CN212287617U

CN212287617U - Intelligent track maintenance robot

Info

Publication number: CN212287617U
Application number: CN202020398134.4U
Authority: CN
Inventors: 刘杉
Original assignee: Roman Track Equipment Technology Kunshan Co ltd
Current assignee: Roman Track Equipment Technology Kunshan Co ltd
Priority date: 2020-03-25
Filing date: 2020-03-25
Publication date: 2021-01-05
Anticipated expiration: 2030-03-25

Abstract

The invention discloses an intelligent track maintenance robot, which comprises: the controller is internally provided with a processor and is in communication connection with the remote control unit; the walking unit comprises: the bottom frame is erected on the track through the travelling wheels; the driving assembly drives the traveling wheels to drive the underframe to advance along the track; the motor is erected on the underframe; the power supply is erected on the underframe; the detection unit includes: the scanning end of the two three-dimensional scanners faces the outer side face of the track; the monitoring unit includes: a monitor; the maintenance unit includes: the upper surface of the beam is provided with a sliding block, and one end of the beam is provided with a driving motor; the mechanical arm is erected on the sliding block; the maintenance piece, detachably installs in the end position of arm, including grabbing the piece, drilling the piece, cutting member, play the way piece and smash the firmware, through port plug and the end interface communication connection who corresponds. The maintenance robot has the advantages of being powerful in function, high in construction precision, capable of reducing misjudgment rate, maintenance cost and manpower consumption and management cost.

Description

Intelligent track maintenance robot

Technical Field

The invention belongs to the technical field of rail maintenance, and particularly relates to an intelligent rail maintenance robot.

Background

The track maintenance is used for ensuring the good track state and ensuring that the train can safely, stably and uninterruptedly operate at the specified speed to carry out various track maintenance operations. Also known as road maintenance. The method comprises the steps of track updating and repairing for recovering the performance of each component of the track, and frequent maintenance work for preventing and eliminating deformation, diseases and the like of the track under the action of train power and other influences. In order to ensure the driving safety and the good state of each part of the track, the service life of each part of the track is prolonged, the economic loss of track equipment caused by long-term overhaul is avoided, and the good state of the track is ensured.

For the line maintenance of the track, mainly keeping the geometric shape and position of the track and the smoothness of the track surface, and enabling the track gauge, the level, the direction, the height and the like to reach the good state of the maintenance standard through the operations of track lifting, tamping, diversion, track shifting and the like; servicing the components of the track includes replacing individual damaged and wear-out components. The maintenance work also includes patrolling the line and detecting the track status.

However, the existing track line maintenance has single function, one maintenance can be carried out only by one device, and the maintenance efficiency is low.

Disclosure of Invention

Therefore, the invention provides an intelligent track maintenance robot, which aims to solve the problem of low efficiency of the existing track maintenance.

In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:

an intelligent track maintenance robot comprising: the device comprises a controller, a walking unit, a detection unit, a monitoring unit, a maintenance unit and a remote control unit; the controller is internally provided with a processor and is in communication connection with a remote control unit; the walking unit comprises: the device comprises a bottom frame, a plurality of parallel rails and a plurality of driving wheels, wherein the two sides of the bottom surface of the bottom frame are provided with walking wheels at intervals, and the bottom frame is erected on the two parallel rails through the walking wheels; the driving assembly is erected in the middle of the bottom surface of the bottom frame and drives the traveling wheels to drive the bottom frame to travel along the track; the motor is erected on the underframe, the input end of the driving assembly is connected with the output end of the motor, and the input end of the motor is in communication connection with the output end of the controller; the power supply is erected on the underframe, and the input end of the controller is electrically connected with the power supply; the detection unit includes: the two three-dimensional scanners are respectively erected at two ends of the chassis in the width direction corresponding to the front end in the advancing direction, the scanning ends of the two three-dimensional scanners respectively face the track to form geometric shape and position scanning on the track, and the three-dimensional scanners are in communication connection with the controller to form transmission of scanning data and reception of control instructions; the monitoring unit includes: the monitor is erected in the middle of the chassis in the width direction corresponding to the front end of the advancing direction, and is in communication connection with the controller to form transmission of image data; the maintenance unit includes: the device comprises a cross beam, a sliding block, a driving motor, a controller and a driving motor, wherein the cross beam is arranged on the outer side of the length direction of a bottom frame corresponding to the rear end of the advancing direction, two side surfaces of the length direction of the cross beam are respectively provided with a sliding groove along the length direction of the cross beam, the upper surface of the cross beam is provided with the sliding block, two ends of the sliding block are embedded in the sliding grooves in a sliding manner, one end of the length direction of the cross beam is provided with the driving motor, the input end of the driving motor is; the mechanical arm is erected on the sliding block, and the input end of the mechanical arm is in communication connection with the controller; the maintenance part, maintenance part detachably installs in the end position of arm, maintenance part including grab the piece, bore and get the piece, cutting member, rise the way piece and smash the firmware, the end position of arm be provided with respectively with grab the piece, bore and get the piece, cutting member, rise the way piece and smash the corresponding end interface of piece, grab the piece, bore and get the piece, cutting member, rise the way piece or smash the piece and pass through port plug and the end interface communication connection who corresponds, form and grab and get the piece, bore and get the piece, cutting member, rise the way piece or smash the installation of piece on the end position of arm.

Further, the driving assembly comprises a transmission, a clutch and a differential mechanism which are sequentially connected, wherein the input end of the transmission is connected with the motor, and the output end of the differential mechanism is connected with the traveling wheel; the power supply is a lithium battery or a storage battery.

Furthermore, the detection unit further comprises two laser positioners, the positioning ends of the laser positioners face the outer side face of the track, the input ends of the laser positioners are in communication connection with the controller, and one laser positioner is linked with the three-dimensional scanner.

Furthermore, the monitor is erected above the upper surface of the underframe through a monitoring bracket, and the monitor is rotatably erected on the monitoring bracket.

Further, the chassis upper surface that is located the power, monitor and controller outside dress is equipped with washs the jar, wash built-in washing liquid, clear water or liquid medicine of jar, the output that washs the jar is connected with the scavenge pipe, the scavenge pipe is kept away from and is washd jar one end and extend to robotic arm tip position, set gradually respectively with controller communication connection's scavenging pump and cleaning valve on the scavenge pipe.

Further, the mechanical arm is a 4-degree-of-freedom mechanical arm; an interface identification module which is in communication connection with the processor is arranged in the controller to form identification of a port plug which is connected into a terminal interface; the maintenance part is connected with the end part of the mechanical arm in a magnetic type; the bottom surface of the crossbeam is arranged on the track through a support wheel frame.

Furthermore, an infrared thermal imager in communication connection with a controller is erected on the upper surface of the underframe to detect the body temperature of constructors and transmit body temperature detection data, and a temperature data storage library in communication connection with a processor is arranged in the controller.

Furthermore, an AI face recognition module which is in communication connection with the controller is arranged in the monitor to capture facial images of constructors and transmit facial data, and a constructor database and an alarm module which are respectively in communication connection with the processor are arranged in the controller; and a human face comparison module is arranged in the processor to form comparison of human face data.

Further, the controller and the remote control unit form wireless communication connection through 5G or WIFI; the remote control unit and the monitor form wireless communication connection through WIFI; the remote control unit is arranged in a mobile phone, a tablet personal computer or a PC, and a map construction module is arranged in the remote control unit.

The invention has the following advantages:

the intelligent track maintenance robot integrates track detection, construction site monitoring and track maintenance, has powerful functions, and reduces operation teams and constructors;

the three-dimensional scanner in the detection unit carries out track geometric parameters video detection and the automatic analysis of controller to monitoring data to the track, and through data analysis result, the arm location is controlled to the controller to can be in10 seconds online automatic replacement function device (can realize polishing snatch, bore and get, the cutting, the lane-lifting, the tamping.

The design of monitoring unit makes track intelligent maintenance robot can also replace security protection personnel to do whole real-time supervision to whole construction situation: and the working responsibilities of face recognition, body temperature recognition, abnormal body temperature recognition, mask wearing recognition, irregular wearing warning, warning reminding and broadcasting and the like of operation constructors are realized. Recording the online equipment before operation, and performing offline recovery, identification, photographing and other functions;

the walking unit is matched with the controller, and 24-hour continuous patrol monitoring can be carried out on a railway line and in a construction workshop in a planned area.

The remote control unit adopts a 5G control platform of comprehensive rail inspection big data, communicates with the controller through a 5G technology to obtain the state (position) of the maintenance robot, realizes the remote control of the running speed and direction, identifies the position of a disease according to the detection data of the three-dimensional scanner in the detection unit, automatically compares the disease position according to a standard Profile, and analyzes the polishing depth and angle (realized through IROMAN-Profile 1.0 software);

the arm is except can being used for the rail to polish, and the end position of arm sets up the end interface that corresponds different devices, and different devices (grabbing, drilling, cutting, the piece of starting a track and smash the firmware) that insert corresponding end interface are discerned automatically to interface identification module automatic in through the controller, can change functional device on line automatically in10 seconds, can realize respectively snatching, drilling, cutting, the piece of starting a track, smash functions such as solid.

The field operation condition is maintained through the monitor.

The method comprises the following steps that a laser radar builds a map, and the map is positioned and automatically identified according to track geometric parameters and limit parameters of a line design drawing; the overrun part alarms in real time; (implemented by Krab Android 10.0 software)

The remote control unit is an APP, is installed in a mobile phone, a tablet personal computer or a PC, is Android system software, and is internally provided with a map building module (Krab Android 10.0), so that functions of controlling the maintenance robot to build a map, navigating in real time and the like are realized. And the remote control unit is used for controlling the movement, position setting, navigation target and path display of the track intelligent maintenance robot.

The remote control unit is connected with the monitor in a wireless communication mode through WIFI, the WIFI video monitoring and control function is completed, and the APP map building and autonomous navigation functions are completed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.

Fig. 1 is a schematic structural diagram of an intelligent track maintenance robot provided in embodiment 1 of the present invention;

fig. 2 is a schematic control relationship diagram of an intelligent track maintenance robot according to embodiment 1 of the present invention;

in the figure:

100. the system comprises a controller 101, a processor 102, an interface identification module 103, a temperature data storage library 104, a constructor database 105, an alarm module 106 and a face comparison module;

200. a traveling unit 201, an underframe 202, traveling wheels 203, a driving assembly 204, a motor 205, a power supply 206, a cleaning tank 207, a cleaning pump 208, a cleaning valve 209 and an infrared thermal imager;

300. a detection unit 301, a three-dimensional scanner 302 and a laser positioner;

400. the monitoring unit comprises a monitoring unit 401, a monitor 402, a monitoring bracket 403 and an AI face recognition module;

500. the maintenance unit comprises 501, a cross beam, 502, a sliding groove, 503, a sliding block, 504, a driving motor, 505, a mechanical arm, 506, a head part, 507 and a maintenance part;

600. remote control unit, 601, map component module.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. 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 invention.

In the present invention, the terms "upper", "lower", "left", "right", "middle", and the like are used for the sake of clarity only, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof are also regarded as the scope of the present invention without substantial changes in the technical contents.

Example 1

Referring to fig. 1 to 2, the invention provides an intelligent track maintenance robot, comprising: a controller 100, a walking unit 200, a detection unit 300, a monitoring unit 400, a maintenance unit 500, and a remote control unit 600; the controller 100 is internally provided with a processor 101, and the controller 100 is in communication connection with a remote control unit 600; the walking unit 200 includes: the device comprises a chassis 201, wherein traveling wheels 202 are arranged on two sides of the bottom surface of the chassis 201 at intervals, and the chassis 201 is erected on two parallel tracks (not shown) through the traveling wheels 202; the driving assembly 203 is erected in the middle of the bottom surface of the bottom frame 201, and the driving assembly 203 drives the traveling wheels 202 to drive the bottom frame 201 to travel along the track; the motor 204 is erected on the underframe 201, the input end of the driving component 203 is connected with the output end of the motor 204, and the input end of the motor 204 is connected with the output end of the controller 100 in a communication way; the power supply 205 is erected on the bottom frame 201, and the input end of the controller 100 is electrically connected with the power supply 205; the detection unit 300 includes: the two three-dimensional scanners 301 are respectively erected at two ends of the chassis 201 in the width direction corresponding to the front end of the advancing direction, the scanning ends of the two three-dimensional scanners 301 respectively face the track to form geometric shape and position scanning of the track, and the three-dimensional scanners 301 are in communication connection with the controller 100 to form transmission of scanning data and receiving of control instructions; the monitoring unit 400 includes: a monitor 401 mounted at the middle of the chassis 201 in the width direction corresponding to the front end of the traveling direction, wherein the monitor 401 is connected to the controller 100 in a communication manner to transmit image data; the maintenance unit 500 includes: the cross beam 501 is arranged on the outer side of the length direction of the bottom frame 201 corresponding to the rear end of the traveling direction, two side faces of the length direction of the cross beam 501 are respectively provided with a sliding groove 502 along the length direction of the cross beam 501, the upper surface of the cross beam 501 is provided with a sliding block 503, two ends of the sliding block 503 are slidably embedded in the sliding grooves 502, one end of the length direction of the cross beam 501 is provided with a driving motor 504, the input end of the driving motor 504 is in communication connection with the controller 100, the output end of the driving motor 504 is connected with the sliding block 503, and the driving motor 504 drives the sliding block; the mechanical arm 505 is erected on the sliding block 503, and the input end of the mechanical arm 505 is in communication connection with the controller 100; the maintenance part 507 is detachably mounted at the end part 506 of the mechanical arm 505, the maintenance part 507 comprises a grabbing part (not shown), a drilling part (not shown), a cutting part (not shown), a track lifting part (not shown) and a tamping part (not shown), the end part 506 of the mechanical arm 505 is provided with end interfaces (not shown) corresponding to the grabbing part, the drilling part, the cutting part, the track lifting part and the tamping part respectively, and the grabbing part, the drilling part, the cutting part, the track lifting part or the tamping part are in communication connection with the corresponding end interfaces through port plugs to form the mounting of the grabbing part, the drilling part, the cutting part, the track lifting part or the tamping part on the end part 506 of the mechanical arm 505.

Further, the driving assembly 203 comprises a transmission (not shown), a clutch (not shown) and a differential (not shown) connected in sequence, wherein an input end of the transmission is connected with the electric motor 204, and an output end of the differential is connected with the road wheels 202; the power source 205 is a lithium battery or a storage battery.

Further, the detection unit 300 further includes two laser locators 302, a positioning end of the laser locator 302 faces the outer side face of the track, an input end of the laser locator 302 is in communication connection with the controller 100, and one laser locator 302 is linked with the three-dimensional scanner 301.

The laser positioner 302 can be linked with the three-dimensional scanner 301 to help the three-dimensional scanner 301 to be accurately positioned, so that the scanning precision is improved.

Further, the monitor 401 is mounted above the upper surface of the bottom frame 201 by a monitor bracket 402, and the monitor 401 is rotatably mounted on the monitor bracket 402.

Furthermore, a cleaning tank 206 is installed on the upper surface of the bottom frame 201 outside the power source 205, the monitor 401 and the controller 100, cleaning liquid, clean water or medical liquid is filled in the cleaning tank 206, the output end of the cleaning tank 206 is connected with a cleaning pipe (not shown), one end of the cleaning pipe far away from the cleaning tank 206 extends to the end 506 of the mechanical arm 505, and a cleaning pump 207 and a cleaning valve 208 which are respectively in communication connection with the controller 100 are sequentially arranged on the cleaning pipe.

The design of the cleaning tank 206 can spray a cleaning machine, liquid medicine or clear water on the construction site, and the disinfection, cleaning and fire-fighting treatment are carried out, so that the safety of the construction environment is improved.

Further, the robot arm 505 is a 4-degree-of-freedom robot arm; an interface identification module 102 which is in communication connection with the processor 101 is arranged in the controller 100 to identify a port plug which accesses an end interface; the maintenance part 507 is in magnetic attraction connection with the end part of the mechanical arm 505; the bottom surface of the cross member 501 is supported on a rail by support wheels (not shown).

Except that arm 505 can be used for the rail to polish, the end position of arm sets up the end interface that corresponds different devices, and different devices (grab a piece, bore a piece, cutting member, the piece of starting a track and smash the firmware) that insert corresponding end interface are discerned automatically to interface identification module in through the controller, can change functional device on line automatically in10 seconds, can realize respectively snatching, bore and get, cut, the piece of starting a track, smash functions such as solid. Therefore, integration of multiple maintenance functions on one robot is realized.

Further, the controller 100 and the remote control unit 600 form a wireless communication connection through 5G or WIFI; the remote control unit 600 and the monitor 401 form a wireless communication connection through WIFI; the remote control unit 600 is installed in a mobile phone, a tablet computer or a PC, and the map building module 601 is installed in the remote control unit 600.

The map building module 601 adopts Krab Android 10.0 software, and the Krab Android 10.0 software is matched with a laser radar to build a map, so that functions of controlling the maintenance robot to build the map, navigating in real time and the like are achieved. The remote control unit is used for controlling the movement, position setting, navigation target and path display of the track intelligent maintenance robot, and meanwhile, positioning and automatically identifying obstacles according to track geometric parameters and limit parameters of a line design drawing; and the overrun part alarms in real time.

The invention provides an intelligent track maintenance robot, which is used in the following way:

when the maintenance robot is used, the remote control unit 600 sends an instruction to the controller 100, the controller 100 is started, the controller 100 starts the driving assembly 203 to drive the traveling wheels 202 to drive the underframe 201 to travel along the track, the three-dimensional scanner 301 scans the track to obtain and generate the topographic scanning detection data of the track, the three-dimensional scanner 301 uploads the obtained topographic scanning detection data to the controller 100, the processor 101 in the controller 100 analyzes the uploaded topographic scanning detection data to obtain the analysis result of what maintenance (such as grabbing, drilling, cutting, track lifting or tamping) is needed for the track, the analysis result is transmitted to the mechanical arm 505, and according to the analysis result, the corresponding grabbing piece, drilling piece, cutting piece, track lifting piece or tamping piece is arranged at the end part 506 of the mechanical arm 505, the corresponding maintenance is carried out on the track, and the front end detection, tracking and track lifting of the maintenance robot of the track is realized in the traveling process of the track And (5) matching of rear end maintenance.

The adoption of the three-dimensional scanner 301 can avoid the contact with the surface of the track, and has the advantages of high detection speed, high precision and full-automatic splicing at multiple viewing angles;

3D detection cameras for geometrical parameters of the track, and non-contact white light scanning;

the three-position scanner 301 cooperates with the laser detector to collect the geometric parameters of the track, such as corrugation, profile, fish scale damage and the like.

The three-dimensional scanner 301(3DScan) can acquire millions of very regular scan point data within 5 seconds; the measurement precision can reach 0.008-0.05 mm; by adopting a marking point automatic splicing technology, the full-automatic splicing of data of multiple visual angles ensures that the splicing precision is very high; the resolution is high, the depth of field is large, the point cloud data of high density, the fine part of the object can be clearly expressed, and the depth of field range is 300-500 mm;

the interface supports data formats such as ASC, IGES, STL, OBJ, DXF and the like, and can be interfaced with various design software such as Pro/E, UG, Imageware, Geomagic, AutoCAD and the like.

The model and specification of the three-dimensional scanner 301(3DScan) are shown in the following table:

product type	3DScan
		Scanning mode	Non-contact surface scanning
Single scan range (mm)²)	Without limitation
		Maximum measurement Range (mm)³)	Without limitation
Measuring accuracy (mm)	0.001～0.05
		Single scanning point number (pixel)	2620,000
Single side scanning speed	＜5S
		Average dot pitch (mm)	0.15～0.3
Output file format	ASC, IGES, STL, VRML, DXF, etc
		Splicing mode	Full-automatic splicing and intelligent integration of mark points into single-layer point cloud
Operating system	XP, win7, win8 or win10

The map component module 601 software can derive QTI and STD reports, oscillograms and Excel statistical tables, automatically draw route maps and display defect positions on a Baidu map. Adopt special wireless bluetooth to connect, tall and erect collection system of ann.

The method can be used for continuously monitoring patrol on a railway line and in a construction workshop for 24 hours in a planned area.

The robot can continuously patrol for 24 hours in a designated area according to a set route and speed. And the system keeps high guard in the patrol process and can report when abnormality is found. The robot can have spacious outdoor space and complicated indoor space patrol concurrently. The system can be remotely and autonomously patrolled and also can be remotely operated in case of emergency;

in addition, still can carry other check out test set to the detection that different purposes (for example track geometry, switch rail reduction, switch point rail reduction, profile vertical grinding, corrugation, fastener detection, high-speed camera system, eddy current inspection, boundary detection, contact net detection) are realized to the track on chassis 201, this other check out test set respectively with controller 100 communication connection.

Example 2

An infrared thermal imager 209 communicated with the controller 100 is erected on the upper surface of the base frame 201 to detect the body temperature of the constructor and transmit body temperature detection data, and a temperature data storage library 103 communicated with the processor 101 is arranged in the controller 100.

The track intelligent maintenance robot monitors the whole construction condition in real time through the monitoring unit 400 and the infrared thermal imager 209.

The infrared thermal imager 209 is matched with an infrared Michelson MLX90614-DC non-contact infrared thermal sensor by adopting a Heiman thermal imager.

The human body and the orbit can be rapidly identified and the body temperature and the temperature can be monitored by carrying the high-precision infrared thermal imager 209 and the temperature data storage library 103.

The body temperature of track line constructors and occasions with a large number of constructors are rapidly checked, once the heating personnel are found, an alarm is triggered immediately, and related personnel are informed to carry out medical reexamination on abnormal personnel.

Furthermore, a thermosensitive sensor for detecting the temperature of the rail can be mounted, so that the stress and temperature change of the steel rail can be recognized as soon as possible, and constructors can be automatically informed to perform the treatment of steel rail stress dissipation.

The rest is the same as example 1.

Example 2

An AI face recognition module 403 which is in communication connection with the controller 100 is arranged in the monitor 401 to capture facial images of constructors and transmit facial data, and a constructor database 104 and an alarm module 105 which are respectively in communication connection with the processor 101 are arranged in the controller 100; a face comparison module 106 is arranged in the processor 101 to form comparison of face data.

Has the functions of AI face recognition and/or AI human body recognition. The human body appearing in the monitoring picture can be actively identified and the human face can be actively identified, and the human face data can be captured and recorded simultaneously.

Among them, AI face recognition and AI human body recognition are prior art.

The robot-carried face comparison system can compare the database of constructors in real time, once the constructors are found out that no person is reported by an external port, an alarm is triggered to the management platform and linked, and remote, quick and non-contact type arrangement and early warning of key personnel can be achieved.

The robot can accomplish specific behavior discernment, and at the during operation, when finding that constructor has not dressed protective equipment according to the regulation, the robot then carries out voice warning immediately to upload warning information to the backstage in real time.

The robot playing audio can be set and managed, an anti-epidemic announcement audio file is selected to be transmitted to the robot background, and the robot is played when a conventional patrol task is carried out.

Remote dialogue: the constructor and the safety manager carry out remote conversation, remote guidance and work coordination linkage.

The AI human body recognition function recognizes the operation behavior of constructors, such as fight, smoking, call making and the like, and warns and stops according to requirements.

The robot is provided with an object recognition system (Krab Android 10.0 software). Fastener loss, rail fracture, stripping and chipping and scale damage can be identified, and database comparison is carried out. Once the abnormality is found, the robot uploads the abnormal information early warning information in real time and simultaneously starts a warning voice program on site. And reminding the operator whether to perform maintenance treatment.

The rest is the same as example 1.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. The utility model provides a track intelligence maintenance robot which characterized in that includes: the device comprises a controller, a walking unit, a detection unit, a monitoring unit, a maintenance unit and a remote control unit;

the controller is internally provided with a processor and is in communication connection with a remote control unit;

the walking unit comprises:

the device comprises a bottom frame, a plurality of parallel rails and a plurality of driving wheels, wherein the two sides of the bottom surface of the bottom frame are provided with walking wheels at intervals, and the bottom frame is erected on the two parallel rails through the walking wheels;

the driving assembly is erected in the middle of the bottom surface of the bottom frame and drives the traveling wheels to drive the bottom frame to travel along the track;

the motor is erected on the underframe, the input end of the driving assembly is connected with the output end of the motor, and the input end of the motor is in communication connection with the output end of the controller;

the power supply is erected on the underframe, and the input end of the controller is electrically connected with the power supply;

the detection unit includes:

the two three-dimensional scanners are respectively erected at two ends of the chassis in the width direction corresponding to the front end in the advancing direction, the scanning ends of the two three-dimensional scanners respectively face the track to form geometric shape and position scanning on the track, and the three-dimensional scanners are in communication connection with the controller to form transmission of scanning data and reception of control instructions;

the monitoring unit includes:

the monitor is erected in the middle of the chassis in the width direction corresponding to the front end of the advancing direction, and is in communication connection with the controller to form transmission of image data;

the maintenance unit includes:

the device comprises a cross beam, a sliding block, a driving motor, a controller and a driving motor, wherein the cross beam is arranged on the outer side of the length direction of a bottom frame corresponding to the rear end of the advancing direction, two side surfaces of the length direction of the cross beam are respectively provided with a sliding groove along the length direction of the cross beam, the upper surface of the cross beam is provided with the sliding block, two ends of the sliding block are embedded in the sliding grooves in a sliding manner, one end of the length direction of the cross beam is provided with the driving motor, the input end of the driving motor is;

the mechanical arm is erected on the sliding block, and the input end of the mechanical arm is in communication connection with the controller;

the maintenance part, maintenance part detachably installs in the end position of arm, maintenance part including grab the piece, bore and get the piece, cutting member, rise the way piece and smash the firmware, the end position of arm be provided with respectively with grab the piece, bore and get the piece, cutting member, rise the way piece and smash the corresponding end interface of piece, grab the piece, bore and get the piece, cutting member, rise the way piece or smash the piece and pass through port plug and the end interface communication connection who corresponds, form and grab and get the piece, bore and get the piece, cutting member, rise the way piece or smash the installation of piece on the end position of arm.

2. The intelligent track maintenance robot of claim 1, wherein the drive assembly comprises a transmission, a clutch and a differential mechanism connected in sequence, wherein an input end of the transmission is connected with the motor, and an output end of the differential mechanism is connected with the road wheels;

the power supply is a lithium battery or a storage battery.

3. The intelligent track maintenance robot of claim 1, wherein the detection unit further comprises two laser locators, the locating ends of the laser locators face the outer side face of the track, the input ends of the laser locators are in communication connection with the controller, and one laser locator is in linkage with the three-dimensional scanner.

4. The intelligent rail maintenance robot of claim 1, wherein the monitor is rotatably mounted to the monitoring bracket by a monitoring bracket mounted above an upper surface of the undercarriage.

5. The intelligent track maintenance robot of claim 1, wherein a cleaning tank is mounted on the upper surface of the underframe outside the power supply, the monitor and the controller, cleaning liquid, clear water or liquid medicine are contained in the cleaning tank, a cleaning pipe is connected to the output end of the cleaning tank, one end of the cleaning pipe, which is far away from the cleaning tank, extends to the end part of the mechanical arm, and a cleaning pump and a cleaning valve which are respectively in communication connection with the controller are sequentially arranged on the cleaning pipe.

6. The intelligent rail maintenance robot of claim 1, wherein the robotic arm is a 4 degree of freedom robotic arm;

an interface identification module which is in communication connection with the processor is arranged in the controller to form identification of a port plug which is connected into a terminal interface;

the maintenance part is connected with the end part of the mechanical arm in a magnetic type;

the bottom surface of the crossbeam is arranged on the track through a support wheel frame.

7. The intelligent track maintenance robot of claim 1, wherein an infrared thermal imager in communication with a controller is mounted on the upper surface of the underframe to detect the body temperature of a constructor and transmit the detected body temperature data, and a temperature data storage library in communication with a processor is arranged in the controller.

8. The track intelligent maintenance robot of claim 1, wherein the monitor is internally provided with an AI face recognition module in communication connection with the controller to capture facial images of constructors and transmit facial data, and the controller is internally provided with a constructor database and an alarm module which are respectively in communication connection with the processor;

and a human face comparison module is arranged in the processor to form comparison of human face data.

9. The track intelligent maintenance robot of claim 1, wherein the controller and the remote control unit form a wireless communication connection through 5G or WIFI;

the remote control unit and the monitor form wireless communication connection through WIFI;

the remote control unit is arranged in a mobile phone, a tablet personal computer or a PC, and a map construction module is arranged in the remote control unit.