CN114541304B

CN114541304B - Automatic inspection robot for highway pavement

Info

Publication number: CN114541304B
Application number: CN202210206013.9A
Authority: CN
Inventors: 廖军; 顾义; 谢明; 钟鑫阳
Original assignee: Chengdu Univeristy of Technology
Current assignee: Chengdu Univeristy of Technology
Priority date: 2022-03-04
Filing date: 2022-03-04
Publication date: 2022-11-15
Anticipated expiration: 2042-03-04
Also published as: CN114541304A

Abstract

The embodiment of the application provides automatic robot of patrolling and examining on highway road surface relates to the equipment technical field of patrolling and examining. Automatic robot of patrolling and examining on highway road surface includes: the inspection mechanism comprises a mobile platform and an inspection camera device, and the inspection camera device is arranged on the surface of the mobile platform; the picking mechanism comprises a mover and a shell, the mover is arranged on the surface of the moving platform, the shell is arranged at the movable end of the mover, and a first telescopic piece is arranged inside the shell. Through two clamping bars of first extensible member drive, can make two clamping bars carry out the centre gripping, pick up the barrier on highway road surface, can collect the barrier on highway road surface, can clear up highway road surface, when the barrier is bulky, the broken piece of accessible carries out broken back to the barrier, collects again, does benefit to and collects the barrier of equidimension not.

Description

Automatic inspection robot for highway pavement

Technical Field

The application relates to the technical field of inspection equipment, in particular to an automatic inspection robot for a highway pavement.

Background

In the related technology, a road surface inspection vehicle carries a camera to drive on the road surface, the camera is used for shooting the road surface, and road surface images or video streams are collected to achieve the purpose of inspection.

However, the inspection equipment only has the function of collecting images or video streams, obstacles often appear on the road surface, and the obstacles on the road surface have huge potential safety hazards, so that the inspection equipment is inconvenient to collect and process the obstacles, and the potential safety hazards on the road cannot be eliminated.

Disclosure of Invention

The present application is directed to solving at least one of the problems in the prior art. For this reason, this application provides the automatic robot of patrolling and examining in highway road surface, the automatic robot of patrolling and examining in highway road surface has the function of picking up, can collect the barrier on the highway road surface.

According to the automatic robot of patrolling and examining in highway road surface of this application embodiment includes: the inspection mechanism comprises a mobile platform and an inspection camera device, and the inspection camera device is arranged on the surface of the mobile platform; pick up the mechanism, pick up the mechanism and include shifter and casing, the shifter set up in the moving platform surface, the casing is installed the expansion end of shifter, the inside first extensible member that is provided with of casing, just the expansion end of first extensible member slides and runs through the casing, one side of casing is rotated and is installed two clamping bars, the expansion end of first extensible member is fixed with the base block, just the both sides of base block are respectively through the connecting rod with correspond the clamping bar rotates articulatedly, one side of base block is provided with broken piece.

According to the automatic robot of patrolling and examining in highway road surface of this application embodiment, through two clamping bars of first extensible member drive, can make two clamping bars carry out the centre gripping to the barrier on highway road surface, pick up, can collect the barrier on highway road surface, can clear up highway road surface, when the barrier is bulky, for example, the barrier is the lump stone that the side slope rolled off, the broken piece of accessible carries out broken back to the barrier, collect again, do benefit to and collect the barrier of equidimension not.

In addition, the automatic inspection robot for the road surface according to the embodiment of the application also has the following additional technical characteristics:

according to some embodiments of the application, the crushing member includes a crushing cone head and a support rod body, the crushing cone head is fixed at one end of the support rod body, and the other end of the support rod body is connected with the base block in a detachable mode.

According to some embodiments of the application, the supporting rod body is a ridge rod, a profiling hole matched with the supporting rod body is formed in the surface of the base block, the other end of the supporting rod body is inserted into the profiling hole in a sliding mode, a bolt is screwed on the surface of the base block, and the thread section of the bolt is in threaded connection with the supporting rod body.

According to some embodiments of the application, the lower end face of the supporting rod body is provided with a hammer block, the hammer block is arranged to be in a prismoid shape, and anti-skid grains are carved on the lower end face of the hammer block.

According to some embodiments of the application, the support body of rod up end is fixed with the second extensible member, the expansion end of second extensible member slides and runs through the support body of rod, just the expansion end of second extensible member with hammer block fixed connection.

According to some embodiments of the application, the mover and the inspection camera device are both arranged on the same side of the mobile platform, and the mover is a mechanical arm.

According to some embodiments of the application, two upper and lower terminal surfaces fretwork settings of casing, just dust screen is all installed to two upper and lower terminal surfaces of casing.

According to some embodiments of the application, two the clamping bar symmetry sets up, and two the clamping bar with the junction of casing all is provided with articulated seat, two one side that the clamping bar is relative all is provided with the arch.

According to some embodiments of the application, the connection of the connecting rod to the base block and the connection of the connecting rod to the clamping bars are provided with articulated seats, the housing and the crushing member being located between the two clamping bars.

According to some embodiments of the application, the moving platform is a movable trolley, the inspection camera device is a camera, and the inspection camera device is located at the head of the moving platform.

According to some embodiments of the application, moving platform surface mounting has the recovery storehouse, just retrieve storehouse top fretwork, one side of retrieving the storehouse is provided with the riser, flexible holder is installed to the lift end of riser, the moving platform surface is provided with places the seat, just it slides to peg graft to place a up end and has the attention device, the surface mounting of attention device has buffer gear, buffer gear includes horizontal pole, bumper and buffer spring, the horizontal pole is fixed the attention device surface, buffer spring's one end is fixed the horizontal pole body, the bumper install in buffer spring's the other end, the surface of bumper is provided with the guide arm, just the one end of guide arm slides and runs through the horizontal pole, the one end of guide arm is provided with the arch, the tip of horizontal pole is provided with the telescopic link, the expansion end of telescopic link is installed and is inhaled the piece to magnetism, just the fastening of magnetism is inhaled the piece surface and has been cup jointed the non-slip rubber ring, the lower terminal surface of non-slip rubber ring is carved with anti-skid grain, moving platform surface mounting has the electro-magnet, just the electro-magnet under the on-electricity state with magnetism is inhaled the piece inter-attraction.

According to some embodiments of the application, the riser includes an angle plate and a slider, the angle plate is fixed the moving platform surface, just the angle plate surface is rotated and is installed the lead screw, slider slidable mounting in the angle plate surface, just the slider with lead screw threaded connection.

According to some embodiments of the application, flexible holder includes third extensible member and anchor clamps, the one end of third extensible member with the slider is connected, anchor clamps install in the expansion end of third extensible member, just the anchor clamps centre gripping the attention device.

According to some embodiments of the application, the riser still includes driving motor and guide bar, driving motor with the guide bar is all fixed the scute surface, driving motor's output shaft with lead screw transmission is connected, the guide bar slides and runs through the slider.

According to some embodiments of the application, the warning indicator comprises a base, a stand column and a warning lamp, wherein the upper end face of the placing seat is provided with a groove matched with the base, the base is inserted into the groove, the stand column is fixed on the upper end face of the base, and the warning lamp is installed at the top end of the stand column.

According to some embodiments of the application, annular trachea is installed to recess inner wall, just annular trachea inside interval is provided with the gasbag, annular trachea with communicate between the gasbag, place a fixed surface and be equipped with first air pump, the output of first air pump with annular trachea intercommunication, annular trachea surface is provided with the valve.

According to some embodiments of the application, the inside fretwork of base sets up, just the inside battery that is used for providing the electric energy to the warning light that is provided with of base.

According to some embodiments of this application, the terminal surface is fixed with the rubber gasket under the base, the inside of rubber gasket sets up to the vacuum cavity, base surface mounting has the second air pump, the input of second air pump with the inside vacuum cavity intercommunication of rubber gasket, base surface mounting has the admission valve, just the one end of admission valve with the inside vacuum cavity intercommunication of rubber gasket, the second air pump with the junction of the inside vacuum cavity of rubber gasket is provided with the shutoff valve.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

When the inspection robot inspects the road surface, the inspection robot is easily knocked by the running vehicle, and traffic accidents occur.

When the mobile platform moves on a road surface, the warning indicator is started, and can send a warning signal to remind other vehicles on the road surface of avoiding, so that the possibility of traffic accidents is reduced;

when the number of obstacles is large, the robot needs to clean the obstacles for a long time or the obstacles are large in size, and when the robot cannot clean the obstacles, the moving platform runs beside the obstacles and stops supplying power to the electromagnet, the telescopic clamp is regulated and controlled until the telescopic clamp clamps the warning indicator, then the lifter is regulated and controlled, the movable end of the lifter lifts the telescopic clamp, the warning indicator can be lifted, the warning indicator can be drawn out of the placing seat, the telescopic clamp is regulated and controlled again, the telescopic clamp clamps move the warning indicator to the outside of the moving platform, then the telescopic clamp releases the warning indicator, the warning indicator is placed on the road surface, the warning indicator sends a warning signal to warn passing vehicles, the passing vehicles are reminded of avoiding the obstacles on the road surface, and the possibility of traffic accidents is reduced.

The warning indicator carried by the inspection robot is easy to shake and incline when moving, and is not beneficial to use.

The base in the warning indicator is inserted into the groove on the surface of the placing seat, the placing seat can limit the moving range of the base, and the warning indicator can be placed on the surface of the moving platform more stably; after the base is inserted into the groove, the first air pump is started, the valve on the surface of the annular air pipe is closed, the first air pump can convey air inside the annular air pipe, the air is conveyed into the air bag through the annular air pipe, the air bag can be expanded, the air bag can support the base, and the base can be placed into the groove more stably;

when the base is taken out of the groove, the first air pump stops working, the valve on the surface of the annular air pipe is opened, and when the base is extracted, the air in the air bag and the annular air pipe can be exhausted, so that the possibility that the air bag blocks the movement of the base can be reduced, and the base is taken out conveniently;

when the base is placed on the road surface or inside the groove, the lower end face of the sealing rubber ring is in contact with the road surface or the bottom of the groove, the second air pump is started, the air inlet valve is closed, the second air pump can pump out air inside the sealing rubber ring, the vacuum cavity inside the sealing rubber ring forms negative pressure, and under the action of the negative pressure, the sealing rubber ring and the base can be placed on the road surface or inside the groove more stably, so that the possibility that the base and the warning device move and topple over is reduced, and the use of the warning device is facilitated;

and open the admission valve to stop the work of second air pump, external gas accessible admission valve enters into the inside vacuum cavity of rubber seal, can make inside the rubber seal resume to the ordinary pressure, alright take base and attention device.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of an automatic road surface inspection robot according to an embodiment of the application;

FIG. 2 is a schematic structural diagram of a pick-up mechanism according to an embodiment of the present application;

FIG. 3 is a schematic structural view of the attachment of the housing and the crushing member according to an embodiment of the present application;

FIG. 4 is a schematic structural view of a first telescoping member and base block connection according to an embodiment of the present application;

FIG. 5 is a schematic view of a crushing member according to an embodiment of the present application;

FIG. 6 is a schematic view of the connection of the elevator and the telescopic gripper according to an embodiment of the present application;

fig. 7 is a schematic structural view of a placing seat according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of an alarm according to an embodiment of the present application.

Icon: 100-a routing inspection mechanism; 110-a mobile platform; 111-a recovery bin; 120-inspection camera device; 200-a pick-up mechanism; 210-a mover; 220-a housing; 230-a first telescoping piece; 240-clamping bar; 250-a base block; 251-shaped wells; 252-a bolt; 260-a connecting rod; 270-a crushing member; 271-crushing cone head; 272-support rods; 273-a hammer block; 274-a second telescoping member; 300-a lifter; 310-corner panels; 320-a slide block; 330-a screw mandrel; 340-a drive motor; 350-a guide bar; 400-a telescopic gripper; 410-a third telescoping member; 420-a clamp; 500-placing a seat; 510-a groove; 520-annular trachea; 530-air bag; 540-a first air pump; 600-an alarm; 610-a base; 611-an intake valve; 620-column; 630-warning light; 640-a sealing rubber ring; 650-a second air pump; 700-a buffer mechanism; 710-a cross-bar; 720-a bumper; 730-a buffer spring; 740-a guide bar; 750-telescopic rods; 760-magnetic attraction block; 770-antiskid rubber ring; 780-an electromagnet.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.

Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

In the description of the present application, it is to 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," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the present application and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

The automatic inspection robot for a road surface according to an embodiment of the present application is described below with reference to the accompanying drawings.

As shown in fig. 1-8, the automatic robot that patrols and examines on highway road surface according to this application embodiment includes: inspection mechanism 100 and pick-up mechanism 200.

Wherein, patrolling and examining mechanism 100 includes mobile platform 110 and patrols and examines camera device 120, patrols and examines camera device 120 and install on mobile platform 110's surface, and when concrete implementation, this mobile platform 110 is used for patrolling and examining camera device 120 and carries, patrols and examines camera device 120 and can shoot highway road surface at the in-process that removes, and operating personnel can shoot the image or the video stream that obtain through observing to patrol and examine camera device 120 to can patrol and examine highway road surface.

The picking mechanism 200 comprises a mover 210 and a shell 220, the mover 210 is arranged on the surface of the moving platform 110, the shell 220 is arranged at the movable end of the mover 210, a first telescopic member 230 is arranged in the shell 220, the movable end of the first telescopic member 230 slidably penetrates through the shell 220, two clamping rods 240 are rotatably arranged on one side of the shell 220, a base block 250 is fixed at the movable end of the first telescopic member 230, two sides of the base block 250 are rotatably hinged to the corresponding clamping rods 240 through connecting rods 260, and a crushing member 270 is arranged on one side of the base block 250.

The following describes an operation of an automatic inspection robot for a road surface according to an embodiment of the present application with reference to the accompanying drawings.

Firstly, place the mobile platform 110 on the highway road surface of waiting to patrol and examine to start the mobile platform 110, the mobile platform 110 can be to patrolling and examining camera device 120 and remove, and patrolling and examining camera device 120 can shoot the highway road surface at the in-process that removes, and operating personnel can patrol and examine the highway road surface through observing the image or the video stream that patrolling and examining camera device 120 and shoot.

When an obstacle appears on the road surface, the mobile platform 110 is driven to the side of the obstacle, and then the movement of the mobile platform 110 is stopped.

The mover 210 is started, the mover 210 can move the shell 220, and then the clamping rods 240 on one side of the shell 220 can be supported to move, the two clamping rods 240 stop the movement of the shell 220 after being positioned on two sides of the obstacle, and the first expansion part 230 is regulated and controlled to contract the first expansion part 230, the base block 250 at the movable end of the first expansion part 230 can pull the connecting rod 260 to move, under the traction of the connecting rod 260, the end parts of the two clamping rods 240 can move to the opposite side, and then the two clamping rods 240 can clamp the obstacle, so that the obstacle can be picked up.

When the obstacle is large in size, the first telescopic part 230 is extended, the base block 250 at the movable end of the first telescopic part 230 pushes the connecting rod 260 to move, under the pushing action of the connecting rod 260, the end parts of the two clamping rods 240 move towards the opposite side, the crushing part 270 on one side of the base block 250 can be extended out, the mover 210 is started again, the mover 210 is used for moving the first telescopic part 230, the base block 250 and the crushing part 270, the crushing part 270 continuously beats the obstacle with large size, the obstacle is crushed, and then the clamping rods 240 are used for clamping and collecting the obstacle.

From this, according to the automatic robot of patrolling and examining in highway road surface of this application embodiment, through two clamping bars 240 of first extensible member 230 drive, can make two clamping bars 240 carry out the centre gripping to the barrier on highway road surface, pick up, can collect the barrier on highway road surface, can clear up highway road surface, when the barrier is bulky, accessible broken piece 270 carries out broken back to the barrier, collect again, do benefit to and collect the barrier of equidimension not, can eliminate the potential safety hazard that highway road surface produced because of the barrier.

according to some embodiments of the present application, as shown in fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, the crushing member 270 includes a crushing cone 271 and a supporting rod 272, the crushing cone 271 is fixed at one end of the supporting rod 272, and the other end of the supporting rod 272 is detachably connected to the base block 250, so that in practical implementation, the obstacle can be crushed by continuously knocking the end of the crushing cone 271, and the crushing effect is good by using the crushing cone 271 as a main body to crush the obstacle.

Preferably, the support body of rod 272 is the arris pole, the profile modeling hole 251 with support body of rod 272 assorted is seted up on the base block 250 surface, the other end of the support body of rod 272 slides and pegs graft in profile modeling hole 251, base block 250 surface spiro union has bolt 252, and the screw thread section of bolt 252 and the threaded connection of the support body of rod 272, when concrete implementation, will support body of rod 272 and base block 250 through bolt 252 with threaded connection's mode and link together, can carry out the dismouting to the support body of rod 272, it is more convenient to make the change of the support body of rod 272 and broken piece 270.

It can be understood, the terminal surface is provided with the hammer block 273 under the support body of rod 272, and the hammer block 273 sets up to the terrace with edge form, and the terminal surface is carved under the hammer block 273 and is established anti-skidding line, when carrying out the breakage to the barrier, can use broken conical head 271 earlier to strike the barrier, strikes out a plurality of apertures on the surface of barrier, then recycles hammer block 273 hammering barrier, makes the barrier use its surperficial aperture to split as the center to reach the broken purpose of barrier.

Further, according to some embodiments of this application, support body of rod 272 up end is fixed with second extensible member 274, the expansion end of second extensible member 274 slides and runs through support body of rod 272, and the expansion end and the hammer block 273 fixed connection of second extensible member 274, when concrete implementation, regulation and control second extensible member 274, this second extensible member 274 can support the hammer block 273 and remove, when second extensible member 274 constantly stretches out and draws back, can make hammer block 273 carry out reciprocating motion, reciprocating motion's hammer block 273 can constantly strike the barrier, do benefit to and break the barrier.

According to some embodiments of the application, as shown in fig. 1, the mover 210 and the inspection camera 120 are both disposed on the same side of the mobile platform 110, the mover 210 is a mechanical arm, and the mover 210 and the inspection camera 120 have a wireless transceiver module therein, and have a wireless signal transceiver function, so that not only can the collected images or video streams be transmitted to the remote control terminal, but also control signals sent by the remote control terminal can be received, and an operator can control the mover 210 and the inspection camera 120 only by remote control.

It can be understood that, the upper and lower two terminal surfaces fretwork of casing 220 set up, and the dust screen is all installed to two upper and lower terminal surfaces of casing 220, and this casing 220 fretwork sets up, can increase the radiating effect of casing 220, and adds the dust screen, can reduce debris such as dust and enter into the inside possibility of casing 220.

According to some embodiments of the present application, as shown in fig. 1, fig. 2 and fig. 3, the two clamping rods 240 are symmetrically arranged, and the joints of the two clamping rods 240 and the housing 220 are provided with hinged seats, so that the clamping rods 240 can rotate more conveniently, and the opposite sides of the two clamping rods 240 are provided with protrusions for clamping the obstacle.

It will be appreciated that the connection of the connecting rod 260 to the base block 250 and the connection of the connecting rod 260 to the clamping bar 240 are provided with hinged seats which facilitate rotation of the connecting rod 260, and that the housing 220 and the crushing member 270 are both located between the two clamping bars 240.

According to some embodiments of the present application, as shown in fig. 1, the mobile platform 110 is a mobile cart, the inspection camera 120 is a camera, and the inspection camera 120 is located at a head of the mobile platform 110.

When the inspection robot inspects the road surface, the inspection robot is easily rear-ended by the running vehicle, and traffic accidents occur.

According to some embodiments of the present application, as shown in fig. 1, 6, 7 and 8, a recycling bin 111 is installed on a surface of a mobile platform 110, a top end of the recycling bin 111 is hollowed out, a lifter 300 is installed on one side of the recycling bin 111, a telescopic gripper 400 is installed at a lifting end of the lifter 300, a placing seat 500 is installed on a surface of the mobile platform 110, a warning device 600 is slidably inserted into an upper end surface of the placing seat 500, a buffering mechanism 700 is installed on a surface of the warning device 600, the buffering mechanism 700 includes a cross bar 710, a bumper 720 and a buffering spring 730, the cross bar 710 is fixed on a surface of the warning device 600, one end of the buffering spring 730 is fixed on a shaft of the cross bar 710, the bumper 720 is installed on the other end of the buffering spring 730, a guide rod 740 is installed on a surface of the bumper 720, one end of the guide rod 740 slidably penetrates through the cross bar 710, one end of the guide rod 740 is provided with a protrusion, the end of horizontal pole 710 is provided with telescopic link 750, magnetic attraction block 760 is installed to the expansion end of telescopic link 750, and magnetic attraction block 760 surface fastening cover has connect anti-skidding rubber ring 770, the lower terminal surface of anti-skidding rubber ring 770 is carved with anti-skidding line, moving platform 110 surface mounting has electro-magnet 780, and electro-magnet 780 attracts each other with magnetic attraction block 760 under the on-state, when concrete implementation, when moving platform 110 removes on highway road surface, start alarm 600, alarm 600 can send out warning signal, remind other vehicles on highway road surface to dodge, reduce the possibility that the traffic accident appears, furthermore, rear vehicle is when rear-end collision moving platform 110, can contact with bumper 720 earlier, under buffer spring 730 and bumper 720 effect, can play the effect of buffering, reduce the possibility that moving platform 110 is broken.

When the number of obstacles is large, the automatic inspection robot for the road surface needs to clean the obstacles for a long time or the size of the obstacles is large, when the automatic inspection robot for the road surface cannot clean the obstacles, the mobile platform 110 is driven beside the obstacles, the power supply to the electromagnet 780 is stopped, the telescopic clamp 400 is regulated until the telescopic clamp 400 clamps the warning indicator 600, then the lifter 300 is regulated, the movable end of the lifter 300 lifts the telescopic clamp 400, the warning indicator 600 can be lifted, the warning indicator 600 can be drawn out of the placing seat 500, the telescopic clamp 400 is regulated again, the telescopic clamp 400 clamps the warning indicator 600 to the outside of the mobile platform 110, then the telescopic clamp 400 releases the warning indicator 600, the warning indicator 600 is placed on the road surface, the warning indicator 600 sends a warning signal, the passing vehicle can be warned, the passing vehicle is reminded of avoiding the obstacles on the road surface, and the possibility of traffic accidents is reduced.

As shown in fig. 6, the lifter 300 includes an angle plate 310 and a slider 320, the angle plate 310 is fixed to the surface of the movable platform 110, a screw 330 is rotatably mounted to the surface of the angle plate 310, the slider 320 is slidably mounted to the surface of the angle plate 310, and the slider 320 is screwed to the screw 330, and in a specific embodiment, the slider 320 can be moved in the longitudinal direction of the screw 330 by rotating the screw 330, so that the slider 320 can be lifted.

It can be understood that, flexible holder 400 includes third extensible member 410 and anchor clamps 420, the one end and the slider 320 of third extensible member 410 are connected, anchor clamps 420 are installed in the expansion end of third extensible member 410, and anchor clamps 420 centre gripping attention device 600, when slider 320 goes up and down, can go up and down to third extensible member 410 and anchor clamps 420, and anchor clamps 420 are used for carrying out the centre gripping to attention device 600, regulation and control third extensible member 410, make third extensible member 410 flexible, the expansion end of third extensible member 410 can drive anchor clamps 420 and the attention device 600 of centre gripping and remove, can make flexible holder 400 have flexible, the function of centre gripping.

Preferably, the lifter 300 further includes a driving motor 340 and a guiding rod 350, the driving motor 340 and the guiding rod 350 are both fixed on the surface of the angle plate 310, an output shaft of the driving motor 340 is in transmission connection with the lead screw 330, the guiding rod 350 slidably penetrates through the sliding block 320, in particular implementation, the driving motor 340 is used for driving the lead screw 330 to rotate, so that the rotation of the lead screw 330 is more convenient, and the guiding rod 350 is used for limiting the moving direction of the sliding block 320, so that the movement of the sliding block 320 is more stable.

According to some embodiments of the present application, as shown in fig. 1, 7 and 8, the warning device 600 includes a base 610, a pillar 620 and a warning light 630, a groove 510 matching with the base 610 is formed on the upper end surface of the placement base 500, the base 610 is inserted into the groove 510, the pillar 620 is fixed on the upper end surface of the base 610, the warning light 630 is installed on the top end of the pillar 620, in specific implementation, the base 610 is inserted into the groove 510 on the surface of the placement base 500, the placement base 500 can limit the moving range of the base 610, and the warning device 600 can be placed on the surface of the mobile platform 110 more stably.

Furthermore, the annular air tube 520 is installed on the inner wall of the groove 510, the air bags 530 are arranged inside the annular air tube 520 at intervals, the annular air tube 520 is communicated with the air bags 530, the first air pump 540 is fixed on the surface of the placing seat 500, the output end of the first air pump 540 is communicated with the annular air tube 520, the surface of the annular air tube 520 is provided with a valve, in specific implementation, after the base 610 is inserted into the groove 510, the first air pump 540 is started, the valve on the surface of the annular air tube 520 is closed, the first air pump 540 can convey air inside the annular air tube 520, the air is conveyed into the air bags 530 through the annular air tube 520, the air bags 530 can be inflated, the air bags 530 can support the base 610, and the base 610 can be placed into the groove 510 more stably.

When the base 610 is taken out from the groove 510, the operation of the first air pump 540 is stopped, and the valve on the surface of the annular air pipe 520 is opened, when the base 610 is drawn, the air in the air bag 530 and the annular air pipe 520 can be exhausted, so that the possibility that the air bag 530 obstructs the movement of the base 610 can be reduced, and the base 610 can be taken out conveniently.

Preferably, the inside fretwork of base 610 sets up, and the inside battery that is used for providing the electric energy to warning light 630 that is provided with of base 610, adds the battery, does benefit to and provides the electric energy to warning light 630.

According to 50, the input end of the second air pump 650 is communicated with the vacuum cavity inside the sealing rubber ring 640, the air inlet valve 611 is installed on the surface of the base 610, one end of the air inlet valve 611 is communicated with the vacuum cavity inside the sealing rubber ring 640, and the second air pump 650 and the vacuum cavity inside the sealing rubber ring 640 are according to some embodiments of the present application, as shown in fig. 8, the sealing rubber ring 640 is fixed on the lower end surface of the base 610, and the sealing rubber ring 640 and the base 610 are more stably placed inside the highway pavement or the groove 510, so that the possibility that the base 610 and the warning device 600 move and tilt is reduced, and the use of the warning device 600 is facilitated; the interior of the base 610 is provided with a vacuum cavity, a shut-off valve is arranged at the joint of the base 610 and the second air pump 6, when the base 610 is placed in the highway pavement or the groove 510, the lower end face of the sealing rubber ring 640 is in contact with the bottom of the highway pavement or the groove 510, the second air pump 650 is started, the air inlet valve 611 is closed, the second air pump 650 can pump out air in the sealing rubber ring 640, the vacuum cavity in the sealing rubber ring 640 forms negative pressure, and under the action of the negative pressure, the sealing rubber ring can be enabled to form negative pressure

The air inlet valve 611 is opened, the second air pump 650 stops working, and outside air can enter the vacuum cavity inside the sealing rubber ring 640 through the air inlet valve 611, so that the inside of the sealing rubber ring 640 can return to normal pressure, and the base 610 and the alarm 600 can be taken out.

It is understood that the first telescopic member 230, the second telescopic member 274, the third telescopic member 410 and the telescopic bar 750 may be any one of a pneumatic cylinder, an electric push rod and a hydraulic cylinder.

Other configurations and operations of the automatic inspection robot for road surfaces according to the embodiment of the present application are known to those skilled in the art and will not be described in detail herein.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. Automatic robot of patrolling and examining on highway road surface, its characterized in that includes:

the inspection mechanism (100) comprises a mobile platform (110) and an inspection camera device (120), wherein the inspection camera device (120) is installed on the surface of the mobile platform (110);

the picking mechanism (200) comprises a mover (210) and a shell (220), the mover (210) is arranged on the surface of the moving platform (110), the shell (220) is arranged at the movable end of the mover (210), a first telescopic part (230) is arranged inside the shell (220), the movable end of the first telescopic part (230) penetrates through the shell (220) in a sliding manner, two clamping rods (240) are rotatably arranged on one side of the shell (220), a base block (250) is fixed at the movable end of the first telescopic part (230), two sides of the base block (250) are respectively hinged with the corresponding clamping rods (240) through connecting rods (260) in a rotating manner, and a crushing part (270) is arranged on one side of the base block (250);

the surface of the movable platform (110) is provided with a recovery bin (111), the top end of the recovery bin (111) is hollow, one side of the recovery bin (111) is provided with a lifter (300), the lifting end of the lifter (300) is provided with a telescopic clamp (400), the surface of the movable platform (110) is provided with a placing seat (500), the upper end face of the placing seat (500) is slidably inserted with a warning indicator (600), the surface of the warning indicator (600) is provided with a buffer mechanism (700), the buffer mechanism (700) comprises a cross rod (710), a bumper (720) and a buffer spring (730), the cross rod (710) is fixed on the surface of the warning indicator (600), one end of the buffer spring (730) is fixed on the rod body of the cross rod (710), the bumper (720) is installed on the other end of the buffer spring (730), the surface of the bumper (720) is provided with a guide rod (740), one end of the guide rod (740) is slidably penetrated through the cross rod (710), one end of the guide rod (740) is provided with a bulge, the end of the magnetic absorption buffer spring (750) is provided with a magnetic absorption anti-slip ring (760), and the lower end of the anti-slip ring (750) is provided with a magnetic absorption anti-slip ring (750), and the anti-slip ring (750) is connected with a slip ring (750), the surface of the mobile platform (110) is provided with an electromagnet (780), and the electromagnet (780) and the magnetic suction block (760) attract each other in a power-on state.

2. The automatic road surface inspection robot according to claim 1, wherein the crushing member (270) comprises a crushing cone head (271) and a supporting rod body (272), the crushing cone head (271) is fixed at one end of the supporting rod body (272), and the other end of the supporting rod body (272) is detachably connected with the base block (250).

3. The automatic road surface inspection robot according to claim 2, wherein the supporting rod body (272) is a prismatic rod, a profile hole (251) matched with the supporting rod body (272) is formed in the surface of the base block (250), the other end of the supporting rod body (272) is inserted into the profile hole (251) in a sliding mode, a bolt (252) is connected to the surface of the base block (250) in a threaded mode, and the threaded section of the bolt (252) is in threaded connection with the supporting rod body (272).

4. The automatic road surface inspection robot according to claim 2, wherein a hammer block (273) is arranged on the lower end face of the support rod body (272), the hammer block (273) is arranged to be in a frustum pyramid shape, and anti-skid grains are carved on the lower end face of the hammer block (273).

5. The automatic road surface inspection robot according to claim 4, wherein a second telescopic piece (274) is fixed to the upper end face of the supporting rod body (272), the movable end of the second telescopic piece (274) penetrates through the supporting rod body (272) in a sliding mode, and the movable end of the second telescopic piece (274) is fixedly connected with the hammer block (273).

6. The automatic road surface inspection robot according to claim 1, wherein the mover (210) and the inspection camera (120) are both disposed on the same side of the mobile platform (110), and the mover (210) is a mechanical arm.

7. The automatic inspection robot for the road surfaces according to claim 1, wherein the upper end surface and the lower end surface of the shell (220) are hollowed out, and dust screens are mounted on the upper end surface and the lower end surface of the shell (220).

8. The automatic road surface inspection robot according to claim 1, wherein the two clamping rods (240) are symmetrically arranged, hinged seats are arranged at the joints of the two clamping rods (240) and the shell (220), and protrusions are arranged on the opposite sides of the two clamping rods (240).

9. The automatic road surface inspection robot according to claim 1, wherein the joints of the connecting rods (260) and the base blocks (250) and the joints of the connecting rods (260) and the clamping rods (240) are provided with hinged seats, and the shell (220) and the crushing members (270) are located between the two clamping rods (240).