CN212386475U - Track inspection system - Google Patents
Track inspection system Download PDFInfo
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- CN212386475U CN212386475U CN202020483920.4U CN202020483920U CN212386475U CN 212386475 U CN212386475 U CN 212386475U CN 202020483920 U CN202020483920 U CN 202020483920U CN 212386475 U CN212386475 U CN 212386475U
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- vehicle body
- track
- inspection system
- control platform
- track inspection
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Abstract
The utility model relates to a track inspection system, which is characterized in that a track containing space is arranged above a vehicle body, two rollers are respectively arranged on the vehicle body at two sides of the track in the containing space, the four rollers at two sides embrace the track to hang the vehicle body on the track, and the vehicle body is extended to track motion when a first driving motor in the vehicle body drives the rollers to rotate; the daily operation of the track inspection vehicle body can be realized; identification strips printed with identification codes are arranged on any side of the track opposite to the roller, and a code reader is arranged in the vehicle body and used for reading distance information contained in the identification strips and sending the distance information to the control platform; the control platform can receive the position information of the inspection vehicle body in real time, so that the judgment time of the vehicle body position is prolonged, and the accident handling efficiency can be improved when an accident occurs on site.
Description
Technical Field
The utility model relates to a patrol and examine robot technical field, concretely relates to track system of patrolling and examining.
Background
With the continuous development of scientific technology, the rail-mounted robot becomes a new development field of the robot, is mainly applied to industries such as electric power, chemical industry, rail pipe gallery and tunnel excavation, belongs to a branch of dangerous operation robots, and has the characteristics of the dangerous operation robots. The rail type movable monitoring robot is developed mainly aiming at the purposes that the field working environment of large and medium-sized industrial and mining enterprises is severe and the running condition of equipment needs to be known at any time. The automatic monitoring system has the advantages of reducing labor intensity, improving operation environment, reducing work risk, improving working space, having stronger cost performance compared with a manual inspection mode, improving automation level for equipment management, reducing operation cost in the management process and improving production efficiency. Therefore, the method is widely popularized and applied.
However, although the existing track inspection robot realizes real-time monitoring, the specific location where an emergency occurs still needs background personnel to determine the position by analyzing the image sent by the inspection robot, which wastes a lot of precious time and reduces the efficiency of accident handling.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a track inspection system to the position of accurate definite track robot improves the efficiency that the accident was in time handled.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a track inspection system, comprising: the device comprises a track, a vehicle body and a control platform;
the cross section of the track is I-shaped;
an accommodating space of the track is arranged above the vehicle body, two rollers are respectively arranged on the vehicle body, which is positioned on two sides of the track, of the accommodating space, the four rollers on two sides embrace the track to enable the vehicle body to be hung on the track, and the vehicle body moves along the track when a first driving motor in the vehicle body drives the rollers to rotate;
identification strips printed with identification codes are arranged on any side of the track opposite to the roller, and a code reader is arranged in the vehicle body and used for reading distance information contained in the identification strips and sending the distance information to the control platform;
and a double-dome camera is arranged below the vehicle body and used for acquiring image information on a travel path and sending the image information to the control platform in real time.
Furthermore, the vehicle body is also provided with a limiting wheel, and the limiting wheel is arranged at a position vertical to the central shaft of the roller and used for limiting the vehicle body on the track.
Furthermore, a trolley line contact is further arranged on the vehicle body and used for being connected with a power line arranged along the track to provide required electric power for the vehicle body.
Further, the track inspection system further comprises: and the lifting part is used for connecting the double-light-ball machine with the vehicle body, and the lifting control of the double-light-ball machine is realized under the control of the vehicle body.
Further, the track inspection system further comprises: the laser ranging sensor is arranged on the vehicle body and used for detecting the barrier in front of the vehicle body.
Further, the track inspection system further comprises: and the temperature and humidity sensor is arranged in the vehicle body and used for detecting temperature and humidity information and sending the temperature and humidity information to the control platform.
Further, the track inspection system further comprises: and the harmful gas sensor is arranged on the vehicle body and used for detecting harmful gas and sending a detection result to the control platform.
Further, the track inspection system further comprises: the indicator light is arranged on the vehicle body and used for indicating the running state of the vehicle body.
Further, the elevating portion includes: the lifting frame comprises a second driving motor and a lifting frame, wherein the second driving motor is arranged in the car body, the lifting frame is arranged at the bottom of the car body and used for fixing the double-light-ball machine, and the second driving motor is used for driving the lifting frame to lift.
Further, the track inspection system further comprises: and the emergency stop switch is arranged on the vehicle body and is used for emergency stop control of the vehicle body.
The utility model discloses a track inspection system, through the orbital accommodation space that is equipped with above the automobile body, be equipped with two gyro wheels respectively on the automobile body that is located the track both sides in accommodation space, four gyro wheels of both sides embrace the track jointly, make the automobile body hang on the track, and make the automobile body prolong orbital motion when the first driving motor in the automobile body drives the gyro wheel and rotate; the daily operation of the track inspection vehicle body can be realized; identification strips printed with identification codes are arranged on any side of the track opposite to the roller, and a code reader is arranged in the vehicle body and used for reading distance information contained in the identification strips and sending the distance information to the control platform; the control platform can receive the position information of the inspection vehicle body in real time, so that the judgment time of the vehicle body position is prolonged, and the accident handling efficiency can be improved when an accident occurs on site.
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 is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is an overall view of an inspection system provided by an embodiment of the present invention;
fig. 2 is a top view of an inspection system according to an embodiment of the present invention;
fig. 3 is a structural view of a vehicle body according to an embodiment of the present invention;
fig. 4 is a side view of a vehicle body provided in an embodiment of the present invention;
fig. 5 is a front view of a vehicle body according to an embodiment of the present invention.
FIG. 1-vehicle body; 2-a track; 3-double ball machine; 4-a marking strip; 5-driven wheel; 6-trolley line contacts; 7-a code reader; 8-a second drive motor; 9-a servo driver; 10-a control box; 11-a channel; 12-a lifting section; 13-a scram switch; 14-an indicator light; 15-laser ranging sensor; 16-a sensor mount; 17-an antenna mount; 18-a first drive motor; 19-an antenna; 20-a limiting wheel; 21-driving wheel.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1 to 3, an embodiment of the present invention provides a track inspection system, including: the device comprises a track 2, a vehicle body 1 and a control platform;
the cross section of the track 2 is I-shaped;
an accommodating space of the track 2 is arranged above the vehicle body 1, two rollers are respectively arranged on the vehicle body 1, which is positioned on two sides of the track 2, of the accommodating space, the track 2 is embraced by the four rollers on the two sides, so that the vehicle body 1 is hung on the track 2, and the vehicle body 1 moves along the track 2 when the rollers are driven to rotate by a first driving motor 18 in the vehicle body;
an identification strip 4 printed with identification codes is arranged on any side of the track 2 opposite to the roller, and a code reader 7 is arranged in the vehicle body 1 and used for reading distance information contained in the identification strip and sending the distance information to the control platform;
a double-dome camera 3 is arranged below the vehicle body 1 and used for acquiring image information on a travel path and sending the image information to the control platform in real time.
Specifically, the rollers are composed of a driving wheel 21 and a driven wheel 5, two pairs of rollers arranged in front and back suspend the vehicle body 1 on the track 2, the driving wheel 21 is driven by a first driving motor 18 (which can be a servo motor) through a main controller installed in the control box 10 through a servo driver 9, so that the vehicle body 1 can freely move back and forth on the track 2, wherein the first driving motor 18 has a walking speed under the control of the main controller: is adjustable at 0-120 m/min. The method can be divided into self-inspection speed and emergency high-speed walking; braking distance: under the moving speed of 1m/s, the emergency braking distance on the horizontal rail is within 0.5 m; minimum turning radius: is not more than 1.5m and has the function of automatic deceleration passing through the curve; climbing capacity: can smooth-going motion on the slope that is not less than 60 degrees, climbing mechanism is inlayed on the track to the ramp adoption, increases frictional force robot walking speed: 0-2m/s is continuously adjustable; a trolley line contact 6 arranged on the vehicle body can take electricity from a power line laid along the track 2 for the vehicle body to use; the code reader 7 can scan the identification strip 4 arranged on the track 2 in real time in the advancing process of the vehicle body, the two-dimensional code containing the information of the distance from the starting point to the end point where the vehicle body is currently located is printed on the identification strip 4, and the code reader 7 reads the two-dimensional code to obtain the current position information of the vehicle body, so that the efficiency of determining the position of the robot when an accident occurs is improved, and the troubleshooting is facilitated; in the routine routing inspection engineering, a high-definition visible light camera and a high-definition thermal infrared imager are arranged in the double-optical-ball machine 3 arranged below the vehicle body, and can be used for respectively acquiring conventional images and thermal imaging images, and the images are sent to the control platform through the main controller, so that the situation of the site can be known in time.
The main controller is integrated with a communication unit which communicates with a control platform (not shown in the figure) through an antenna 19 arranged on an antenna seat 17 of the vehicle body, and all control signals, video data, audio data, field sensor acquisition data, alarm information and the like of the WIFI wireless network inspection robot are generally transmitted to the control platform through a wireless network.
It should be noted that the master controller and the dual-optical-ball machine used in the above embodiments may be all the existing electrical devices, and the present invention is not limited herein.
In order to further optimize the above solution, in another embodiment of the present invention, a limiting wheel 20 is further included, which is disposed at a position perpendicular to the central axis of the roller for limiting the vehicle body on the track. The stability of the running of the vehicle body under the conditions of turning and the like is ensured by adding the limiting wheels 20.
The utility model discloses a security when some embodiments are marchd for guaranteeing the automobile body still includes: the laser ranging sensor 15 is arranged on the vehicle body and used for detecting an obstacle in front of the vehicle body. And an indicator lamp 14, the indicator lamp 14 being provided on the vehicle body for indicating an operation state of the vehicle body.
Specifically, two sensor mounting seats 16 are arranged in front of the vehicle body and are respectively provided with a laser ranging sensor 15, so that during operation, workers in the obstacles and the tunnel are detected, and stop sliding when encountering obstacles and give an alarm. For increasing structural protection, prevent that the collision from causing personnel or equipment damage intelligence to patrol and examine the robot and install the flickering warning light in obvious position, remind staff in the tunnel to notice, pilot lamp 14 can have red green yellow three kinds of colours, and green lamp flickering can represent normal operation, and red lamp flickering can represent the place ahead has the barrier or patrol and examine the robot and be being close to, and the yellow light can represent the early warning that the fault lamp condition has appeared in the robot, and the user of service can be decided according to particular case. And for further reinforcing maneuverability, avoid under the circumstances that the remote control of control platform became invalid, be equipped with scram switch 13 on the automobile body, this scram switch 13 and master controller are connected, can make the robot stop motion of patrolling and examining after pressing down, avoid the emergence of accident, provide the guarantee for the safe operation of automobile body.
For the integrality of the function of reinforcing the robot of patrolling and examining the utility model discloses a some embodiment still include: and the temperature and humidity sensor is arranged in the vehicle body and used for detecting temperature and humidity information and sending the temperature and humidity information to the control platform.
And the harmful gas sensor is arranged on the vehicle body and used for detecting harmfulness and sending a detection result to the control platform. The concentration of gases such as oxygen, carbon monoxide, PM2.5, PM50 can be monitored, the occurrence of conditions such as fire can be monitored by combining a temperature and humidity sensor, and the existence of harmful gas can be warned in time in places such as coal mines where the harmful gas possibly leaks.
In order to enhance the scanning visual field range of the double-dome camera 3, a lifting part 12 is arranged at the bottom of the vehicle body, the double-dome camera 3 is connected with the vehicle body through the lifting part 12, and the lifting control of the double-dome camera 3 is realized under the control of the vehicle body.
The lifting part comprises: second driving motor 8 (servo motor) and crane, second driving motor 8 set up in the automobile body, and the crane sets up in the bottom of automobile body and is used for fixed two ball-lasers machine, and second driving motor 8 is used for driving the lift of crane.
Specifically, a channel 11 of a lead screw (not shown in the figure) in transmission connection with a servo motor is reserved in the middle of the vehicle body, one end of the lead screw is in transmission connection with the servo motor, the double-light-ball machine 3 is fixed to the other end of the lead screw, the lifting of the double-light-ball machine 3 can be achieved, the scanning range is enlarged, and a telescopic rubber cover body is arranged outside the lead screw to protect structures such as an internal power line. Of course, those skilled in the art can also adopt other lifting structures to realize the lifting control of the dual-dome camera 3, and the present invention is not limited herein.
Referring to the overall view of the vehicle body shown in fig. 4 and 5, the height of the vehicle body is 390mm, the overall height of the twin-dome camera is 750mm, the widest part is not more than 500mm, and the structure is more compact and the space is saved.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that, in the description of the present invention, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means at least two unless otherwise specified.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (10)
1. A track inspection system, comprising: the device comprises a track, a vehicle body and a control platform;
the cross section of the track is I-shaped;
an accommodating space of the track is arranged above the vehicle body, two rollers are respectively arranged on the vehicle body, which is positioned on two sides of the track, of the accommodating space, the four rollers on two sides embrace the track to enable the vehicle body to be hung on the track, and the vehicle body moves along the track when a first driving motor in the vehicle body drives the rollers to rotate;
identification strips printed with identification codes are arranged on any side of the track opposite to the roller, and a code reader is arranged in the vehicle body and used for reading distance information contained in the identification strips and sending the distance information to the control platform;
and a double-dome camera is arranged below the vehicle body and used for acquiring image information on a travel path and sending the image information to the control platform in real time.
2. The track inspection system according to claim 1, wherein the body further includes a limiting wheel disposed at a position perpendicular to the central axis of the roller for limiting the body to the track.
3. The track inspection system according to claim 1, wherein the body further includes trolley line contacts for connecting to a power line positioned along the track to provide the body with the desired power.
4. The track inspection system according to claim 1, further comprising: and the lifting part is used for connecting the double-light-ball machine with the vehicle body, and the lifting control of the double-light-ball machine is realized under the control of the vehicle body.
5. The track inspection system according to claim 1, further comprising: the laser ranging sensor is arranged on the vehicle body and used for detecting the barrier in front of the vehicle body.
6. The track inspection system according to claim 1, further comprising: and the temperature and humidity sensor is arranged in the vehicle body and used for detecting temperature and humidity information and sending the temperature and humidity information to the control platform.
7. The track inspection system according to claim 1, further comprising: and the harmful gas sensor is arranged on the vehicle body and used for detecting harmful gas and sending a detection result to the control platform.
8. The track inspection system according to claim 1, further comprising: the indicator light is arranged on the vehicle body and used for indicating the running state of the vehicle body.
9. The track inspection system according to claim 4, wherein the lift portion includes: the lifting frame comprises a second driving motor and a lifting frame, wherein the second driving motor is arranged in the car body, the lifting frame is arranged at the bottom of the car body and used for fixing the double-light-ball machine, and the second driving motor is used for driving the lifting frame to lift.
10. The track inspection system according to any one of claims 1 to 9, further comprising: and the emergency stop switch is arranged on the vehicle body and is used for emergency stop control of the vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020483920.4U CN212386475U (en) | 2020-04-03 | 2020-04-03 | Track inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020483920.4U CN212386475U (en) | 2020-04-03 | 2020-04-03 | Track inspection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212386475U true CN212386475U (en) | 2021-01-22 |
Family
ID=74256422
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020483920.4U Expired - Fee Related CN212386475U (en) | 2020-04-03 | 2020-04-03 | Track inspection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212386475U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113256837A (en) * | 2021-04-28 | 2021-08-13 | 宁波思高信通科技有限公司 | Machine room patrol inspection method and system, storage medium and intelligent terminal |
| CN113873108A (en) * | 2021-08-23 | 2021-12-31 | 广东大唐国际潮州发电有限责任公司 | Non-contact intelligent inspection device for coal conveying belt |
-
2020
- 2020-04-03 CN CN202020483920.4U patent/CN212386475U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113256837A (en) * | 2021-04-28 | 2021-08-13 | 宁波思高信通科技有限公司 | Machine room patrol inspection method and system, storage medium and intelligent terminal |
| CN113256837B (en) * | 2021-04-28 | 2022-05-31 | 宁波思高信通科技有限公司 | Machine room patrol inspection method and system, storage medium and intelligent terminal |
| CN113873108A (en) * | 2021-08-23 | 2021-12-31 | 广东大唐国际潮州发电有限责任公司 | Non-contact intelligent inspection device for coal conveying belt |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210122 Termination date: 20210403 |
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| CF01 | Termination of patent right due to non-payment of annual fee |