CN111975740A - Inspection robot and track gauge detection method - Google Patents
Inspection robot and track gauge detection method Download PDFInfo
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- CN111975740A CN111975740A CN202010830568.1A CN202010830568A CN111975740A CN 111975740 A CN111975740 A CN 111975740A CN 202010830568 A CN202010830568 A CN 202010830568A CN 111975740 A CN111975740 A CN 111975740A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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Abstract
The application provides an inspection robot and a track gauge detection method, wherein the inspection robot comprises a sensing device and a travelling mechanism, the sensing device is arranged on the travelling mechanism and used for obtaining a first distance between the sensing device and a first guide rail and a second distance between the sensing device and a second guide rail; the track gauge of the track is obtained according to the first distance, the second distance and the installation parameters of the sensing device, and the track gauge can be accurately measured according to the distance from the sensing device to the guide rail and the installation parameters of the sensing device.
Description
Technical Field
The application relates to the technical field of robots, in particular to an inspection robot and a track gauge detection method.
Background
The inspection robot can perform inspection tasks for various places, such as: the inspection robot can be applied to industries such as electric power, agriculture, chemical industry and the like. Wherein, patrol and examine the robot and include the rail mounted again and patrol and examine the robot.
The rail-mounted inspection robot refers to an inspection robot walking along a laying rail, and is further provided with a vehicle body and detection equipment installed on the vehicle body. The car body is used as a main body structure of the inspection robot, and walking control of the robot is achieved. The detection equipment is used for collecting various detection data according to the specific inspection task. In the walking process of the inspection robot, the track gauge needs to be detected in real time, and the walking direction of the robot needs to be adjusted in time. The existing track gauge detection method mainly adopts a detection indirect measurement mode, the distance between two end points of the inspection robot is detected, the distance between the two end points is used as the track gauge, and then the walking of the track type inspection robot is controlled according to the track gauge.
However, the track gauge obtained according to the distance between two end points of the existing robot is inaccurate, and the walking control precision of the track type inspection robot is further influenced.
Disclosure of Invention
The embodiment of the application provides an inspection robot and a track gauge detection method, and aims to solve the problems in the prior art.
In a first aspect, the present application provides a robot patrols and examines, includes: a walking mechanism and a sensing device;
the sensor device is arranged on the traveling mechanism, the traveling mechanism travels on a track, and the track comprises a first guide rail and a second guide rail;
the sensing device is used for obtaining a first distance between the sensing device and the first guide rail and a second distance between the sensing device and the second guide rail; so as to obtain the track gauge of the track according to the first distance, the second distance and the installation parameters of the sensing device.
Optionally, the sensing device comprises a first sensor and a second sensor;
the first sensor is used for detecting the distance between the first sensor and the first guide rail, and the second sensor is used for detecting the distance between the second sensor and the second guide rail.
Optionally, the first sensor and the second sensor are mounted at the same level.
Optionally, the first sensor and the second sensor are located at the level of the rail.
In the above embodiment, by installing the first sensor and the second sensor on the same horizontal plane or on the horizontal plane of the rail, the complexity of calculating the rail distance according to the first distance, the second distance and the installation parameters can be reduced.
Optionally, the walking mechanism comprises a front walking frame, a rear walking frame and a connecting shaft;
the front walking frame is positioned on the track, and the first sensor and the second sensor are installed on the front walking frame;
the rear walking frame is positioned on the track, and the connecting shaft is used for connecting the front walking frame and the rear walking frame.
Optionally, the sensing device further comprises a third sensor and a fourth sensor;
the third sensor and the fourth sensor are both positioned on the rear walking frame, and the third sensor is used for detecting the distance from the third sensor to the first guide rail; the fourth sensor is used for detecting the distance from the fourth sensor to the second guide rail.
Optionally, the third sensor and the first sensor are symmetrically arranged relative to the center of the connecting shaft;
the fourth sensor and the second sensor are symmetrically arranged relative to the center of the connecting shaft.
Optionally, the sensing device further comprises a controller;
the controller is used for controlling the front walking frame to rotate along the connecting shaft when the first distance is not equal to the third distance until the first distance is equal to the third distance.
Optionally, the mounting parameter comprises a mounting distance between the first sensor and the second sensor;
the controller is used for superposing the installation distance, the first distance and the second distance when the first distance and the third distance are equal, and calculating to obtain the track gauge.
In the above embodiment, the track gauge is calculated when the first distance and the third distance are equal, the detected distances do not need to be converted, the detected distances can be directly superposed, the calculation process is simplified, and the accuracy of the obtained track gauge is improved.
Optionally, the controller is further configured to generate a control instruction according to the first distance to the fourth distance and the track gauge, so as to control the walking direction of the front walking frame.
Optionally, the first sensor and the second sensor are both laser sensors; the third sensor and the fourth sensor are both laser sensors.
In a second aspect, the present application provides a gauge measuring method, including:
acquiring a first distance between a sensing device and a first guide rail and a second distance between the sensing device and a second guide rail, wherein the inspection robot comprises a travelling mechanism and the sensing device, and the sensing device is arranged on the travelling mechanism;
and obtaining the track gauge of the track according to the first distance, the second distance and the installation parameters of the sensing device.
Optionally, the acquiring a first distance from the sensing device to the first guide rail and a second distance from the sensing device to the second guide rail specifically includes:
acquiring a first distance between a first sensor and a first guide rail and a third distance between a third sensor and the first guide rail;
and acquiring a second distance from the second sensor to the second guide rail when the first distance and the third distance are equal.
Optionally, the method further comprises:
and when the first distance is not equal to the third distance, controlling the front walking frame to rotate along the connecting shaft until the first distance is equal to the third distance.
Optionally, the installation parameters include: the installation distance between the first sensor and the second sensor;
obtaining the track gauge of the track according to the first distance, the second distance and the installation parameters of the sensing device, and specifically includes:
and superposing the mounting distance, the first distance and the second distance, and calculating to obtain the track gauge.
Optionally, the method further comprises: and generating a control instruction according to the first distance, the fourth distance and the track gauge so as to control the walking direction of the front walking frame.
The embodiment of the application provides a patrol and examine robot and gauge detection method, patrol and examine the robot and include running gear and sensing device, set up sensing device on running gear, so that sensing device detects its distance between the guide rail of both sides apart from, and obtain orbital gauge according to its distance between the guide rail of both sides and its installation parameter, compare in current measuring method, this application direct measurement sensing device is to the distance between the guide rail, can accurately obtain the gauge according to distance between the guide rail and installation parameter again, and then can more accurate control rail mounted patrols and examines the walking of robot.
Drawings
Fig. 1 is a schematic perspective view of an inspection robot according to another embodiment of the present disclosure;
fig. 2 is a schematic top view of an inspection robot according to another embodiment of the present disclosure;
fig. 3 is a schematic flow chart of a track gauge detecting method according to another embodiment of the present application
Fig. 4 is a schematic flow chart of a track gauge detecting method according to another embodiment of the present application;
fig. 5 is a schematic flow chart of a track gauge detecting method according to another embodiment of the present application.
Detailed Description
To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The inspection robot can perform inspection tasks for various places, such as: the inspection robot can be applied to industries such as electric power, agriculture, chemical industry and the like. Wherein, patrol and examine the robot and include again and patrol and examine the robot.
The rail type inspection robot refers to an inspection robot which travels along a laying rail. The rail-mounted inspection robot is also provided with a vehicle body and detection equipment installed on the vehicle body. The car body is used as a main body structure of the inspection robot, and walking control of the robot is achieved. The detection equipment is used for collecting various detection data according to the specific inspection task. In the walking process of the inspection robot, the track gauge needs to be detected in real time, and the walking direction of the robot needs to be adjusted in time. The existing track gauge detection method mainly adopts a detection indirect measurement mode, and controls the walking of the track type inspection robot by detecting the distance between two end points of the inspection robot and taking the distance between the two end points as the track gauge.
However, the existing measurement mode depends on whether the selected end points can accurately reflect the track gauges of the two guide rails, and the selected end points have randomness, so that the obtained track gauges are not accurate, and the walking control precision of the rail type inspection robot is influenced.
The embodiment of the application provides an inspection robot and a track gauge detection method, and aims to provide an inspection robot with higher control precision. The inventive concept of the application is as follows: the inspection robot is provided with the sensing device, the sensing device obtains the distance from the inspection robot to the track guide rail, and the track gauge is determined according to the distance and the mounting parameters of the sensing device, so that the track gauge can be accurately obtained, the accurate gauge is provided for the walking control of the robot, and the walking control precision of the robot is improved.
An embodiment of the application provides a robot patrols and examines, should patrol and examine the robot and include: a walking mechanism and a sensing device.
The track comprises a first guide rail 01 and a second guide rail 02, and the first guide rail 01 and the second guide rail 02 are arranged in parallel.
The walking mechanism comprises a walking frame, a driving device and a wheel mechanism, and the walking frame is a main body structure of the walking mechanism and plays a supporting role. The wheel mechanism is located walking frame bottom, and wheel mechanism is located orbital first guide rail 01 or second guide rail 02. The wheel mechanism is used for supporting the travelling mechanism so as to enable the travelling mechanism to travel on the track. The wheel mechanism in turn comprises a wheel axle and a wheel. The driving device is positioned on the walking frame, the power output end of the driving device is connected with the wheel shaft of the wheel mechanism, the driving device drives the wheel shaft, and then the walking mechanism walks on the track.
In one embodiment, the driving device may be an electric motor, and the electric motor directly drives the wheel shaft to rotate through the connecting device, so as to enable the traveling mechanism to travel on the track. As another embodiment, the driving device may further include a motor and a transmission device, a power output end of the motor is connected with a power input end of the transmission device, and a power output end of the transmission device is connected with the wheel shaft. After the motor outputs power, the motor is converted into low-speed large-torque power output by the transmission device. The transmission device can be any one of chain transmission, gear transmission and belt wheel transmission.
Wherein, sensing device installs on running gear. The sensing device is used for obtaining a first distance from the sensing device to the first guide rail 01 and a second distance from the sensing device to the second guide rail 02. After the first distance and the second distance are obtained, the track distance between the first guide rail 01 and the second guide rail 02 is calculated according to the first distance, the second distance and the installation parameters of the sensing device, so that the walking of the inspection robot is controlled according to the track distance.
The working principle of the inspection robot provided by the embodiment of the application is described as follows: and when the inspection robot is started, loading the installation parameters of the sensing device. When the inspection robot walks on the rail, the sensing device detects the distance from the sensing device to the rail in real time, and then the rail gauge of the rail is calculated according to a first distance from the first guide rail and a second distance from the second guide rail which are detected in real time and the installation parameters of the sensing device. And controlling a traveling mechanism of the inspection robot according to the calculated track gauge so as to realize the traveling control of the inspection robot.
In the inspection robot that this application embodiment provided, according to sensing device's installation and sensing device apart from distance between the both sides guide rail, and then can the accurate calculation obtain the gauge between two guide rails to accurate control is to the walking of inspection robot.
As shown in fig. 1 and 2, another embodiment of the present application provides an inspection robot 100 including: running gear, sensing device and sensor.
Wherein, running gear includes walking frame, drive arrangement and wheel mechanism. The walking frame in turn comprises a front walking frame 101, a rear walking frame 102 and a connecting shaft 103. The number of the wheel mechanisms is 4. Two wheel mechanisms are mounted below the front carrier 101 to support the front carrier 101. Two wheel mechanisms are installed below the rear traveling frame 102 to support the rear traveling frame 102.
The front traveling frame 101 is positioned on the first guide rail 01 and the second guide rail 02, and the rear traveling frame 102 is positioned on the first guide rail 01 and the second guide rail 02. The front traveling frame 101 and the rear traveling frame 102 are connected by a connecting shaft 103, and the front traveling frame 101 is rotatable relative to the rear traveling frame 102 along the connecting shaft 103. Namely, the front walking frame 101 and the connecting shaft 103 are rotatably connected, and the rear walking frame 102 and the connecting shaft 103 are fixedly connected. The front walking frame 101 and the connecting shaft 103 can be fixedly connected, and the rear walking frame 102 and the connecting shaft 103 can be rotatably connected. The front walking frame 101 and the connecting shaft 103 can be rotatably connected, and the rear walking frame 102 and the connecting shaft 103 can be rotatably connected.
The two wheel mechanisms on the front walking frame are symmetrically arranged relative to the connecting shaft 103, and the two wheel mechanisms on the rear walking frame are symmetrically arranged relative to the connecting shaft 103. The power output end of the driving device is respectively connected with the two wheel structures on the rear walking frame so as to drive the two wheel mechanisms on the rear walking frame. The specific structure of the driving device has been described in detail in the above embodiment, and is not described herein again.
Wherein the sensing means comprises a first sensor 201, a second sensor 202, a third sensor 203 and a fourth sensor 204.
The first sensor 201 and the second sensor 202 are both mounted on the front walking frame, the first sensor is located near the first guide rail side, and the second sensor is located near the second guide rail side. The third sensor 203 and the fourth sensor 204 are both mounted on the rear walking frame, the third sensor 203 is located near the first guide rail side, and the fourth sensor is located near the second guide rail side.
The first sensor is used for detecting a first distance between the first sensor and the first guide rail, and the second sensor is used for detecting a second distance between the second sensor and the second guide rail.
After obtaining a first distance between the first sensor and the first rail and a second distance between the second sensor and the second rail, the controller is configured to calculate a rail gauge between the first rail and the second rail according to the first distance and the second distance and installation parameters of the first sensor and the second sensor.
As a preferred embodiment, the first sensor and the second sensor are installed on the same horizontal plane, and the track gauge calculating process can be simplified by installing the first sensor and the second sensor on the same horizontal plane. Wherein the mounting parameter comprises a distance d between the first sensor and the second sensor.
The method for calculating the track gauge by the controller specifically comprises the following steps: and the track gauge is obtained by calculating the superposition of the installation distance, the first distance and the second distance.
The third sensor is used for detecting a third distance between the third sensor and the first guide rail, and the fourth sensor is used for detecting a fourth distance between the fourth sensor and the second guide rail. And the third distance acquired by the third sensor and the fourth distance acquired by the fourth sensor are used for controlling the walking of the inspection robot.
As a preferred embodiment, the first sensor and the second sensor are located on the horizontal plane where the track is located, the sensors can directly emit signals along the horizontal plane, the distance is calculated according to the back-and-forth time of the emitted signals, angle conversion is not needed, and the calculation process can be simplified.
As a preferred embodiment, the first sensor and the second sensor are both laser sensors; the third sensor and the fourth sensor are both laser sensors.
As a preferred embodiment, the third sensor and the first sensor are arranged symmetrically with respect to the center of the connecting shaft. The fourth sensor and the second sensor are symmetrically arranged relative to the center of the connecting shaft. Through symmetrical arrangement, when the inspection robot is positioned in the middle of the track, the distances detected by the first sensor to the fourth sensor should be the same, whether the robot is positioned in the middle of the track can be determined by judging whether the detection distances of the four sensors are the same, a corresponding control instruction can be generated, and the walking control process of the robot can be simplified.
As a preferred embodiment, after the track gauge is obtained through calculation, the controller generates a control command according to the first distance to the fourth distance, the track gauge and the real-time included angle, wherein the control command is used for controlling the walking direction of the front walking frame. More specifically, after the track gauge is recalculated, a first difference between the first distance and the third distance is calculated. And calculating a second difference value between the second distance and the fourth distance, and generating a control command according to the first difference value, the second difference value and the track gauge.
In the process of generating the control instruction, when the ratio between the first difference and the track gauge and the ratio between the second difference and the track gauge reach a preset ratio threshold, the walking mechanism is indicated to be deviated to one side of the guide rail to walk, and a corresponding control instruction is generated so as to control the walking direction of the front walking frame and enable the walking mechanism to walk in the middle.
The working principle of the inspection robot provided by the embodiment of the application is described as follows: when the inspection robot is started, the installation distance between the first sensor and the second sensor is loaded. When the inspection robot walks on the rail, the first sensor detects a first distance between the first guide rails, the second sensor detects a second distance between the second guide rails, the third sensor detects a third distance between the first guide rails, and the fourth sensor detects a fourth distance between the second guide rails. And the controller calculates to obtain the track gauge according to the first distance and the second distance detected in real time, the installation distance and the real-time included angle. And after the track gauge is obtained through calculation, the controller generates a control instruction according to the first distance, the fourth distance, the track gauge and the real-time included angle, controls the walking direction of the front walking frame, and enables the walking mechanism to walk in the middle.
The inspection robot provided by another embodiment of the application detects the distance from the guide rail by the first sensor and the second sensor, can accurately obtain the orbital gauge according to the distance from the guide rail and the sensor installation parameters, and accurately controls the walking direction of the inspection robot according to the detection distance of the third sensor and the fourth sensor, thereby improving the control accuracy.
Another embodiment of the present application provides an inspection robot, which the inspection robot 100 includes: the device comprises a walking mechanism, a sensing device and a controller.
The structure of the traveling mechanism and the structure of the sensing device are the same as those of the embodiment shown in fig. 1, and are not described again here. The difference from the embodiment shown in fig. 1 is that:
the first sensor collects a first distance between the first sensor and the first guide rail, and the third sensor collects a third distance between the third sensor and the first guide rail. And sending the first distance and the third distance to a controller, and judging whether the first distance and the third distance are equal by the controller. When the first distance is not equal to the third distance, the controller controls the front walking frame to rotate along the connecting shaft until the first distance is equal to the third distance. That is, the front traveling frame is kept horizontal by rotating the front traveling frame. And if the distance is equal, namely when the current walking frame is horizontal, controlling the first sensor and the second sensor to work, and respectively acquiring the first distance and the second distance.
And directly stacking the first distance acquired by the first sensor, the second distance acquired by the second sensor and the mounting distance between the first sensor and the second sensor to obtain the track gauge. The calculation process can be simplified, and the calculation accuracy is improved.
In the inspection robot provided by the embodiment of the application, the fifth sensor detects the real-time angle of the front walking frame and the horizontal plane, when the real-time angle meets the preset condition, the first sensor to the fourth sensor are controlled to work, the process of calculating the track distance according to the acquisition distance of the first sensor to the second sensor can be simplified, and the process of generating a control instruction according to the first sensor to the fourth sensor can be simplified.
As shown in fig. 3, another embodiment of the present application provides a track gauge measuring method, which is applied to the inspection robot provided in the above embodiment, where an execution main body of the track gauge measuring method is a controller, and the track gauge measuring method includes the following steps:
s301, the controller obtains a first distance between the sensing device and the first guide rail and a second distance between the sensing device and the second guide rail.
The inspection robot comprises a travelling mechanism and a sensing device, and the sensing device is installed on the travelling mechanism. The sensing device can be an ultrasonic sensor, a laser sensor and the like, and the sensing device detects the distance between the sensing device and the guide rails on the two sides.
As a preferable real-time mode, the sensing device further comprises a first sensor and a second sensor, the first sensor and the second sensor are located on the front walking frame, the first sensor is arranged close to the first guide rail, and the second sensor is arranged close to the second guide rail. The first sensor is used for detecting the distance between the first guide rails, and the second sensor is used for detecting the distance between the second guide rails and sending the distance to the controller.
S302, the controller obtains the track gauge of the track according to the first distance, the second distance and the installation parameters of the sensing device.
The installation parameters comprise a real-time included angle between the front walking frame and the horizontal plane and an installation distance between the first sensor and the second sensor.
And when the controller calculates the track gauge of the track, the mounting distance, the first distance and the second distance are superposed to obtain the intermediate distance. And calculating according to the intermediate distance and the real-time included angle to obtain the track gauge. And matching the middle distance with the cosine value of the real-time included angle to obtain the track gauge.
In the track gauge detection method provided by the embodiment of the application, the track gauge before the two guide rails is obtained through calculation according to the distance between the sensor and the guide rails and the installation parameters of the sensor, the track gauge of the guide rails can be accurately obtained, and the walking control precision of the inspection robot can be improved.
As shown in fig. 4, another embodiment of the present application provides a track gauge measuring method, which is applied to the inspection robot provided in the above embodiment, and the track gauge measuring method includes the following steps:
s401, the controller obtains a first distance between the first sensor and the first guide rail and a third distance between the third sensor and the first guide rail.
The first sensor detects a distance from the first sensor to the first guide rail, and sends the detected first distance to the controller. The third sensor detects a third distance from the third sensor to the first guide rail, and sends the detected third distance to the controller.
S402, the controller judges whether the first distance and the third distance are equal, if so, the process goes to S404, otherwise, the process goes to S403.
And judging whether the front walking frame is horizontal or not by judging whether the first distance and the third distance are equal or not. When the traveling gantry is horizontal, the process proceeds to S404, and when the traveling gantry is inclined, the process proceeds to S403.
And S403, when the first distance and the third distance are not equal, the controller controls the front walking frame to rotate along the connecting shaft, and the operation goes to S401.
When the front walking frame inclines, the controller controls the front walking frame to rotate along the connecting shaft until the first distance is equal to the third distance. I.e. keeping the front carriage horizontal. When the front walking frame is controlled to rotate along the connecting shaft, closed-loop control can be adopted, the first distance and the third distance are continuously detected, and a rotation control instruction is generated according to the difference value between the first distance and the third distance so as to control the front walking frame to rotate along the connecting shaft.
S404, the controller obtains a second distance between the second sensor and the second guide rail.
When the front walking frame is kept horizontal, the controller controls the first sensor and the second sensor to acquire the distance from the guide rails on two sides and sends the acquired first distance and second distance to the controller.
S405, the controller obtains the track gauge of the track according to the first distance, the second distance and the installation parameters of the sensing device.
The installation parameters comprise installation distance between the first sensor and the second sensor and a real-time included angle between the front walking frame and the horizontal plane, and the first distance, the second distance and the installation distance can be directly superposed to obtain the track gauge because the real-time included angle is smaller than a preset angle threshold value.
In the track gauge measuring method provided by the embodiment of the application, the distance between the sensing device and the guide rails on the two sides is obtained when the front walking frame is kept horizontal, so that the calculation amount in calculating the track gauge according to the distance between the sensing device and the guide rails on the two sides can be reduced.
As shown in fig. 5, another embodiment of the present application provides a track gauge measuring method, which is applied to the inspection robot provided in the above embodiment, and the track gauge measuring method includes the following steps:
s501, the controller obtains a first distance between the first sensor and the first guide rail and a third distance between the third sensor and the first guide rail.
S502, the controller judges whether the first distance and the third distance are equal, if so, the process goes to S504, otherwise, the process goes to S503.
S503, when the first distance and the third distance are not equal, the controller controls the front walking frame to rotate along the connecting shaft and the operation proceeds to S501.
And S504, the controller acquires a second distance between the second sensor and the second guide rail.
And S505, the controller obtains the track gauge of the track according to the first distance, the second distance and the installation parameters of the sensing device.
S506, the controller obtains a third distance between the third sensor and the first guide rail and a fourth distance between the fourth sensor and the second guide rail.
The third sensor and the fourth sensor are located on the rear walking frame, the third sensor is close to the first guide rail side, and the fourth sensor is close to the second guide rail side. And after the track gauge of the track is obtained through calculation, the third sensor is controlled to acquire a third distance from the third sensor to the first guide rail, and the fourth sensor is controlled to acquire a fourth distance from the fourth sensor to the second guide rail.
And S507, generating a control instruction by the controller according to the first distance to the fourth distance, the track gauge and the real-time included angle so as to control the walking direction of the front walking frame.
And calculating a first difference value between the first distance and the third distance because the real-time included angle is smaller than a preset angle threshold value. And calculating a second difference between the second distance and the fourth distance. And generating a control instruction according to the first difference value, the second difference value and the track gauge so as to control the walking direction of the front walking frame.
In the track gauge measuring method provided by the embodiment of the application, after the track gauge is obtained, according to the track gauge, the first distance to the fourth distance and the detected real-time angle, a control instruction is generated, and the walking of the inspection robot can be accurately controlled.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (16)
1. An inspection robot, comprising: a walking mechanism and a sensing device;
the sensing device is mounted on the travelling mechanism, the travelling mechanism travels on a track, and the track comprises a first guide rail and a second guide rail;
the sensing device is used for obtaining a first distance from the sensing device to the first guide rail and a second distance from the sensing device to the second guide rail; so as to obtain the track gauge of the track according to the first distance, the second distance and the installation parameters of the sensing device.
2. The inspection robot according to claim 1, wherein the sensing device includes a first sensor and a second sensor;
the first sensor is configured to detect the first distance from the first sensor to the first rail, and the second sensor is configured to detect the second distance from the second sensor to the second rail.
3. The inspection robot according to claim 2, wherein the first and second sensors are mounted at the same horizontal level.
4. The inspection robot according to claim 3, wherein the first and second sensors are located at a level of the track.
5. The inspection robot according to claim 2, wherein the travelling mechanism includes a front travelling frame, a rear travelling frame and a connecting shaft;
the front walking frame is positioned on the track, and the first sensor and the second sensor are mounted on the front walking frame;
the rear walking frame is located on the rail, and the connecting shaft is used for connecting the front walking frame and the rear walking frame.
6. The inspection robot according to claim 5, wherein the sensing device further includes a third sensor and a fourth sensor;
the third sensor and the fourth sensor are both positioned on the rear walking frame, the third sensor is used for detecting a third distance from the third sensor to the first guide rail,
the fourth sensor is configured to detect a fourth distance from the fourth sensor to the second rail.
7. The inspection robot according to claim 6, wherein the third sensor and the first sensor are symmetrically arranged with respect to a center of the connecting shaft;
the fourth sensor and the second sensor are symmetrically arranged relative to the center of the connecting shaft.
8. The inspection robot according to claim 7, wherein the sensing device further includes a controller;
the controller is used for controlling the front walking frame to rotate along the connecting shaft when the first distance is not equal to the third distance until the first distance is equal to the third distance.
9. The inspection robot according to claim 8, wherein the mounting parameters include a mounting distance between the first sensor and the second sensor;
the controller is used for superposing the installation distance, the first distance and the second distance when the first distance and the third distance are equal to each other, and calculating to obtain the track gauge.
10. The inspection robot according to claim 9, wherein the controller is further configured to generate control commands to control a direction of travel of the front frame based on the first to fourth distances and the rail gage.
11. The inspection robot according to any one of claims 6-10, wherein the first sensor and the second sensor are both laser sensors; the third sensor and the fourth sensor are both laser sensors.
12. A method of gauge measurement, comprising:
acquiring a first distance from a sensing device to a first guide rail and a second distance from the sensing device to a second guide rail, wherein the inspection robot comprises a travelling mechanism and the sensing device, and the sensing device is arranged on the travelling mechanism;
and obtaining the track gauge of the track according to the first distance, the second distance and the installation parameters of the sensing device.
13. The method of claim 12, wherein obtaining the first distance from the sensing device to the first rail and the second distance from the sensing device to the second rail comprises:
acquiring a first distance from a first sensor to the first guide rail and a third distance from a third sensor to the first guide rail;
acquiring the second distance from a second sensor to the second rail when the first distance and the third distance are equal.
14. The method of claim 13, further comprising:
and when the first distance is not equal to the third distance, controlling the front walking frame to rotate along the connecting shaft until the first distance is equal to the third distance.
15. The method of any one of claims 12 to 14, wherein the installation parameters include: the installation distance between the first sensor and the second sensor;
obtaining the track gauge of the track according to the first distance, the second distance and the installation parameters of the sensing device, and specifically includes:
and superposing the mounting distance, the first distance and the second distance, and calculating to obtain the track gauge.
16. The method according to any one of claims 12 to 14, further comprising:
acquiring a fourth distance from a fourth sensor to the second guide rail;
and generating a control instruction according to the first distance, the fourth distance and the track gauge so as to control the walking direction of the front walking frame.
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