CN106120636A - In one, low speed magnetic suspension opens ice snow melt sweeping robot - Google Patents
In one, low speed magnetic suspension opens ice snow melt sweeping robot Download PDFInfo
- Publication number
- CN106120636A CN106120636A CN201610784799.7A CN201610784799A CN106120636A CN 106120636 A CN106120636 A CN 106120636A CN 201610784799 A CN201610784799 A CN 201610784799A CN 106120636 A CN106120636 A CN 106120636A
- Authority
- CN
- China
- Prior art keywords
- rail
- snow melt
- ice
- low speed
- opens ice
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H8/00—Removing undesirable matter from the permanent way of railways; Removing undesirable matter from tramway rails
- E01H8/10—Removing undesirable matter from rails, flange grooves, or the like railway parts, e.g. removing ice from contact rails, removing mud from flange grooves
- E01H8/12—Removing undesirable matter from rails, flange grooves, or the like railway parts, e.g. removing ice from contact rails, removing mud from flange grooves specially adapted to grooved rails, flangeways, or like parts of the permanent way, e.g. level crossings or switches
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H8/00—Removing undesirable matter from the permanent way of railways; Removing undesirable matter from tramway rails
- E01H8/10—Removing undesirable matter from rails, flange grooves, or the like railway parts, e.g. removing ice from contact rails, removing mud from flange grooves
- E01H8/12—Removing undesirable matter from rails, flange grooves, or the like railway parts, e.g. removing ice from contact rails, removing mud from flange grooves specially adapted to grooved rails, flangeways, or like parts of the permanent way, e.g. level crossings or switches
- E01H8/125—Pneumatically or hydraulically loosening, removing or dislodging undesirable matter, e.g. removing by blowing, suction or flushing ; Loosening or removing by means of heat
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses low speed magnetic suspension in one to open ice snow melt sweeping robot, including frame, fold bending mechanism, ice-melt cleaning agency and autonomous cruise module, frame is across between two F rails of middle low speed magnetcisuspension to be detected；Folding bending mechanism and be provided with two groups altogether, it is divided into the two ends of frame, and is positioned at the top of F rail, often group fold be provided with on bending mechanism road wheel to and screens wheel right；Ice-melt cleaning agency includes fixed mount, F section of track barrier cleaning unit and ice-melt heating unit, fixed mount is arranged in frame, and it being positioned at the top folding bending mechanism, it is arranged along the bearing of trend of F rail, and F section of track barrier cleaning unit and ice-melt heating unit are divided into the two ends of fixed mount；Autonomous cruise module is arranged on the lower section of frame.The present invention can realize thawing and the cleaning of F rail ice and snow, has simple in construction, the advantage such as easy to operate.
Description
Technical field
The invention belongs to levitation train detection field, clear more particularly, to the snow melt of opening ice of low speed magnetic suspension in one
Sweep robot.
Background technology
Medium-and low-speed maglev traffic is a kind of carbon-free traffic of low noise, is one of the important directions of future city transport development.
Medium-and low-speed maglev is currently mainly that attractive magnetic floats, and F shaped steel rail is layed in circuit both sides, and the electric magnet with normal conductor coil is corresponding
Ground is positioned at the both sides of vehicle, and electric magnet and F shaped steel rail, through two 8～10mm air gap, form closed magnetic circuit, when passing through in coil
Produce magnetic flux during DC current to close along above-mentioned magnetic circuit, thus in two air gaps, have a magnetic pull, magnetic pull and vehicle
Vehicle suspension just can be made during gravitational equilibrium.
In actual moving process, especially in cold environment, medium-and low-speed maglev F rail easily freezes, when snowing, and F rail
On also easy accumulated snow.When there are the foreign material such as fallen leaves, accumulated snow on F rail, easily it is involved in suspension controller, affects magnetic suspension train
Normal operation, when there is ice on F rail, affecting the braking effect of magnetic-levitation train, also affecting the safety fortune of magnetic-levitation train simultaneously
Battalion.It addition, the medium-and low-speed maglev section of track mostly is overhead unsettled Open architecture, sleeper pitch is about 600mm, no operatton on track
Personnel walk line position, thus with autonomous in F rail, and can have the robot of certain performance capacity in the urgent need to one
Therefore, a kind of snow melt sweeping robot that opens ice being applicable to middle low speed magnetic suspension of research design, it is possible to low in adaptation
Speed magnetic floats overhead unsettled Open architecture without walking the reliability structure of row space, and can melt the ice sheet on F rail right
Accumulated snow cleans, to ensure the safe operation of magnetic-levitation train.
Summary of the invention
For disadvantages described above or the Improvement requirement of prior art, the invention provides one and open ice snow melt sweeping robot,
The feature of low speed magnetic suspension self in wherein combining, respective design is applicable to the snow melt of opening ice of middle low speed magnetic suspension and cleans dress
Put, and to its key component such as frame, fold bending mechanism, the structure of the snow melt cleaning agency that opens ice and concrete set-up mode thereof and enter
Row research and design, can effectively realize thawing and the cleaning of F rail ice and snow accordingly, has simple in construction, the advantage such as easy to operate.
For achieving the above object, the present invention proposes low speed magnetic suspension in one and opens ice snow melt sweeping robot, including machine
Frame, fold bending mechanism, open ice snow melt cleaning agency and autonomous cruise module, wherein:
Described frame is used for installing described folding bending mechanism, open ice snow melt cleaning agency and autonomous cruise module, and it is horizontal
Between two F rails of middle low speed magnetic suspension；
Described folding bending mechanism is provided with two groups altogether, and it is divided into the two ends of described frame, and is positioned at the top of F rail, often
Organize be provided with on described folding bending mechanism road wheel to and screens wheel right, the wherein upper surface of road wheel pair and described F rail
Contact, and move along the upper surface of F rail, the medial surface with described F rail is contacted by described screens wheel, and along the inner side of F rail
Face is moved；
The described snow melt cleaning agency that opens ice is again provided with two groups, and it is divided into the two ends of described frame, often opens ice described in group
Snow melt cleaning agency includes fixed mount, F section of track barrier cleaning unit and the snow melt heating unit that opens ice, and described fixed mount is arranged on described
In frame, and being positioned at the top of described folding bending mechanism, it is arranged along the bearing of trend of described F rail, and described F section of track barrier is clear
Sweep unit and the snow melt heating unit that opens ice is divided into the two ends of described fixed mount, for realizing the cleaning to F track surface and opening ice
Snow melt processes；Described F section of track barrier cleaning unit is specially the disk hard hair brush of band air current spray nozzle, and described air current spray nozzle is located at circle
The middle part of dish hard hair brush, the upper surface of described disk hard hair brush and F rail, it rotates under the effect of power source, and
Contact continuously with F rail upper surface, clean with the accumulated snow to F track surface；The described snow melt heating unit that opens ice is specially running roller,
The wheel face of this running roller is provided with and the projection of F rail upper surface, plays the effect in crushing ice face；It is provided with center in described running roller
Axle, central shaft is wound with electromagnetic induction coil, running roller described in described electromagnetic induction coil energising post-heating, and then is used for melting
The ice of F track surface；
Described autonomous cruise module is arranged on the lower section of described frame, its for realization open ice snow melt sweeping robot along
F rail is freely walked.
As it is further preferred that described autonomous cruise module include navigation system, cruise calculate task control module and
Ground control station communication module, described navigation system includes that inertial navigation unit, GPS receiver module and walking range are measured single
Unit, described inertial navigation unit is for measuring the 3-axis acceleration of described robot, and described GPS receiver module is used for measuring machine
The longitude of people, latitude and height, described walking range measuring unit is for the walking mileage of robot measurement；Described cruise calculates
Task control module includes cruise module and control module, described cruise module respectively with described inertial navigation unit, GPS receiver
Module is connected with walking range measuring unit, and described inertial navigation unit, GPS receiver module and walking range measuring unit are measured
Data as input signal input in cruise module, this cruise module judges the tool of described robot according to the signal of input
Body position, and the particular location of robot is fed back to ground control station, described control module and ground control station communication module
Being connected, it controls the walking of robot according to the travel commands of ground control station communication module.
As it is further preferred that the bristle of described disk hard hair brush is antistatic high resiliency nylon yarn or wear-resisting rubber
Glue, it is designed to O type；Described power source is motor, and described disk hard hair brush passes through two circular connecting plates being connected with each other
Being connected with described motor, one of them circular connecting plate is connected with disk hard hair brush by power transmission shaft, another circular connection
Plate is connected with the rotary shaft of described motor, and the distance between two circular connecting plates is adjustable, so that disk hard hair brush bristle
Position, pinnacle and the upper surface of F rail, when motor rotation, disk hard hair brush utilizes frictional force to make the foreign material on F rail from F
Track surface bullet is swept, and meanwhile, the described air current spray nozzle be arrangeding in parallel with power transmission shaft makes the foreign material of cleaning spread to outside, reaches
The perfect purpose cleaned.
As it is further preferred that described running roller inwall is also pasted with temperature sensor, when the temperature of temperature sensor detection
When degree is more than 80 degree, stop electromagnetic induction coil being energized.
As it is further preferred that often organize be provided with on described folding bending mechanism two groups of road wheels to two groups of screens
It is right to take turns, and the bearing of trend along described F rail is arranged by two groups of road wheels, and two groups of screens wheels are to equally along the extension of described F rail
Direction is arranged, and contacts with the medial surface of F rail.
As it is further preferred that described folding bending mechanism includes road wheel installing plate and screens wheel folded sheet, described
Road wheel installing plate is vertically arranged and is arranged in described frame, and described road wheel is to being arranged under described road wheel installing plate
Side, described screens wheel folded sheet connects support by screens wheel and is arranged on the side of described road wheel installing plate, and described screens is taken turns
To being arranged on described screens wheel folded sheet, and contact with the medial surface of described F rail.
As it is further preferred that described in the snow melt sweeping robot that opens ice be additionally provided with distance measuring sensor and video camera.
As it is further preferred that described distance measuring sensor is specially ultrasound wave or infrared distance sensor, it is arranged in
Side before and after described frame.
As it is further preferred that described video camera is arranged on the top of described frame by expansion link.
As it is further preferred that described in the snow melt sweeping robot that opens ice be additionally provided with detection sensor, described detection passes
Sensor is located on described fixed mount.
In general, by the contemplated above technical scheme of the present invention compared with prior art, mainly possess following
Technological merit:
1. the feature that the present invention is directed to middle low speed magnetic suspension is specially provided with the snow melt of opening ice being applicable to middle low speed magnetic suspension
Sweeping robot, can realize rupturing ice and snow on F rail, melts, clean and foreign material, the cleaning of accumulated snow, has that volume is little, structure
Gently, feature easy to carry, the most also there is the advantages such as easy to operate, the suitability is strong, operating location can be arrived with car and fall rail i.e.
Can use, the work business that can be effectively used for medium-and low-speed maglev is safeguarded and safe operation.
2. the present invention is applicable to folding bending mechanism and the autonomous cruise module of less important work robot by setting, can be real
Existing robot, along F rail autonomous, by specializing in the autonomous cruise module of design, can realize being accurately positioned of robot
With reliable walking, it is adaptable to the overhead unsettled Open architecture of middle low speed magnetic suspension, solve nothing on middle low speed magnetic suspension track
The problem that operating personnel walks line position and cannot realize less important work robot ambulation.
3. the folding bending mechanism of the present invention is provided with two groups altogether, is divided into the two ends of frame, screens wheel folded sheet during use
The reliable armful of rail realizing running gear in the way of using collapsible inner side outwards to embrace rail can be opened downwards when track falls rail, make
After terminating, it can be folded up, and to reduce the overall volume of running gear, has spy easy to carry, that the rail that falls gets final product work
Point.
4. the road wheel folded on bending mechanism of the present invention is to being designed to Double-wheel structure, can effectively prevent robot from passing through
Producing during the bolt that F rail is connected with sleeper and jolt, make flaw detection more accurate, screens wheel is installed on F rail to the mode using holding card
On, can effectively prevent robot from derailing.
5. the frame of the present invention be provided above video camera, this video camera can realize track and track image along the line is adopted
Collection, and it liftable is arranged in frame, can realize multi-faceted, the image taking of multi-angle.
6. the present invention opens ice and is provided with distance measuring sensor before and after snow melt sweeping robot, can make to open ice to melt by range finding
Automatic stopping when snow sweeping robot meets obstacle, it is achieved the collision prevention function of robot.
Accompanying drawing explanation
Fig. 1 is that the middle low speed magnetic suspension of the embodiment of the present invention opens ice the structural representation of snow melt sweeping robot；
Fig. 2 is that the middle low speed magnetic suspension of the embodiment of the present invention opens ice the rearview of snow melt sweeping robot；
Fig. 3 is that the middle low speed magnetic suspension of the embodiment of the present invention opens ice the left view of snow melt sweeping robot；
Fig. 4 is the autonomous cruise modular structure block diagram of the embodiment of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.If additionally, technical characteristic involved in each embodiment of invention described below
The conflict of not constituting each other just can be mutually combined.
As it is shown in figure 1, low speed magnetic suspension opens ice snow melt sweeping robot in the one that provides of the embodiment of the present invention, it is main
Including frame 11, folding bending mechanism, the snow melt cleaning agency that opens ice, autonomous cruise module 7, wherein, frame 11 is as the machine of support
Structure, is used for fixedly mounting folding bending mechanism, open ice snow melt cleaning agency and autonomous cruise module 7, described folding bending mechanism
Right for installing wheel, to realize opening ice the movement on F rail 4 of the snow melt sweeping robot, described in open ice snow melt cleaning agency for
Icing to F rail is melted, and cleans accumulated snow, and autonomous cruise module 7 opens ice snow melt sweeping robot for realization
Freely walk.By cooperating of each mechanism above-mentioned, F rail is opened ice snow melt and accumulated snow cleaning can be realized, it is simple to F rail
Subsequent detection, and the autonomous of robot can be realized, there is simple in construction, the advantage such as easy to operate.
Each mechanism and parts will be described in detail and describe below.
As it is shown in figure 1, frame 11 is as the support member of miscellaneous part, it is horizontally disposed with, and across to be detected
Between two F rails of middle low speed magnetic suspension, its arranged direction is vertical with the bearing of trend of F rail.
As Figure 1-3, folding bending mechanism and be provided with two groups altogether, it is divided into the two ends of described frame, and snow melt of opening ice has
Body, often organize be provided with on described folding bending mechanism road wheel to 5 and screens take turns right.Wherein, road wheel includes a pair to 5
Road wheel, its upper surface with described F rail, and moving along the upper surface of F rail, one of them be follower one be main
Driving wheel, drivewheel is to being motor wheel.This road wheel, to being designed to Double-wheel structure, can effectively prevent robot from passing through F rail and sleeper
Produce during the bolt connected and jolt, make result of detection more accurate.To 2, described screens wheel includes that a pair screens is taken turns, itself and described F
The medial surface contact of rail, and moving along the medial surface of F rail, this screens wheel to can ensure robot along track travel, and
Differential function can be provided in corner.Screens wheel is not have dynamic follower to 2, plays screens, spacing and derailment-proof work
With.
Further, in embodiments of the invention, often group folds on bending mechanism and is provided with two groups of road wheels to 5 and two
Group screens is taken turns 2, and thus four road wheels in 5 are arranged by two groups of road wheels along the bearing of trend of described F rail, and can be along
F rail moves, and the movement to the snow melt sweeping robot that opens ice guides reliably, and two groups of screens wheel is to four screens in 2
Take turns the bearing of trend along described F rail to arrange, and move along the medial surface of F rail, can effectively ensure that with this snow melt of opening ice cleans
The reliability that robot moves.
Concrete, fold bending mechanism and include road wheel installing plate 12 and screens wheel folded sheet 3, wherein road wheel installing plate
12 are vertically arranged and are arranged in described frame, and described road wheel is to being arranged on the lower section of road wheel installing plate, and described screens is taken turns
Folded sheet 3 connects support by screens wheel and is arranged on the side of described road wheel installing plate 12, and is coated on the periphery of F rail, so
After by screens wheel to being arranged on screens wheel folded sheet 3, and contact with the medial surface of F rail, i.e. screens wheel is positioned at screens wheel and rolls over 2
Between medial surface and the medial surface of F rail below lamination 1, with this screens wheel to using holding card mode to be installed on F rail, the most anti-
The snow melt sweeping robot that only opens ice derails.When folding bending mechanism does not uses, two groups of screens wheel folded sheets 1 are folded up, to subtract
The overall volume of little running gear, during use, two groups of screens wheel folded sheets 1 are opened, and make screens wheel be installed on the medial surface of F rail.
The described snow melt cleaning agency that opens ice is provided with two groups altogether, and it is divided into the two ends of frame, and often group opens ice snow melt scavenging machine
Structure includes fixed mount 15, F section of track barrier cleaning unit 14 and the snow melt heating unit 16 that opens ice, and wherein, fixed mount 15 is arranged on frame
On 11, and being positioned at the top folding bending mechanism, it is arranged along the bearing of trend of F rail, described F section of track barrier cleaning unit 14 He
The snow melt heating unit 16 that opens ice is divided into the two ends of described fixed mount 15, and with the upper surface of described F rail, it is achieved F rail
Troubleshooting cleans and snow melt of opening ice.
Wherein, F section of track barrier cleaning unit 14 is specially the disk hard hair brush of band air current spray nozzle, disk hard hair brush and F
The upper surface of rail, it is rotated by External Force Acting, so that the foreign bodies such as the accumulated snow of F track surface are cleaned, F track surface
Contacting continuously with bristle, bristle is antistatic high resiliency nylon yarn, abrasive rubber material, and bristle is designed to " O " type.The F section of track hinders
The concrete operation principle of cleaning unit 14 is that brush sweeper is arranged on the machine of translator rotary shaft by two circular connecting plates
On frame, make the power transmission shaft of hairbrush rotate with motor and combine, by adjusting the distance of two circular connecting plates, make cleaning bristle
The upper surface of position, pinnacle and F rail, when motor rotation, utilizes frictional force to make the barrier such as snow of F rail from F track surface
Bullet sweep, meanwhile, and clean the parallel air current spray nozzle of power transmission shaft, be the air stream outlet of micropower hair-dryer, make cleaning
Impurity spreads to outside, by the rotation of disk hard hair brush and the upper surface of F rail and air current spray nozzle to be implemented in combination with F rail clear
Sweep, reach the purpose of perfect cleaning.
The snow melt heating unit 16 that opens ice is specially running roller, the wheel face of running roller and the upper surface of F rail, has micro-outside running roller
Little projection, it is achieved thin ice are crushed effect, is provided with electromagnet heating element in this running roller, is provided with central shaft in roll body,
The outer felt of central shaft around electromagnetic induction coil, described electromagnetic induction coil be connected with the electromagnetic heating controller outside roll body with
Heating running roller, can be melted the ice of F track surface with this by the running roller of heating, this running roller inwall is also pasted with temperature sensing
Device, has high temperature protection function, when temperature exceedes the upper limit 80 degree, and Electromagnetic Heating is out of service, is controlled in real time by such mode
Heating-up temperature processed.
Autonomous cruise module 7 is arranged on the lower section of frame, and it is by controlling the road wheel drivewheel motion band movement machine to 5
People moves, and moves along F rail with driven machine people, it is achieved the autonomous of robot controls, so that the auxiliary of the present invention
Work robot is adapted to the overhead unsettled Open architecture of middle low speed magnetic suspension, and it is steady that this autonomous cruise module 7 is integrated with walking
The various functions such as fixed control (controlling two drivewheels output moments of torsion, make vehicle traction balance), navigation and task control, have many
Individual task way point, speed can be separately provided, and is that the track machine people of the high-performance of complete set, low cost and miniaturization is autonomous
Traveling control system.
Autonomous cruise module 7 includes that navigation system, cruise calculate task control module and ground control station communication module, leads
Boat system includes inertial navigation unit, GPS receiver module and walking range measuring unit, and described inertial navigation unit is used for measuring
(i.e. xyz three-dimensional acceleration, xyz direction sets the 3-axis acceleration of described robot according to actual needs, as set prolonging of F rail
Stretching direction is x-axis, vertical with F rail bearing of trend, and horizontal distribution for y-axis, vertical with F rail bearing of trend, and vertical distribution
For z-axis), described GPS receiver module is for the longitude of robot measurement, latitude and height, described walking range measuring unit
Walking mileage for robot measurement.Cruise calculates task control module and realizes data friendship with ground control station communication module
Mutually, cruise calculates task control module can feed back to ground control station communication module by the particular location of robot, and ground controls
Communication module of standing can send instructions to cruise and calculate task control module, so that robot runs to specifying position；This cruise meter
Calculate task control module and mainly include that cruise module and control module, cruise module and control module are similar to two miniature calculating
Machine, cruise module is cruise computer based on built-in Linux, for navigation and task control and with ground control station
Communication, control module is to control computer, for travelling control, augmentation control and the communication with ground control station of robot,
Realize the motor control of mobile robot, specifically realize the control of the servomotor of drivewheel in road wheel, main by controlling
The servomotor of driving wheel realizes the motion of drivewheel, and then realizes the motion of robot, and it is each that it is applicable to that pulse width signal controls
Planting moment of torsion three-phase brushless motor, this control module also can realize the information gathering (data of distance measuring sensor 6) of sensor, image
Information gathering (data of video camera 10) and the acquisition of navigation data.Concrete, cruise module respectively with inertial navigation unit,
GPS receiver module is connected with walking range measuring unit, inertial navigation unit, GPS receiver module and walking range measuring unit
The data measured are as in input signal input to cruise module, and this cruise module judges described robot according to the signal of input
Particular location, and the particular location of robot is fed back to ground control station, described control module and ground control station communication
Module is connected, and it controls the walking of robot according to the travel commands of ground control station communication module.
Concrete, the navigation system in autonomous cruise module 7 is according to the cruise mileage inputted, and GPS is automatically positioned needs
The location coordinates arrived, then robot is according to the location coordinates real-time matching fortune of walking mileage with remote earth station communication input
Calculating, the position that combination inertial navigation is walked in real time simultaneously calculates with set coordinate position real-time matching, and uses walking amount
The distance that journey measuring unit robot measurement moves, determines, with the initial value according to robot starting point, the position that robot is current
Put, according to the particular location that robot is current, then carry out PID matching primitives with known according to the operation destination of establishment in advance
Control the direction of motion of robot and distance, thus realize autonomous cruise, the speed of cruise by robot according to arriving at
Distance calculate.The navigation system of the present invention is mainly based on range designation, the navigation being auxiliary with GPS and inertial navigation
System, it is simple that it controls logic, compact conformation, and volume is little, and robot can be made to walk according to the path planning of navigation.
In order to make robot have collision prevention function and understand the situation of F rail periphery, the snow melt scavenging machine that opens ice of the present invention
Device people is additionally provided with distance measuring sensor 6 and video camera 10, and described distance measuring sensor 6 is located in frame, and be positioned at two F rails it
Between, it is specially ultrasound wave or infrared distance sensor, and arranges in array fashion, before and after the snow melt sweeping robot that opens ice
All arrange this distance measuring sensor.Concrete, in the range of safe distance, detecting that travel line has obstacle, robot controls electricity
Control driver element brake, the different set safe distance according to speed is different, and speed is the fastest, and safe distance is the most remote, thus can make
Automatic safety parking when flaw detection robot meets obstacle, it is achieved the collision prevention function of the snow melt sweeping robot that opens ice.Described video camera 10
Being arranged on the top of described frame, it is for carrying out image acquisition along the line to track and track, can to foreign body intrusion, invade limit more
The situations such as boundary are observed, and image carries out real-time Transmission or storage is local, camera type concretely 2D or 3D video camera, its
It is arranged on the top of frame especially by expansion link 9, the lifting of video camera can be realized, it is achieved the shooting of Multi-orientation multi-angle.Its
In, autonomous cruise module 7 can receive the detection data of distance measuring sensor 6 and video camera 10, and is analyzed detection data, obtains
Data needed for.
Additionally, open ice, snow melt sweeping robot is additionally provided with detection sensor 1, and this detection sensor 1 is arranged in fixed mount
The front-end and back-end of 15, front end sensors detection ice layer thickness, the thickness of ice sheet is detected by capacitance sensor, and rear end detection is broken
The effect of ice snow melt, backhaul of additionally making a return voyage also can detect the effect of snow melt of opening ice, and it is provided with multiple altogether, arranges in array fashion
Cloth.Detecting ice layer thickness according to detection sensor 1, the detection of ice layer thickness is based primarily upon PSD distance measuring sensor, is getting on the right track
Time, realize calibrating without ice sheet in station, then obtain and the ice layer thickness of calibration value contrast according to operation, according to the ice sheet recorded
Heating-up temperature needed for thickness decision, and running roller inwall is fixed with temperature sensor, temperature sensor can measure the temperature of running roller,
And feeding back the temperature of running roller in electromagnetic heating controller, electromagnetic heating controller, by the temperature of feedback, regulates pulse frequency
The heating power of regulation solenoid, it is achieved being automatically adjusted of running roller heating-up temperature.
As it will be easily appreciated by one skilled in the art that and the foregoing is only presently preferred embodiments of the present invention, not in order to
Limit the present invention, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, all should comprise
Within protection scope of the present invention.
Claims (10)
1. low speed magnetic suspension opens ice snow melt sweeping robot in one kind, it is characterised in that includes frame (11), fold bar folder
Structure, open ice snow melt cleaning agency and autonomous cruise module (7), wherein:
Described frame (11) is used for installing described folding bending mechanism, open ice snow melt cleaning agency and autonomous cruise module (7), its
Across between two F rails of middle low speed magnetic suspension；
Described folding bending mechanism is provided with two groups altogether, and it is divided into the two ends of described frame (11), and is positioned at the top of F rail, often
Organizing and be provided with road wheel on described folding bending mechanism and take turns (5) and screens to (2), wherein road wheel is to (5) and described F rail
Upper surface, and move along the upper surface of F rail, the medial surface of (2) with described F rail is contacted by described screens wheel, and edge
The medial surface F rail moves；
The described snow melt cleaning agency that opens ice is again provided with two groups, and it is divided into the two ends of described frame (11), often opens ice described in group
Snow melt cleaning agency includes fixed mount (15), the F section of track barrier cleaning unit (14) and the snow melt heating unit (16) that opens ice, described fixing
Frame (15) is arranged in described frame (11), and is positioned at the top of described folding bending mechanism, and it is along the extension side of described F rail
To layout, described F section of track barrier cleaning unit (14) and the snow melt heating unit (16) that opens ice are divided into the two of described fixed mount (15)
End, processes for realizing the cleaning to F track surface and snow melt of opening ice；Described F section of track barrier cleaning unit (14) is specially band air-flow
The disk hard hair brush of nozzle, described air current spray nozzle is located at the middle part of disk hard hair brush, described disk hard hair brush and F rail
Upper surface, it rotates under the effect of power source, and contacts continuously with F rail upper surface, carries out with the accumulated snow to F track surface
Clean；The described snow melt heating unit (16) that opens ice is specially running roller, and it is convex that the wheel face of this running roller is provided with F rail upper surface
Rise, play the effect in crushing ice face；It is provided with central shaft in described running roller, central shaft is wound with electromagnetic induction coil, described electricity
Running roller described in magnetic induction coil energising post-heating, and then for melting the ice of F track surface；
Described autonomous cruise module (7) is arranged on the lower section of described frame (11), and it opens ice snow melt sweeping robot for realization
Freely walk along F rail.
2. in as claimed in claim 1, low speed magnetic suspension opens ice snow melt sweeping robot, it is characterised in that described autonomous cruise
Module (7) includes that navigation system, cruise calculate task control module and ground control station communication module, and described navigation system includes
Inertial navigation unit, GPS receiver module and walking range measuring unit, described inertial navigation unit is used for measuring described robot
3-axis acceleration, described GPS receiver module for the longitude of robot measurement, latitude and height, described walking range measure
Unit is for the walking mileage of robot measurement；Described cruise calculates task control module and includes cruise module and control module,
Described cruise module is connected with described inertial navigation unit, GPS receiver module and walking range measuring unit respectively, described inertia
The data that navigation elements, GPS receiver module and walking range measuring unit are measured input to cruise module as input signal,
This cruise module judges the particular location of described robot according to the signal of input, and feeds back to ground by the particular location of robot
Face control station, described control module is connected with ground control station communication module, and it is according to the walking of ground control station communication module
Instruction controls the walking of robot.
3. in as claimed in claim 1 or 2, low speed magnetic suspension opens ice snow melt sweeping robot, it is characterised in that described disk
The bristle of hard hair brush is antistatic high resiliency nylon yarn or abrasive rubber, and it is designed to O type；Described power source is motor, institute
Stating disk hard hair brush to be connected with described motor by two circular connecting plates being connected with each other, one of them circular connecting plate leads to
Crossing power transmission shaft to be connected with disk hard hair brush, another circular connecting plate is connected with the rotary shaft of described motor, and two circles are even
Distance between fishplate bar is adjustable, so that the position, pinnacle of disk hard hair brush bristle and the upper surface of F rail, works as motor rotation
Time, disk hard hair brush utilizes frictional force to make the foreign material on F rail sweep from F track surface bullet, be arranged in parallel with power transmission shaft meanwhile
Described air current spray nozzle make the foreign material of cleaning spread to outside, reach the purpose of perfect cleaning.
4. in as claimed in claim 3, low speed magnetic suspension opens ice snow melt sweeping robot, it is characterised in that described running roller inwall
Also it is pasted with temperature sensor, when the temperature of temperature sensor detection is more than 80 degree, stops electromagnetic induction coil being energized.
5. in as claimed in claim 4, low speed magnetic suspension opens ice snow melt sweeping robot, it is characterised in that often organize described folding
Be provided with two groups of road wheels on bending mechanism to (5) and two groups of screens wheel to (2), two groups of road wheels to (5) along described F rail
Bearing of trend arrange, (2) are arranged by two groups of screens wheel equally along the bearing of trends of described F rail, and connect with the medial surface of F rail
Touch.
6. in as claimed in claim 5, low speed magnetic suspension opens ice snow melt sweeping robot, it is characterised in that described folding bends
Mechanism includes road wheel installing plate (12) and screens wheel folded sheet (3), and described road wheel installing plate (12) is vertically arranged and installs
In described frame, described road wheel is arranged on the lower section of described road wheel installing plate, described screens wheel folded sheet (3) to (5)
Connecting support by screens wheel and be arranged on the side of described road wheel installing plate, described screens wheel is arranged on described screens to (2)
On wheel folded sheet (12), and contact with the medial surface of described F rail.
7. in as claimed in claim 6, low speed magnetic suspension opens ice snow melt sweeping robot, it is characterised in that described in open ice snow melt
Sweeping robot is additionally provided with distance measuring sensor (6) and video camera (10).
8. in as claimed in claim 7, low speed magnetic suspension opens ice snow melt sweeping robot, it is characterised in that described range finding senses
Device (6) is specially ultrasound wave or infrared distance sensor, and it is arranged in side before and after described frame (11).
9. in as claimed in claim 8, low speed magnetic suspension opens ice snow melt sweeping robot, it is characterised in that described video camera
(10) top of described frame (11) it is arranged on by expansion link (9).
10. the middle low speed magnetic suspension as described in any one of claim 1-9 opens ice snow melt sweeping robot, it is characterised in that institute
Stating the snow melt sweeping robot that opens ice and be additionally provided with detection sensor (1), described detection sensor (1) is located at described fixed mount (15)
On.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610784799.7A CN106120636B (en) | 2016-08-31 | 2016-08-31 | A kind of middle low speed magnetic suspension opens ice snow melt sweeping robot |
| PCT/CN2017/080872 WO2018040580A1 (en) | 2016-08-31 | 2017-04-18 | Ice-breaking and snow-melting cleaning robot for medium and low speed maglev |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610784799.7A CN106120636B (en) | 2016-08-31 | 2016-08-31 | A kind of middle low speed magnetic suspension opens ice snow melt sweeping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106120636A true CN106120636A (en) | 2016-11-16 |
| CN106120636B CN106120636B (en) | 2018-02-23 |
Family
ID=57273427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610784799.7A Active CN106120636B (en) | 2016-08-31 | 2016-08-31 | A kind of middle low speed magnetic suspension opens ice snow melt sweeping robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106120636B (en) |
| WO (1) | WO2018040580A1 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018040580A1 (en) * | 2016-08-31 | 2018-03-08 | 中铁第四勘察设计院集团有限公司 | Ice-breaking and snow-melting cleaning robot for medium and low speed maglev |
| FR3071520A1 (en) * | 2017-09-27 | 2019-03-29 | Alstom Transport Technologies | AUTONOMOUS AND INTELLIGENT RAIL-ROAD SWEEPER AND SUPERVISION SYSTEM OF A SWEEPER |
| CN109896240A (en) * | 2017-12-08 | 2019-06-18 | 重庆市永川区聚杰石材厂 | A kind of processing of stone multifunction railway vehicle |
| CN110331690A (en) * | 2019-07-23 | 2019-10-15 | 株洲中车特种装备科技有限公司 | The overhead deicing engineering truck of single track |
| CN110387855A (en) * | 2019-07-29 | 2019-10-29 | 哈尔滨工业大学 | Automatic small intelligence deicing vehicle |
| CN111005272A (en) * | 2019-12-02 | 2020-04-14 | 江西理工大学 | Track maintenance equipment based on suspension type magnetic suspension track traffic system |
| CN111218915A (en) * | 2020-03-09 | 2020-06-02 | 西南交通大学 | Straddle type single-rail automatic ice and snow removing vehicle |
| CN114275177A (en) * | 2021-12-27 | 2022-04-05 | 浙江科比特科技有限公司 | Utilize unmanned aerial vehicle's intelligent inspection device |
| CN114991061A (en) * | 2022-06-14 | 2022-09-02 | 福建海山机械股份有限公司 | Deicing robot, deicing sanitation vehicle and deicing method |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318104B (en) * | 2018-10-29 | 2024-03-12 | 浙江国自机器人技术有限公司 | Cable cleaning robot |
| CN111123282A (en) * | 2020-01-20 | 2020-05-08 | 中车广东轨道交通车辆有限公司 | Rail transit motor induction plate detection device |
| CN112647713B (en) * | 2021-01-18 | 2022-08-16 | 怀集县奇昌兴混凝土有限公司 | Slide rail way for concrete conveying |
| CN114940441A (en) * | 2022-05-27 | 2022-08-26 | 武汉中远海运港口码头有限公司 | Inspection equipment, inspection control method, inspection control device and automation system |
| CN114802345B (en) * | 2022-05-30 | 2023-07-14 | 郑州职业技术学院 | Track detection device convenient to move for track traffic |
| CN115026847B (en) * | 2022-06-17 | 2024-09-13 | 赣南科技学院 | Automatic snow cleaning robot |
| CN118443718B (en) * | 2024-07-05 | 2024-09-10 | 中交第二公路工程局有限公司 | Road surface low temperature anti-freezing simulation test device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1338725A (en) * | 1971-01-09 | 1973-11-28 | Baermann M | Transportation system |
| DE2337692A1 (en) * | 1973-07-25 | 1975-02-06 | Reinhold Ficht | Emergency support for levitated vehicle tracks - has a number of sliding shoes with bristles or thin plates frozen together by ice |
| CN104452645A (en) * | 2014-10-25 | 2015-03-25 | 山东理工大学 | Multi-stage heating roller type road surface deicing machine |
| CN205327066U (en) * | 2016-01-29 | 2016-06-22 | 北京控股磁悬浮技术发展有限公司 | Moderate -low speed magnetic levitation engineer work vehicle |
| CN105714724A (en) * | 2014-12-02 | 2016-06-29 | 湖北省专用汽车研究院 | Mechanical-thermal composite road deicing vehicle |
| CN205348093U (en) * | 2016-01-29 | 2016-06-29 | 北京控股磁悬浮技术发展有限公司 | Moderate -low speed magnetic levitation engineer work vehicle with snow removing ice -melt function |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106120636B (en) * | 2016-08-31 | 2018-02-23 | 中铁第四勘察设计院集团有限公司 | A kind of middle low speed magnetic suspension opens ice snow melt sweeping robot |
-
2016
- 2016-08-31 CN CN201610784799.7A patent/CN106120636B/en active Active
-
2017
- 2017-04-18 WO PCT/CN2017/080872 patent/WO2018040580A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1338725A (en) * | 1971-01-09 | 1973-11-28 | Baermann M | Transportation system |
| DE2337692A1 (en) * | 1973-07-25 | 1975-02-06 | Reinhold Ficht | Emergency support for levitated vehicle tracks - has a number of sliding shoes with bristles or thin plates frozen together by ice |
| CN104452645A (en) * | 2014-10-25 | 2015-03-25 | 山东理工大学 | Multi-stage heating roller type road surface deicing machine |
| CN105714724A (en) * | 2014-12-02 | 2016-06-29 | 湖北省专用汽车研究院 | Mechanical-thermal composite road deicing vehicle |
| CN205327066U (en) * | 2016-01-29 | 2016-06-22 | 北京控股磁悬浮技术发展有限公司 | Moderate -low speed magnetic levitation engineer work vehicle |
| CN205348093U (en) * | 2016-01-29 | 2016-06-29 | 北京控股磁悬浮技术发展有限公司 | Moderate -low speed magnetic levitation engineer work vehicle with snow removing ice -melt function |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018040580A1 (en) * | 2016-08-31 | 2018-03-08 | 中铁第四勘察设计院集团有限公司 | Ice-breaking and snow-melting cleaning robot for medium and low speed maglev |
| FR3071520A1 (en) * | 2017-09-27 | 2019-03-29 | Alstom Transport Technologies | AUTONOMOUS AND INTELLIGENT RAIL-ROAD SWEEPER AND SUPERVISION SYSTEM OF A SWEEPER |
| EP3461953A1 (en) * | 2017-09-27 | 2019-04-03 | ALSTOM Transport Technologies | Autonomous, intelligent rail-road sweeping machine and supervision system of such a sweeping machine |
| CN109896240A (en) * | 2017-12-08 | 2019-06-18 | 重庆市永川区聚杰石材厂 | A kind of processing of stone multifunction railway vehicle |
| CN110331690A (en) * | 2019-07-23 | 2019-10-15 | 株洲中车特种装备科技有限公司 | The overhead deicing engineering truck of single track |
| CN110387855A (en) * | 2019-07-29 | 2019-10-29 | 哈尔滨工业大学 | Automatic small intelligence deicing vehicle |
| CN111005272A (en) * | 2019-12-02 | 2020-04-14 | 江西理工大学 | Track maintenance equipment based on suspension type magnetic suspension track traffic system |
| CN111005272B (en) * | 2019-12-02 | 2021-06-22 | 江西理工大学 | Track maintenance equipment based on suspension type magnetic suspension track traffic system |
| CN111218915A (en) * | 2020-03-09 | 2020-06-02 | 西南交通大学 | Straddle type single-rail automatic ice and snow removing vehicle |
| CN114275177A (en) * | 2021-12-27 | 2022-04-05 | 浙江科比特科技有限公司 | Utilize unmanned aerial vehicle's intelligent inspection device |
| CN114275177B (en) * | 2021-12-27 | 2023-12-26 | 浙江科比特科技有限公司 | Intelligent inspection device utilizing unmanned aerial vehicle |
| CN114991061A (en) * | 2022-06-14 | 2022-09-02 | 福建海山机械股份有限公司 | Deicing robot, deicing sanitation vehicle and deicing method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106120636B (en) | 2018-02-23 |
| WO2018040580A1 (en) | 2018-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106120636B (en) | A kind of middle low speed magnetic suspension opens ice snow melt sweeping robot | |
| CN106239474B (en) | A kind of middle low speed magnetic suspension rescue robot | |
| CN206125056U (en) | Well low -speed maglev F rail fault detecting robot | |
| CN206127967U (en) | Broken ice melting snow of well low -speed maglev cleans machine people | |
| US6202566B1 (en) | High-speed high-capacity transportation system | |
| CN206131993U (en) | Well low -speed maglev F rail inspection robot | |
| AU685032B2 (en) | Position recognition apparatus for a personal rapid transit control system | |
| US20210362758A1 (en) | Retention and loading and unloading in high speed transportation systems | |
| CN105629968B (en) | A kind of self- steering control method of trackless self- steering truck combination | |
| CN103538493A (en) | Unmanned intelligent traffic system | |
| JPH01146630A (en) | Car base plate automatic induction system | |
| CN104590318A (en) | Rail car turnout combination dispatching system and method | |
| US20240025456A1 (en) | Intelligent transportation system and method | |
| CN113002588B (en) | Train track foreign matter detection method and system | |
| WO2003006299A2 (en) | Transportation system for passengers and goods or containers | |
| CN106168470A (en) | A kind of station platform clearance survey device and method | |
| CN206107246U (en) | Well low -speed maglev F rail detects running gear of usefulness | |
| CN206123635U (en) | Well low -speed maglev rescue robot | |
| CN109853305B (en) | Magnetic suspension rail transportation system | |
| CN111469866A (en) | Corridor type intelligent traffic system based on unmanned driving | |
| CN109131430A (en) | A kind of middle low speed magnetic suspension less important work robot | |
| CN206107245U (en) | Well low -speed maglev F rail detects running gear of usefulness | |
| CN202080147U (en) | Driving system for train cleaning machine | |
| CN205381268U (en) | There is not wheel vehicle | |
| CN110223399B (en) | Intelligent efficient rail transit system based on Internet of vehicles and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |