Vehicle (UAV) Systems 310
8.1 Overview of inspection UAVs 310
8.2 Main components of rail transit inspection UAVs 312
8.3 Key technologies in rail transit inspection UAVs 318
8.4 Rail transit intruding detection based on inspection UAVs 348
8.5 Conclusion and outlook 356
References 358
Nomenclature list 364
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