CN112068540B - Track inspection robot - Google Patents
Track inspection robot Download PDFInfo
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- CN112068540B CN112068540B CN201910439475.3A CN201910439475A CN112068540B CN 112068540 B CN112068540 B CN 112068540B CN 201910439475 A CN201910439475 A CN 201910439475A CN 112068540 B CN112068540 B CN 112068540B
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- 238000007689 inspection Methods 0.000 title claims abstract description 62
- 238000001514 detection method Methods 0.000 claims abstract description 66
- 230000005540 biological transmission Effects 0.000 claims abstract description 54
- 238000004891 communication Methods 0.000 claims abstract description 17
- 238000005259 measurement Methods 0.000 claims abstract description 15
- 230000009471 action Effects 0.000 claims abstract description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 238000007790 scraping Methods 0.000 claims description 5
- 230000007613 environmental effect Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 description 19
- 238000010586 diagram Methods 0.000 description 9
- 238000007667 floating Methods 0.000 description 6
- 230000007547 defect Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000010802 sludge Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
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Abstract
The invention provides a track inspection robot which comprises a chassis, a running gear, a control device and a detection device, wherein the running gear, the control device and the detection device are all arranged on the chassis, the running gear comprises a driving motor, a transmission piece and a transmission shaft which are sequentially connected, two ends of the transmission shaft are respectively connected with a first wheel and a second wheel, the first wheel and the second wheel are respectively used for bearing on a first track and a second track which are oppositely arranged, the detection device comprises a track gauge detection device, a track height difference detection device, a platform detection device and a canopy detection device, and the control device is in communication connection with the running gear and the detection device so as to control the running state and the detection action of the robot. The invention can replace manual track inspection operation, improves the precision of measured data, avoids measurement errors caused by manual operation, reduces labor intensity and improves labor safety.
Description
Technical Field
The invention relates to a railway track detection technology, in particular to a track inspection robot.
Background
In recent years, the railway industry in China develops rapidly, the total length of railway lines increases year by year, the workload of railway track inspection is also increased, and the railway track inspection is mainly used for inspecting whether the railway lines are defect-free so as to prevent safety accidents from occurring during train operation.
In the prior art, the railway track inspection work is mainly finished by manpower. The inspection personnel can drive the comprehensive inspection vehicle or manually push the inspection trolley to walk on the railway track, the comprehensive inspection vehicle is huge, the whole railway system is required to be dispatched, the use is inconvenient, the cost is high, various measuring tools are loaded on the inspection trolley, and in the inspection process, the inspection personnel can measure some basic parameters of the track by using the tools at intervals of a fixed distance, so that the normal running of the train is ensured.
However, the measurement mode in the prior art requires measurement personnel to work on the track all the time, and has low safety, high working labor intensity and high cost, and meanwhile, the measurement tools are slightly placed incorrectly, so that great measurement errors can be generated, and the precision of measurement data is low.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide the track inspection robot which can improve the measurement accuracy, avoid measurement errors caused by manual operation, reduce the labor intensity and improve the labor safety.
The embodiment of the invention provides a track inspection robot which comprises a chassis, a traveling device, a control device and a detection device, wherein the traveling device, the control device and the detection device are all arranged on the chassis, the traveling device comprises a driving motor, a transmission part and a transmission shaft which are sequentially connected, two ends of the transmission shaft are respectively connected with a first wheel and a second wheel, the first wheel and the second wheel are respectively used for bearing on a first track and a second track which are oppositely arranged, the detection device comprises a track gauge detection device, a track height difference detection device, a platform detection device and a canopy detection device, and the control device is in communication connection with the traveling device and the detection device so as to control the traveling state and the detection action of the robot.
As described above, optionally, the transmission shaft includes a first transmission shaft and a second transmission shaft, where the first transmission shaft and the second transmission shaft are both connected with the chassis, and the driving motor drives the first transmission shaft to rotate by the driving piece so as to drive the robot to walk along the track.
The track inspection robot comprises a chassis, a first transmission shaft, a second transmission shaft, a transmission piece, a first chain wheel, a second chain wheel and a chain, wherein the first transmission shaft is connected with the chassis through a first bearing seat, the second transmission shaft is connected with the chassis through a second bearing seat, the transmission piece comprises a speed reducer, a first chain wheel, the second chain wheel and the chain, the chain is connected with the first chain wheel and the second chain wheel, the second chain wheel is sleeved on the first transmission shaft, and the output end of the driving motor is connected with the first chain wheel through the speed reducer so as to drive the first transmission shaft to rotate.
As mentioned above, optionally, the second transmission shaft is further provided with an encoder, and the encoder is in communication connection with the control device and is used for detecting the number of turns of the second transmission shaft.
The track inspection robot as described above, optionally, further comprises a clamping device, wherein the clamping device is disposed on one side of the chassis, which is close to the first track, and the clamping device is used for clamping the first track so that the first wheel walks along the first track.
The track inspection robot as described above, optionally, the width of the second wheel is greater than the width of the first wheel along the track-wise direction.
The track inspection robot is characterized in that the chassis is further provided with a scraping plate matched with the first wheel and the second wheel.
The track inspection robot as described above, optionally, the control device includes a memory, a processor and an electrical element, where the memory is communicatively connected with the processor and is used to store measurement data of the detection device, and the processor is connected with the running device and the detection device through the electrical element, so as to control the running state and the detection action of the robot.
The track inspection robot comprises a chassis, a first track, a second track, a track gauge detection device, a first distance sensor, a second distance sensor and a second distance sensor, wherein the first distance sensor and the second distance sensor are oppositely arranged and are respectively arranged on two sides of the chassis along the track gauge direction, the first distance sensor is close to the first track, the second distance sensor is close to the second track, the first distance sensor is used for detecting the distance between the first distance sensor and the inner side face of the first track, and the second distance sensor is used for detecting the distance between the second distance sensor and the inner side face of the second track.
The track inspection robot as described above, optionally, the track level difference detection device includes an inclination sensor for measuring an inclination angle of the chassis.
As described above, optionally, the platform detection device includes at least one third distance sensor and a fourth distance sensor, the third distance sensor and the fourth distance sensor being movable up and down in a direction perpendicular to the chassis, the third distance sensor being configured to detect a distance of the platform from the robot, and the fourth distance sensor being configured to detect a height at which the third distance sensor is movable.
The track inspection robot as described above, optionally, the rainshed detection device includes an environment sensor for detecting an environment in front of a traveling direction of the robot.
The track inspection robot, as described above, optionally further comprises an anti-collision device, wherein the anti-collision device is in communication connection with the control device, the anti-collision device comprises a fifth distance sensor and a contact sensor, the fifth distance sensor is used for detecting an obstacle in front of the walking direction of the robot, sending a stop instruction to the control device when the distance from the obstacle is smaller than a preset value, and the contact sensor is used for sending the stop instruction to the control device after the contact with an object.
The track inspection robot comprises a walking device, a control device, a detection device, a power supply and a control device.
The track inspection robot as described above, optionally, further comprises a housing, wherein the housing is disposed on the chassis, and a housing cavity for housing the circuit board is formed between the housing and the chassis.
The track inspection robot is characterized in that the surface of the shell is also provided with a display device and a control button, and the display device and the control button are in communication connection with the control device.
The track inspection robot as described above, optionally, the control device further includes a wireless communication module, where the wireless communication module is used to connect with an external device.
The track inspection robot as described above, optionally, further comprises a supporting wheel, wherein the supporting wheel is arranged below the chassis and between the first wheel and the second wheel, and the distance between the bottom end of the supporting wheel and the chassis is greater than the distance between the first wheel and the chassis and less than the distance between the first track and the chassis.
According to the track inspection robot, walking on the track can be achieved through the arrangement of the walking device, the walking distance of the robot and the data detection interval distance can be set by the control device, and parameters of the track and the surrounding environment are acquired through the detection device, so that the track inspection operation can be replaced by manual work, the accuracy of measured data is improved, measurement errors caused by manual operation are avoided, meanwhile, the labor intensity is reduced, and the labor safety is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a track inspection robot according to an embodiment of the present invention;
FIG. 2 is a schematic side elevational view of FIG. 1;
FIG. 3 is a schematic diagram of the front view of FIG. 1;
FIG. 4 is a schematic diagram of an active mechanism according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a driven mechanism according to an embodiment of the present invention.
Reference numerals:
100-chassis, 210-driving mechanism;
211-a driving motor, 212-a speed reducer;
213-first sprocket 214-chain;
215-first drive shaft 216-first bearing seat;
217-first wheel, 218-second wheel;
221-a second drive shaft, 222-an encoder;
223-belt wheel, 224-synchronous belt;
225-a second bearing, 220-a driven mechanism;
230-supporting wheel, 240-scraping plate;
300-clamping device, 400-shell;
510-track gauge detecting device, 520-track height difference detecting device;
530-station detecting device, 540-canopy detecting device;
610-fifth distance sensor, 620-contact sensor;
700-display device, 800-control button;
900-power supply, 1000-control device;
1100-first track, 1200-second track.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The following embodiments and features of the embodiments may be combined with each other without conflict.
Fig. 1 is a schematic diagram of a track inspection robot according to an embodiment of the present invention, fig. 2 is a schematic diagram of a side view of fig. 1, fig. 3 is a schematic diagram of a front view of fig. 1, fig. 4 is a schematic diagram of a driving mechanism according to an embodiment of the present invention, fig. 5 is a schematic diagram of a driven mechanism according to an embodiment of the present invention, and refer to fig. 1-5.
The embodiment provides a track inspection robot, which comprises a chassis 100, a traveling device, a control device 1000 and a detection device, wherein the traveling device, the control device 1000 and the detection device are all arranged on the chassis 100, the traveling device comprises a driving motor 211, a transmission part and a transmission shaft which are sequentially connected, two ends of the transmission shaft are respectively connected with a first wheel 217 and a second wheel 218, the first wheel 217 and the second wheel 218 are respectively used for bearing a first track 1100 and a second track 1200 which are oppositely arranged, the detection device comprises a track gauge detection device 510, a track height difference detection device 520, a platform detection device 530 and a canopy detection device 540, and the control device 1000 is in communication connection with the traveling device and the detection device so as to control the traveling state and the detection action of the robot.
In this embodiment, the chassis 100 may be machined from a high strength aluminum alloy or an aluminum profile to reduce the weight of the robot and improve the strength.
In use, the distance of travel of the robot is pre-selected by the control device 1000, and the distance between adjacent side measurements is set, the robot travels on the first track 1100 and the second track 1200 by the travel mechanism, and the robot stops at each set distance for data measurement. The measured data includes track gauge, the difference in height of the first track 1100 and the second track 1200, the platform height and distance of the platform from the center of the track, the canopy outer profile size, etc. Optionally, the control device 1000 includes a memory, a processor, and an electrical element, where the memory is communicatively connected to the processor and is used to store measurement data of the robot, and the processor is connected to the walking device and the detection device through the electrical element to control the walking state and the detection action of the robot. The measured data may be stored in a memory or compared by a processor with standard data preset in the memory to find defects in the track.
The track inspection robot provided by the embodiment can realize walking on the track by arranging the walking device, the control device 1000 can set the walking distance of the robot and the interval distance of data detection, and various geometric parameters of the track and the surrounding environment are acquired by the detection device, so that the track inspection robot can replace manual track inspection operation, the precision of measured data is improved, the measurement error caused by manual operation is avoided, the labor intensity is reduced, and the labor safety is improved.
Specifically, the running device of the embodiment includes a driving mechanism 210 and a driven mechanism 220, the driving mechanism 210 includes a driving motor 211 and a transmission member, the transmission shaft includes a first transmission shaft 215 located on the driving mechanism 210 and a second transmission shaft 221 located on the driven mechanism 220, the first transmission shaft 215 and the second transmission shaft 221 are fixedly connected with the chassis 100, the driving motor 211 drives the first transmission shaft 215 to rotate through the transmission member, so that the first wheels 217 and the second wheels 218 on two sides of the first transmission shaft 215 run along a track, and the second transmission shaft 221 rotates along with the first transmission shaft 215 under the action of the chassis 100, so as to drive the first wheels 217 and the second wheels 218 on two sides of the second transmission shaft 221 to run along the track to realize the running of the robot.
Further, the first transmission shaft 215 is fixedly connected with the chassis 100 through the first bearing seat 216, the second transmission shaft 221 is fixedly connected with the chassis 100 through the second bearing seat 225, and the first bearing seat 216 and the second bearing seat 225 can be fixed on the chassis 100 in a bolt connection manner. The driving medium includes speed reducer 212, first sprocket 213, second sprocket and chain 214, and first sprocket 213 and second sprocket are connected to chain 214, and the second sprocket cover is established on first transmission shaft 215, and the output of driving motor 211 passes through speed reducer 212 and connects first sprocket 213 to drive first transmission shaft 215 rotation.
The second transmission shaft 221 may be provided with an encoder 222, and the encoder 222 is connected with the control device 1000 in a communication manner and is used for recording the walking distance of the robot. Specifically, the encoder 222 is connected to the second transmission shaft 221 through the belt wheel 223 and the timing belt 224, and when the robot walks, the encoder 222 can record the number of turns of the second transmission shaft 221, so that the distance travelled by the robot can be obtained through calculation.
Further, the present embodiment further includes a clamping device 300, where the clamping device 300 is disposed on a side of the chassis 100 near the first rail 1100, and the clamping device 300 is used to clamp the first rail 1100 so that the first wheel 217 walks along the first rail 1100.
The clamping device comprises a fixed wheel mechanism and a clamping wheel mechanism which are oppositely arranged, wherein the fixed wheel of the fixed wheel mechanism is always propped against the first side surface of the first track 1100, the clamping wheel mechanism comprises a floating wheel and a pre-tightening mechanism, and the pre-tightening mechanism is used for applying pre-tightening force to the floating wheel so as to enable the floating wheel to be propped against the second side surface of the track 1100. Before the track inspection robot performs inspection operation, the pre-tightening mechanism is adjusted to apply pre-tightening force to the floating wheel according to the actual size of the first track 1100 to be measured, so that the floating wheel can be propped against the second side surface of the first track 1100, and the fixed wheel is propped against the first side surface of the first track 1100, so that the track is clamped from two sides of the first track 1100, the track inspection robot cannot shake and deviate from the clamped first track 1100 when walking, namely the track inspection robot can always perform inspection operation by taking the clamped first track 1100 as a reference, errors of detection results of the track inspection robot are eliminated, and accuracy of the detection results is improved.
Optionally, the width of the second wheel 218 is greater than the width of the first wheel 217 in the track direction. Because the track gauge of the railway track has a certain tolerance, the width of the second wheel 218 is set to be larger than the width of the upper end face of the second track 1200, so that the second wheel 218 can have a certain floating space, and the second wheel 218 can be ensured to always walk on the second track 1200 when the track gauge tolerance value changes, thereby improving the walking efficiency of the robot.
Optionally, the chassis 100 is further provided with a scraping plate 240 adapted to the first wheel 217 and the second wheel 218, and the scraping plate 240 can remove stones, snow, sludge, leaves and the like on the track in front of the robot walking, so as to ensure the normal passing of the robot.
Optionally, the track gauge detecting device 510 includes a first distance sensor and a second distance sensor disposed opposite to each other, and the first distance sensor and the second distance sensor are disposed on two sides of the chassis 100 along the track gauge direction, respectively. The track gauge of the track can be obtained by respectively acquiring the distance between the first distance sensor and the track on two sides and the second distance sensor and adding the fixed distance between the first distance sensor and the second distance sensor. Wherein, the first distance sensor and the second distance sensor can be selected as laser sensors.
Alternatively, the track level difference detecting device 520 includes an inclination sensor that may be provided on the chassis 100, and the inclination sensor is used to measure an inclination angle of the chassis 100, and the track level difference is calculated by the control device 1000 by measuring the inclination angle of the chassis 100 and then based on the measured track gauge.
Optionally, the platform detection device 530 includes at least one third distance sensor for detecting a distance of the platform from the robot and a fourth distance sensor for detecting a height at which the third distance sensor moves, the third distance sensor and the fourth distance sensor being movable up and down in a direction perpendicular to the chassis 100.
Specifically, the platform detection device 530 may be disposed near one side of the platform, the third distance sensor and the fourth distance sensor may be laser sensors, the platform detection device 530 may include a moving sliding table, the moving sliding table is provided with three third distance sensors with fixed angles, the third distance sensors may move up and down along with the moving sliding table, the third distance sensors measure the distance to the side of the platform while moving, and the control device 1000 calculates the minimum distance from the center of the track to the side of the platform and the height from the platform to the track surface.
Optionally, the canopy detection device 540 comprises an environment sensor for detecting the environment in front of the robot travelling direction.
Specifically, the environmental sensor may be a radar, and when the robot stops at a certain position, the radar scans the distance between an object within 270 ° range relative to the center of the track and the center of the track, and fits the cross-sectional profiles of the outbound table and the awning through the control device 1000, and compares the cross-sectional profiles with the standard profile limit to determine whether there is an intrusion.
Optionally, the robot further comprises an anti-collision device, wherein the anti-collision device is in communication connection with the control device 1000, the anti-collision device comprises a fifth distance sensor 610 and a contact sensor 620, and the fifth distance sensor 610 is used for detecting an obstacle in front of the walking direction of the robot and sending a control instruction to the control device 1000 when the distance from the obstacle is smaller than a preset value.
Specifically, the fifth distance sensor 610 may be a laser sensor, the contact sensor 620 may be a pressure sensor, the fifth distance sensor 610 is composed of a main sensor with a measuring range of 3m and an auxiliary sensor with a measuring range of 1m, when the robot walks in front of the robot and has an obstacle, the robot starts to decelerate, when the robot walks in front of the robot and has an obstacle in front of the robot and stops, the light emitted by the main sensor is in a 90-degree fan shape, the included angle between the auxiliary sensor and the main sensor is 45 degrees, and the front of the robot is ensured to be completely covered. When the fifth distance sensor 610 fails, the contact sensor 620 hits an obstacle and the robot immediately stops.
Optionally, a power supply 900 is further included, and the power supply 900 is electrically connected with the walking device, the control device 1000 and the detection device. The power supply 900 can adopt a direct current 48V battery which is pushed and pulled on the chassis 100, so that the replacement is convenient.
Optionally, the device further comprises a housing 400, wherein the housing 400 is arranged on the chassis 100, and a containing cavity for containing other devices is formed between the housing 400 and the chassis 100.
Optionally, a display device 700 and a control button 800 are further provided on the surface of the housing 400, and the display device 700 and the control button 800 are communicatively connected to the control device 1000. The display device 700 is capable of displaying measured images in real time, and the control buttons 800 include at least a start button, a scram button, a work indicator, and the like.
Optionally, the control device 1000 further includes a wireless communication module, where the wireless communication module is used to connect to an external device. The external equipment can be a computer or a mobile phone and other devices, so that remote control and data acquisition are realized.
Optionally, the track inspection robot further includes a supporting wheel 230, where the supporting wheel 230 is disposed below the chassis 100 and between the first wheel 217 and the second wheel 218, and a distance between a bottom end of the supporting wheel 230 and the chassis 100 is greater than a distance between the first wheel 217 and the chassis 100 and less than a distance between the first track 1100 and the chassis 100. Thus, the robot can be ensured to normally walk on the track, and meanwhile, after the robot is taken down from the track, the supporting wheel 230 can be contacted with the ground, so that the first wheel 217 and the second wheel 218 are prevented from being damaged, and the service life is prolonged.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, directly connected, indirectly connected via an intermediate medium, or in communication with each other between two elements or in an interaction relationship between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
It should be noted that in the description of the present invention, the terms "first," "second," and the like are merely used for convenience in describing the various elements and are not to be construed as indicating or implying a sequential relationship, relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
It should be noted that the above embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solution described in the above embodiments may be modified or some or all of the technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present invention.
Claims (16)
1. The track inspection robot is characterized by comprising a chassis, a traveling device, a control device, a detection device and a power supply, wherein the traveling device, the control device and the detection device are all arranged on the chassis, the traveling device comprises a driving motor, a transmission part and a transmission shaft which are sequentially connected, two ends of the transmission shaft are respectively connected with a first wheel and a second wheel, the first wheel and the second wheel are respectively used for bearing on a first track and a second track which are oppositely arranged, the detection device comprises a track gauge detection device, a track height difference detection device, a platform detection device and a canopy detection device, the control device is in communication connection with the traveling device and the detection device so as to control the traveling state and the detection action of the robot, and the power supply is electrically connected with the traveling device, the control device and the detection device;
The platform detection device comprises at least one third distance sensor and a fourth distance sensor, wherein the third distance sensor and the fourth distance sensor can move up and down along the direction perpendicular to the chassis, the third distance sensor is used for detecting the distance between the platform and the robot, and the fourth distance sensor is used for detecting the moving height of the third distance sensor.
2. The track inspection robot of claim 1, wherein the drive shaft comprises a first drive shaft and a second drive shaft, the first drive shaft and the second drive shaft are both connected with the chassis, and the drive motor drives the first drive shaft to rotate through the drive member to drive the robot to walk along the track.
3. The track inspection robot according to claim 2, wherein the first transmission shaft is connected with the chassis through a first bearing seat, the second transmission shaft is connected with the chassis through a second bearing seat, the transmission piece comprises a speed reducer, a first sprocket, a second sprocket and a chain, the chain is connected with the first sprocket and the second sprocket, the second sprocket is sleeved on the first transmission shaft, and the output end of the driving motor is connected with the first sprocket through the speed reducer so as to drive the first transmission shaft to rotate.
4. The track inspection robot according to claim 2, wherein an encoder is further arranged on the second transmission shaft, and the encoder is in communication connection with the control device and is used for detecting the number of turns of the second transmission shaft.
5. The track inspection robot of claim 1, further comprising a clamping device disposed on a side of the chassis proximate the first track, the clamping device configured to clamp the first track to cause the first wheel to travel along the first track.
6. The track inspection robot of claim 5, wherein the width of the second wheel is greater than the width of the first wheel in the track-wise direction.
7. The track inspection robot of claim 1, wherein the chassis is further provided with a scraping plate adapted to the first wheel and the second wheel.
8. The track inspection robot of claim 1, wherein the control device comprises a memory, a processor and an electrical component, the memory is in communication connection with the processor for storing the measurement data of the detection device, and the processor is connected with the running device and the detection device through the electrical component to control the running state and the detection action of the robot.
9. The track inspection robot according to claim 1, wherein the track gauge detection device comprises a first distance sensor and a second distance sensor which are oppositely arranged, the first distance sensor and the second distance sensor are respectively arranged on two sides of the chassis along the track gauge direction, the first distance sensor is arranged close to the first track, the second distance sensor is arranged close to the second track, the first distance sensor is used for detecting the distance between the first distance sensor and the inner side face of the first track, and the second distance sensor is used for detecting the distance between the second distance sensor and the inner side face of the second track.
10. The track inspection robot of claim 1, wherein the track level difference detection device includes an inclination sensor for measuring an inclination angle of the chassis.
11. The track inspection robot of claim 1, wherein the canopy detection device includes an environmental sensor for detecting an environment in front of the robot travel direction.
12. The track inspection robot according to claim 1, further comprising an anti-collision device communicatively connected to the control device, wherein the anti-collision device comprises a fifth distance sensor for detecting an obstacle ahead of the robot in the traveling direction and transmitting a stop instruction to the control device when the distance from the obstacle is smaller than a preset value, and a contact sensor for transmitting a stop instruction to the control device after contacting an object.
13. The track inspection robot of claim 1, further comprising a housing disposed on the chassis, a receiving cavity formed between the housing and the chassis for receiving a circuit board.
14. The track inspection robot of claim 13, wherein the housing surface is further provided with a display device and a control button, the display device and control button being communicatively coupled to the control device.
15. The track inspection robot of claim 1, wherein the control device further comprises a wireless communication module for connecting to an external device.
16. The track inspection robot of claim 1, further comprising a support wheel disposed below the chassis and between the first wheel and the second wheel, a bottom end of the support wheel being spaced from the chassis by a distance greater than a distance between the first wheel and the chassis and less than a distance between the first track and the chassis.
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| CN201910439475.3A CN112068540B (en) | 2019-05-24 | 2019-05-24 | Track inspection robot |
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| CN201910439475.3A CN112068540B (en) | 2019-05-24 | 2019-05-24 | Track inspection robot |
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| CN112068540B true CN112068540B (en) | 2025-01-17 |
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| CN115116160A (en) * | 2021-03-22 | 2022-09-27 | 京东科技信息技术有限公司 | Inspection method, inspection device, computer system and readable storage medium |
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