CN212497791U - Rail mounted group's fog detection robot - Google Patents
Rail mounted group's fog detection robot Download PDFInfo
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- CN212497791U CN212497791U CN202021146746.0U CN202021146746U CN212497791U CN 212497791 U CN212497791 U CN 212497791U CN 202021146746 U CN202021146746 U CN 202021146746U CN 212497791 U CN212497791 U CN 212497791U
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Abstract
The utility model belongs to the technical field of group fog detection, and discloses a rail-mounted group fog detection robot, which comprises a robot body arranged on a highway guardrail, wherein the robot body can reciprocate along the highway guardrail, the robot body comprises a detection device and a power supply device, the detection device detects group fog on the highway when moving, and the power supply device supplies power to the detection device when detecting group fog; the detection device and the power supply device are combined to form an L-shaped structure, a second limiting guide roller is installed at the bottom of the detection device, and a first limiting guide roller is installed on one side of the power supply device; in conclusion, based on the utility model discloses a robot carries out the mobile detection of the road section that the group fog is liable to take place, consequently also can know the group fog situation on the highway in time under the condition that need not the manpower detection; in addition, the robot has the advantages of low transformation cost and high practicability by taking the expressway guardrail as a moving track.
Description
Technical Field
The utility model belongs to the technical field of group's fog detects, concretely relates to rail mounted group's fog inspection robot.
Background
The fog clusters are a natural phenomenon and appear on many highways in China, and the appearance of the fog clusters can cause the rapid reduction of the visibility of driving, thereby easily causing traffic accidents.
In the daily management of highways, the crowd fog is mainly monitored by means of cameras and road patrol cars which are erected on the road side. Due to the fact that the arrangement density of the cameras and the intensity of road patrol are limited, the monitoring coverage range of the group fog is limited, and the problem that the monitoring and early warning of the group fog are not timely is often caused.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a rail mounted group fog detection robot specifically utilizes current highway guardrail as the track to realize accurate and timely group fog and detect.
In order to achieve the above object, the utility model provides a following technical scheme: a rail type group fog detection robot comprises a robot body arranged on a highway guardrail, wherein the robot body can reciprocate along the highway guardrail, the robot body comprises a detection device and a power supply device, the detection device detects group fog on a highway when moving, and the power supply device supplies power to the detection device when detecting the group fog;
the robot comprises a detection device, a detection camera, a mobile driving assembly, a processor and a controller, wherein the top of the detection device is provided with the detection camera, the bottom of the detection device is provided with the mobile driving assembly, the processor is internally provided with the processor and the controller, the processor receives and processes a detection signal of the detection camera, the controller controls the detection camera and the mobile driving assembly to start and stop, the mobile driving assembly is in contact with the top of a highway guardrail, and when the mobile driving assembly is started, a robot body moves along the highway guardrail;
the detection device and the power supply device are combined to form an L-shaped structure, a second limiting guide roller is installed at the bottom of the detection device, and a first limiting guide roller is installed on one side of the power supply device; the second limiting guide roller is an I-shaped guide roller and is matched with the top edge of the highway guardrail, and the first limiting guide roller is matched with the side wall of the highway guardrail.
Preferably, the second limiting guide roller comprises an upper limiting wheel, a connecting sleeve and a lower limiting wheel, wherein: the upper limiting wheel is fixed at the top end of the connecting sleeve and limited above the edge of the highway guardrail; the lower limiting wheel is sleeved on the connecting sleeve, can slide up and down along the connecting sleeve and is limited below the edge of the highway guardrail, and the lower limiting wheel is a conical wheel; and a spring is arranged between the bottom of the lower limiting wheel and the connecting sleeve, and is compressed when the lower limiting wheel slides downwards.
Preferably, the movement driving assembly comprises a driven wheel, a driving wheel and a driving motor: the driving wheel is driven to rotate by the driving motor, and the driven wheels are arranged in two numbers and are symmetrically distributed on two sides of the driving wheel.
Preferably, all install on detection device's the both sides outer wall and keep away the barrier subassembly, and keep away the barrier subassembly and include obstacle detection device and clearance barrier subassembly, the treater receives and handles obstacle detection device's detected signal, the controller stops based on signal processing result control clearance barrier subassembly opens and stops.
Preferably, the obstacle clearing assembly comprises an electric push rod and an obstacle clearing push plate, and the obstacle clearing push plate is connected to the telescopic end of the electric push rod and limited outside the detection device.
Preferably, the robot body further comprises a wireless charging device, and the wireless charging device is connected to the bottom of the power supply device and wirelessly charges the power supply device.
Preferably, a wireless signal transmitter is further installed in the detection device, and the wireless signal transmitter transmits the signal processing result of the processor.
Compared with the prior art, the utility model, following beneficial effect has:
(1) the robot is used for executing the group fog movement detection of the section where the group fog is easy to occur, so that the group fog condition on the expressway can be known in time under the condition of no need of manual detection; in addition, the robot has the advantages of low transformation cost and high practicability by taking the expressway guardrail as a moving track.
(2) Aiming at the robot, the limiting guide roller assembly matched with the highway guardrail is arranged, so that the stability of the robot in the moving detection process is effectively improved.
(3) The two groups of limiting guide roller assemblies are arranged, one group of limiting guide roller assemblies is matched with the edge of the highway guardrail, and the corresponding limiting guide roller assemblies are arranged into elastic I-shaped structures, so that the limiting stability is improved, and the whole robot can move smoothly at the joint of the highway guardrail conveniently.
(4) Aiming at the robot, an obstacle avoidance assembly is correspondingly arranged so as to automatically execute obstacle clearing operation when an obstacle exists on a highway guardrail, and further guarantee smooth completion of movement detection; and for the obstacles which cannot be cleared, the remote alarm can be carried out by matching with the wireless signal transmission.
Drawings
Fig. 1 is a schematic structural view of a robot provided by the present invention when the robot is installed on a track;
FIG. 2 is a sectional view taken along line A in FIG. 1;
fig. 3 is a schematic diagram of the robot provided by the present invention in use when there is an obstacle on the track;
FIG. 4 is an enlarged view of FIG. 1 at B;
FIG. 5 is a schematic view of the use of an I-shaped spacing guide roller in the robot near a rail joint;
in the figure: 1-detection device, 11-detection camera, 12-obstacle detection device, 13-mobile driving assembly, 131-driven wheel, 132-driving wheel, 133-driving motor, 14-obstacle clearing assembly, 141-electric push rod, 142-obstacle clearing push plate, 15-processor, 16-wireless signal transmitter, 17-controller, 2-power supply device, 3-wireless charging device, 4-first limiting guide roller, 5-second limiting guide roller, 51-upper limiting wheel, 52-connecting sleeve, 53-lower limiting wheel and 54-spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model provides a rail-mounted robot for detecting mist, which mainly comprises a robot body arranged on a highway guardrail, wherein the robot body can reciprocate along the highway guardrail, and the specific structure of the robot body is shown in figures 1-5;
the robot body comprises a detection device 1 and a power supply device 2, the detection device 1 detects the mass fog on the expressway when moving, and the power supply device 2 supplies power to the detection device 1 when detecting the mass fog;
the top of the detection device 1 is provided with a detection camera 11, the bottom of the detection device is provided with a mobile driving assembly 13, the detection device is internally provided with a processor 15 and a controller 17, the processor 15 receives and processes a detection signal of the detection camera 11, the controller 17 controls the detection camera 11 and the mobile driving assembly 13 to start and stop, the mobile driving assembly 13 is in contact with the top of the highway guardrail, and when the mobile driving assembly 13 is started, the robot body moves along the highway guardrail;
the detection device 1 and the power supply device 2 are combined to form an L-shaped structure, a second limiting guide roller 5 is installed at the bottom of the detection device 1, and a first limiting guide roller 4 is installed at one side of the power supply device 2; wherein the second limiting guide roller 5 is an I-shaped guide roller and is matched with the top edge of the highway guardrail, and the first limiting guide roller 4 is matched with the side wall of the highway guardrail.
In summary, when the robot as a whole performs mobile foggy detection, the detection method is as follows: based on controller 17 starts to remove drive assembly 13, specifically adopt the model to constitute for esp 32's singlechip about controller 17, and external big dipper navigation chip that has still in this singlechip to realize the accurate location of whole robot at the removal in-process, from this can with the utility model provides a detection result of robot is applied to in the big dipper map, with provide high-speed group fog situation for the user of big dipper map in real time.
After the mobile driving assembly 13 is started, the whole robot moves along the highway guardrail, real-time monitoring of the mist on the highway is carried out by using the detection camera 11 in the moving process, and a specific detection signal is processed by the processor 15, so that whether the mist exists in the current highway section or not is accurately acquired.
In addition, in the moving process of the robot, the robot is stably matched with the highway guardrail through the first limiting guide roller 4 and the second limiting guide roller 5, so that the problem that the robot drops when moving detection is effectively avoided.
In summary, based on the above structure:
with continued reference to fig. 1, 4-5, the cooperating structure of the second guide limit roller 5 and the highway barrier is shown;
specifically, the second limiting guide roller 5 comprises an upper limiting wheel 51, a connecting sleeve 52 and a lower limiting wheel 53, wherein: the upper limiting wheel 51 is fixed at the top end of the connecting sleeve 52 and limited above the edge of the highway guardrail; the lower limiting wheel 53 is sleeved on the connecting sleeve 52, can slide up and down along the connecting sleeve 52 and is limited below the edge of the highway guardrail, and the lower limiting wheel 53 is a conical wheel; a spring 54 is welded between the bottom of the lower limiting wheel 53 and the connecting sleeve 52, and when the lower limiting wheel 53 slides downwards, the spring 54 is compressed.
As can be seen from the above, when the second limit guide roller 5 is matched with the highway guardrail, the outer wall of the connecting sleeve 52 is in contact with the highway guardrail and is matched with the first limit guide roller 4 to limit the left and right positions of the whole robot; the upper limiting wheel 51 and the lower limiting wheel 53 are respectively positioned above and below the edge of the highway guardrail so as to limit the upper and lower positions of the whole robot and ensure the stability of position limitation; when the whole robot moves, the first limiting guide roller 4 and the second limiting guide roller 5 can rotate, friction between the limiting guide rollers and the highway guardrail is reduced, and therefore the robot can move smoothly.
Furthermore, the highway guardrail is a splicing type installation structure by combining the prior art, so that a joint position exists between two adjacent sections of guardrails, and the joint position is formed by mutually overlapping the two sections of guardrails, so that the problem of large thickness of the joint position in the highway guardrail exists; in connection with the structure disclosed in fig. 4-5, the second guide limit roller 5 is made to be elastic, so that the second guide limit roller 5 can be effectively adapted to the joint position of the highway barrier during the movement of the robot; the specific adaptation process is as follows:
referring to fig. 5, both the a/b positions are joint positions of the highway guardrail, when the second limiting guide roller 5 is close to the a position, the joint positions extrude the lower limiting wheel 53 with a conical structure, so that the lower limiting wheel 53 moves downwards along the connecting sleeve 52, the spring 54 is compressed, and in the process, the distance between the lower limiting wheel 53 and the upper limiting wheel 51 is increased, so that the whole second limiting guide roller 5 can be effectively adapted to the joint positions of the highway guardrail.
With continued reference to fig. 2-3, specific structure of the motion driving assembly 13 is shown: the movement driving assembly 13 includes a driven pulley 131, a driving pulley 132, and a driving motor 133: wherein the driving wheel 132 is driven to rotate by a driving motor 133, and the driving motor 133 can be a common motor shown in fig. 2, and an output shaft of the motor is connected with the driving wheel 132, so as to drive the driving wheel 132; a hub motor (not shown) can be selected to drive the driving wheel 132; in addition, in actual use, the method is not limited to the two selection forms; the number of the driven wheels 131 is two, and the two driven wheels are symmetrically distributed on two sides of the driving wheel 132 to ensure the stability of the robot body during movement;
specifically, when the movement driving assembly 13 is started, the driving motor 133 is started to drive the driving wheel 132 to rotate, and the driving wheel 132 is in contact with the top of the highway guardrail, thereby effectively realizing the movement of the whole robot on the highway guardrail; and driven wheels 131 are symmetrically arranged on both sides of the driving wheel 132, so as to effectively maintain the balance and stability of the integral moving driving assembly 13.
With continued reference to fig. 2-3, the obstacle avoidance components required by the robot when encountering an obstacle are further illustrated: the obstacle avoidance components are arranged on the outer walls of the two sides of the detection device 1 and at least comprise an obstacle detection device 12 which is used for detecting obstacles on a highway guardrail in front of the movement of the robot body, a processor 15 receives and processes detection signals of the obstacle detection device 12, and a controller 17 controls the robot body to execute obstacle avoidance operation based on signal processing results;
wherein:
the detection method and principle of the obstacle detection device 12 are not limited in this embodiment. For example, the obstacle detection device 12 may use an ultrasonic sensor to detect an obstacle by ultrasonic waves; for example, the obstacle detection device 12 may use an infrared sensor to detect an obstacle by infrared rays.
Obstacle avoidance operation with respect to a robot body, comprising: clearing the obstacle, pausing the robot body, moving the robot body back and the like.
When the obstacle avoidance operation for clearing the obstacle is executed, the obstacle avoidance assembly further comprises an obstacle clearing assembly 14, and the robot body executes the obstacle avoidance operation for clearing the obstacle based on the obstacle clearing assembly 14.
Specifically, the obstacle clearing assembly 14 includes an electric push rod 141 and an obstacle clearing push plate 142, and the obstacle clearing push plate 142 is connected to a telescopic end of the electric push rod 141 and is limited to the outside of the detection device 1.
In summary, with reference to fig. 3, when the obstacle detection device 12 detects an obstacle (for example, an obstacle such as a branch, an impurity, a fallen leaf, and dust) on the highway barrier, the obstacle detection device feeds back the obstacle to the processor 15, the processor 15 determines that the obstacle is present after processing, and then the controller 17 starts, that is, the electric push rod 141 starts to extend to push out the obstacle clearing push plate 142, and as the robot moves, the obstacle clearing push plate 142 is limited by the obstacle contact, so that the obstacle is pushed down from the highway barrier, thereby effectively preventing the detection device 1 and the power supply device 2 from colliding with the obstacle.
As described above, the corresponding obstacle detection device 12 and obstacle clearing assembly 14 are activated based on the moving direction of the robot to effectively perform an obstacle clearing operation in front of the movement of the robot.
As shown in fig. 2-3, the detecting device 1 is further installed with a wireless signal transmitter 16, and the wireless signal transmitter 16 transmits the signal processing result of the processor 15.
Specifically, the signals transmitted by the wireless signal transmitter 16 include:
and when the processor 15 processes the information to find that the fog group exists on the expressway, the information of the fog group detected by the detection camera 11 is remotely transmitted.
When the obstacle avoidance operation of the robot body is paused and the robot body is moved back, the current position of the robot body is reported through the wireless signal transmitter 16.
When the obstacle clearing component 14 is started for more than the preset time and the obstacle detection device 12 still detects an obstacle, the processor 15 judges that the obstacle clearing is failed after processing, the wireless signal transmitter 16 remotely transmits an alarm signal of the obstacle clearing failure, and simultaneously executes obstacle avoiding operations of suspending the robot body and moving back the robot body and reports the current position of the robot body;
in the present embodiment, the preset time for opening the obstacle clearing assembly 14 is not particularly limited. For example, it may be set to 30s, that is, after the time for opening the obstacle clearing assembly 14 exceeds 30s, the obstacle detection device 12 still detects an obstacle, and the obstacle clearing assembly is regarded as "obstacle clearing failure".
In practical applications, a foggy monitoring station is provided in the highway section, and a transmission signal related to the wireless signal transmitter 16 is transmitted in the foggy monitoring station.
With continued reference to FIG. 1, a preferred embodiment of the present invention is provided: the robot body further comprises a wireless charging device 3, and the wireless charging device 3 is connected to the bottom of the power supply device 2 and wirelessly charges the power supply device 2. Specifically, the power supply device 2 is a rechargeable battery, and the wireless charging device 3 charges the rechargeable battery by using a wireless charging technology, so as to ensure the cruising ability of the robot in the moving detection process.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a rail mounted group fog detection robot which characterized in that: the robot comprises a robot body arranged on a highway guardrail, wherein the robot body can reciprocate along the highway guardrail, the robot body comprises a detection device (1) and a power supply device (2), the detection device (1) detects the mist on the highway when moving, and the power supply device (2) supplies power to the detection device (1) when detecting the mist;
the robot comprises a detection device (1), a detection camera (11) is installed at the top of the detection device (1), a mobile driving assembly (13) is installed at the bottom of the detection device, a processor (15) and a controller (17) are installed inside the detection device, the processor (15) receives and processes detection signals of the detection camera (11), the controller (17) controls the detection camera (11) and the mobile driving assembly (13) to be started and stopped, the mobile driving assembly (13) is in contact with the top of a highway guardrail, and when the mobile driving assembly (13) is started, a robot body moves along the highway guardrail;
the detection device (1) and the power supply device (2) are combined to form an L-shaped structure, a second limiting guide roller (5) is installed at the bottom of the detection device (1), and a first limiting guide roller (4) is installed on one side of the power supply device (2); the second limiting guide roller (5) is an I-shaped guide roller and is matched with the top edge of the highway guardrail, and the first limiting guide roller (4) is matched with the side wall of the highway guardrail.
2. The orbital mist detection robot of claim 1, wherein: the second limiting guide roller (5) comprises an upper limiting wheel (51), a connecting sleeve (52) and a lower limiting wheel (53), wherein: the upper limiting wheel (51) is fixed at the top end of the connecting sleeve (52) and is limited above the edge of the highway guardrail; the lower limiting wheel (53) is sleeved on the connecting sleeve (52), can slide up and down along the connecting sleeve (52) and is limited below the edge of the highway guardrail, and the lower limiting wheel (53) is a conical wheel; a spring (54) is welded between the bottom of the lower limiting wheel (53) and the connecting sleeve (52), and when the lower limiting wheel (53) slides downwards, the spring (54) is compressed.
3. The orbital mist detection robot of claim 1, wherein: the movement driving assembly (13) comprises a driven wheel (131), a driving wheel (132) and a driving motor (133): the driving wheel (132) is driven to rotate by the driving motor (133), and the driven wheels (131) are arranged in two numbers and symmetrically distributed on two sides of the driving wheel (132).
4. The orbital mist detection robot of claim 1, wherein: all install on the both sides outer wall of detection device (1) and keep away the barrier subassembly, and keep away the barrier subassembly and include obstacle detection device (12) at least, be used for detecting the robot removes the place ahead and is located the barrier on the highway guardrail, treater (15) receive and handle obstacle detection device (12)'s detected signal, controller (17) are based on signal processing result control the robot carries out and keeps away the barrier operation.
5. The orbital mist detection robot of claim 4, wherein: the obstacle avoidance assembly further comprises an obstacle clearing assembly (14), and the robot body performs obstacle avoidance operation based on the obstacle clearing assembly (14).
6. The orbital mist detection robot of claim 5, wherein: the obstacle clearing component (14) comprises an electric push rod (141) and an obstacle clearing push plate (142), and the obstacle clearing push plate (142) is connected to the telescopic end of the electric push rod (141) and limited outside the detection device (1).
7. The rail-mounted foggy detection robot of any one of claims 1 to 6, wherein: the robot body further comprises a wireless charging device (3), and the wireless charging device (3) is connected to the bottom of the power supply device (2) and wirelessly charges the power supply device (2).
8. The rail-mounted foggy detection robot of claim 5 or 6, wherein: the detection device (1) is also internally provided with a wireless signal transmitter (16), and the wireless signal transmitter (16) transmits the signal processing result of the processor (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021146746.0U CN212497791U (en) | 2020-06-19 | 2020-06-19 | Rail mounted group's fog detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021146746.0U CN212497791U (en) | 2020-06-19 | 2020-06-19 | Rail mounted group's fog detection robot |
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| Publication Number | Publication Date |
|---|---|
| CN212497791U true CN212497791U (en) | 2021-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021146746.0U Expired - Fee Related CN212497791U (en) | 2020-06-19 | 2020-06-19 | Rail mounted group's fog detection robot |
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| Country | Link |
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| CN (1) | CN212497791U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114093175A (en) * | 2021-12-02 | 2022-02-25 | 中路(无锡)智能交通科技有限公司 | Intelligent monitoring equipment and method for highway weather |
-
2020
- 2020-06-19 CN CN202021146746.0U patent/CN212497791U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114093175A (en) * | 2021-12-02 | 2022-02-25 | 中路(无锡)智能交通科技有限公司 | Intelligent monitoring equipment and method for highway weather |
| CN114093175B (en) * | 2021-12-02 | 2022-12-16 | 中路(无锡)智能交通科技有限公司 | Intelligent monitoring equipment and method for highway weather |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210209 Termination date: 20210619 |
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| CF01 | Termination of patent right due to non-payment of annual fee |