Rail transit overhead line system, tunnel and clearance integrated inspection robot

Abstract

The invention provides a rail transit catenary, tunnel and clearance integrated inspection robot. Comprising a robot body; the moving assembly is used for driving the robot main body to move; the detection assembly comprises a contact rail geometric parameter detection unit, a contact net detection unit, a tunnel disease detection unit and a processing unit; the processing unit is used for processing parameter information acquired by the contact rail geometric parameter detection unit, the contact net detection unit and the tunnel disease detection unit; the vibration reduction platform comprises a bearing part, an elastic assembly and a fixing assembly, the bearing part is installed on the fixing assembly through the elastic assembly, the fixing assembly is installed on the robot body, and the bearing part is used for bearing the contact network detection unit or the tunnel disease detection unit; and the control module is used for acquiring the information processed by the processing unit and controlling the moving assembly to drive the robot main body to move.

Description

Technical Field

[0001] The present invention belongs to the field of robots, and in particular relates to a rail transit contact network, tunnel, and limit integrated inspection robot. Background Art

[0002] Tunnel inspection robots are usually equipped with detection devices, which are used to obtain parameter information inside the tunnel. For tunnel inspection robots, the accuracy of their detection devices is generally required to be high (millimeter level). However, during the detection process, the vibration generated during the movement of the tunnel inspection robot will have a significant impact on the detection accuracy of the detection device, causing the inspection robot to be unable to perform inspection tasks in complex environments. In addition, the structure of the tunnel inspection robot is generally set to be relatively compact, which can ensure that the tunnel inspection robot performs inspection tasks in a relatively small area. However, the compact structure will result in cumbersome steps when installing the detection device, which is not conducive to the installation of the detection device. Summary of the invention

[0003] The present invention provides a rail transit contact network, tunnel, and limit integrated inspection robot, which can improve the installation efficiency and detection accuracy of the detection components in the inspection robot. The inspection robot includes: Robot body; A moving component, used for driving the robot body to move; The detection component includes a contact rail geometric parameter detection unit, a contact network detection unit, a tunnel disease detection unit and a processing unit; the processing unit is used to process parameter information obtained by the contact rail geometric parameter detection unit, the contact network detection unit and the tunnel disease detection unit; A vibration reduction platform, wherein the contact network detection unit and the tunnel disease detection unit are respectively installed on the robot body through the vibration reduction platform; the vibration reduction platform comprises a bearing, an elastic component and a fixing component, the bearing is installed on the fixing component through the elastic component, the fixing component is installed on the robot body, and the bearing is used to carry the contact network detection unit or the tunnel disease detection unit; The control module is used to obtain the information processed by the processing unit and to control the moving component to drive the robot body to move.

[0004] Optionally, the elastic component includes: A plurality of elastic members and a plurality of damping members, wherein the damping member passes through the elastic member, and two ends of the elastic member are respectively fixed to two ends of the damping member; one end of the damping member is connected to the bearing member, and the other end of the damping member is connected to the fixing assembly.

[0005] Optionally, the fixing assembly includes: A base, a surface of which is provided with a plurality of sliding channels; A sliding member, wherein a plurality of the sliding members are respectively arranged in a plurality of the sliding channels; A fixing member, wherein a plurality of fixing members are respectively arranged on both sides of the base, and the plurality of fixing members are respectively fixedly connected to the plurality of sliding members; The sliding member driving unit is arranged between two adjacent sliding members and is simultaneously transmission-connected to the two adjacent sliding members; in a first driving state, the sliding member driving unit drives the two adjacent sliding members to approach each other, and in a second driving state, the sliding member driving unit drives the two adjacent sliding members to move away from each other.

[0006] Optionally, the fixing assembly further includes: A fixed frame is fixedly connected to the base, one end of the damping member is hinged to the bearing member, and the other end of the damping member is hinged to the fixed frame.

[0007] Optionally, the base surface has a plurality of protrusions, the plurality of protrusions are respectively arranged corresponding to a plurality of sliding members, and the protrusions are located on a side of the sliding member away from the sliding member driving unit.

[0008] Optionally, the fixing assembly further includes: Pressure detection unit and control unit; The pressure detection unit is used to detect the pressure between the fixing part and the robot body when the fixing component is fixed on the robot body; when the pressure is lower than the minimum pressure threshold, the sliding part driving unit is controlled to enter the first driving state; when the pressure is higher than the maximum pressure threshold, the sliding part driving unit is turned off.

[0009] Optionally, the contact rail geometric parameter detection unit includes: A camera and a laser, wherein the laser is used to emit laser toward the contact rail, and the camera is used to obtain a structured light image reflected by the contact rail; the processing unit uses structured light triangulation imaging detection technology to determine the geometric parameters of the contact rail based on the structured light image obtained by the camera.

[0010] Optionally, the contact network detection unit includes: A laser radar is used to preliminarily determine the location of the contact network and obtain point cloud data of the contact network. The processing unit establishes a point cloud model of the contact network according to the point cloud data obtained by the laser radar; Laser distance sensor, used to measure the distance of the contact network; An encoder and a servo motor, wherein the encoder controls the servo motor according to the point cloud model, adjusts the direction of the laser ranging sensor, and measures the distance of the contact network.

[0011] Optionally, the tunnel disease detection unit includes: The laser scanner acquires three-dimensional point cloud data of the tunnel by laser scanning. The processing unit establishes a point cloud model of the tunnel according to the three-dimensional point cloud data, and determines the disease information in the tunnel according to the point cloud model of the tunnel.

[0012] Optionally, the control unit comprises: A main control system, used to release control instructions; Redundant control system, as a backup control system, controls the inspection robot to perform inspection tasks when the main control system fails; The positioning system uses odometer positioning or fastener counting positioning to send the location information of the inspection robot to the main control system; The electric control system receives control instructions from the main control system and controls the power supply of each component in the inspection robot; The motion control system receives control instructions from the main control system and is used to control the mobile components to control the movement of the inspection robot.

[0013] The technical solution provided by the embodiments of the present disclosure has the following beneficial effects: In an embodiment of the present disclosure, a patrol robot is provided, which includes a detection component and a vibration reduction platform, wherein the detection component includes a contact network detection unit and a tunnel disease detection unit. The vibration reduction platform includes an elastic member and a damping member, wherein the elastic member can absorb most of the vibration energy, and the damping member converts the vibration energy into heat energy and dissipates it. Through the synergistic effect of the elastic member and the damping member, the vibration transmitted to the contact network detection unit and the tunnel disease detection unit is effectively reduced, thereby reducing the influence of the vibration on the detection accuracy of the contact network detection unit and the tunnel disease detection unit, improving the accuracy and stability of the detection, and ensuring that the patrol robot can work normally and efficiently in a complex environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 A schematic diagram of the structure of a rail transit contact network, tunnel, and limit integrated inspection robot provided in an embodiment of the present disclosure; Figure 2 A schematic diagram of the structure of a vibration reduction platform provided in an embodiment of the present disclosure; Figure 3A schematic diagram of another vibration reduction platform provided in an embodiment of the present disclosure Figure 4 A schematic diagram of the structure of a mobile component provided in an embodiment of the present disclosure; Figure 5 A structural block diagram of a contact rail geometric parameter detection unit provided in an embodiment of the present disclosure; Figure 6 A block diagram of a contact network detection unit provided in an embodiment of the present disclosure; Figure 7 A structural block diagram of a control module of an inspection robot provided in an embodiment of the present disclosure; Figure 8 A schematic diagram of the structure of an electric control system provided in an embodiment of the present disclosure.

[0016] The reference numerals are as follows: 1: robot body; 11: seat; 2: moving assembly; 21: moving wheel; 22: transmission shaft; 23: moving wheel driving unit; 3: detection component; 31: contact rail geometric parameter detection unit; 311: camera; 312: laser; 32: contact network detection unit; 321: laser radar; 322: laser ranging sensor; 323: encoder; 324: servo motor; 33: tunnel disease detection unit; 34: processing unit; 4: vibration reduction platform; 41: bearing member; 411: fixing column; 42: fixing assembly; 421: base; 4211: sliding channel; 4212: protrusion; 422: sliding member; 4221: rack; 423: fixing member; 4231: fixing groove; 424: sliding member driving unit; 4241: transmission gear; 425: fixing frame; 426: pressure detection unit; 427: control unit; 428: fixing plate; 43: elastic assembly; 431: elastic member; 432: damping member; 5: control module; 51: main control system; 52: redundant control system; 53: positioning system; 54: electronic control system; 55: motion control system; 56: environmental perception system; 6: Environmental perception component; 61: Front environmental perception camera; 62: Rear environmental perception camera; 63: Environmental perception lidar. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Figure 1 This is a schematic diagram of the structure of a rail transit contact network, tunnel, and clearance integrated inspection robot provided by the embodiment of the present disclosure. Figure 1 , the inspection robot includes: Robot body 1; A moving component 2, used for driving the robot body 1 to move; The detection component 3 includes a contact rail geometric parameter detection unit 31, a contact network detection unit 32, a tunnel disease detection unit 33 and a processing unit 34; the processing unit 34 is used to process parameter information obtained by the contact rail geometric parameter detection unit 31, the contact network detection unit 32 and the tunnel disease detection unit 33; A vibration reduction platform 4, wherein the contact network detection unit 32 and the tunnel disease detection unit 33 are respectively mounted on the robot body 1 through the vibration reduction platform 4; the vibration reduction platform 4 comprises a bearing, an elastic component and a fixing component, wherein the bearing is mounted on the fixing component through the elastic component, and the fixing component is mounted on the robot body, and the bearing is used to carry the contact network detection unit 32 or the tunnel disease detection unit 33; The control module 5 is used to obtain the information processed by the processing unit 34 and to control the moving component 2 to drive the robot body 1 to move.

[0019] In an embodiment of the present disclosure, a patrol robot is provided, which includes a detection component and a vibration reduction platform, wherein the detection component includes a contact network detection unit and a tunnel disease detection unit. The vibration reduction platform includes an elastic member and a damping member, wherein the elastic member can absorb most of the vibration energy, and the damping member converts the vibration energy into heat energy and dissipates it. Through the synergistic effect of the elastic member and the damping member, the vibration transmitted to the contact network detection unit and the tunnel disease detection unit is effectively reduced, thereby reducing the influence of the vibration on the detection accuracy of the contact network detection unit and the tunnel disease detection unit, improving the accuracy and stability of the detection, and ensuring that the patrol robot can work normally and efficiently in a complex environment.

[0020] Figure 2 This is a schematic diagram of the structure of a vibration reduction platform provided by an embodiment of the present disclosure. Figure 2 , the vibration reduction platform 4 comprises: A bearing member 41, a fixing member 42 and an elastic member 43; The elastic component 43 includes multiple elastic members 431 and multiple damping members 432. The damping member 432 passes through the elastic member 431, and the two ends of the elastic member 431 are respectively fixed to the two ends of the damping member 432; one end of the damping member 432 is fixed to the supporting member 41, and the other end of the damping member 432 is fixed to the fixing component 42.

[0021] In the embodiment of the present disclosure, the elastic member 431 may be a spring, and the damping member 432 may be a damper.

[0022] In the embodiment of the present disclosure, the number of the elastic member 431 and the damping member 432 are both multiple, such as Figure 2 The number shown in the figure is 4, and the use of 4 elastic members and damping members can ensure that the bearing member can be fixed more stably.

[0023] In the embodiment of the present disclosure, the fixing assembly 42 includes: The base 421 has a plurality of sliding channels 4211 formed on its surface; A sliding member 422, wherein the plurality of sliding members 422 are respectively disposed in the plurality of sliding channels 4211; A fixing member 423, wherein a plurality of fixing members 423 are respectively disposed on both sides of the base 421, and the plurality of fixing members 423 are respectively fixedly connected to the plurality of sliding members 422; The sliding member driving unit 424 is arranged between two adjacent sliding members 422 and is simultaneously transmission-connected to the two adjacent sliding members 422; in a first driving state, the sliding member driving unit 424 drives the two adjacent sliding members 422 to approach each other, and in a second driving state, the sliding member driving unit 424 drives the two adjacent sliding members 422 to move away from each other.

[0024] The sliding member driving unit 424 may be a driving motor.

[0025] In the embodiment of the present disclosure, the fixed component includes a sliding member, a fixed member and a sliding member driving unit, wherein the sliding member is connected to the fixed member, and the sliding member driving unit is arranged between two adjacent sliding members. When the sliding member driving unit is in a first driving state, for example, the sliding member driving unit is a driving motor, and the first driving state is a clockwise rotation state of the driving motor. When the driving motor rotates clockwise, it drives two adjacent sliding members to move at the same time, so that the two adjacent sliding members approach each other, thereby driving the fixed members on both sides of the base to approach each other. The driving motor is controlled to be in different driving states to control the fixed members to approach or move away from each other. When the fixed members at both ends of the base approach each other, the vibration reduction platform can be fixed on the inspection robot through the extrusion force between the fixed members at both ends of the base.

[0026] In the disclosed embodiment, the surface of the base 421 has a plurality of protrusions 4212 , the plurality of protrusions 4212 are respectively arranged corresponding to the plurality of sliding members 422 , and the protrusions 4212 are located on a side of the sliding member 422 away from the sliding member driving unit 424 .

[0027] In the disclosed embodiment, the sliding member is disposed in the sliding channel, and one side of the sliding member is transmission-connected to the sliding member driving unit, and a protrusion is disposed on the other side of the sliding member, thereby ensuring that the sliding member can move smoothly.

[0028] In the embodiment of the present disclosure, a rack 4221 is provided on the sliding member 422 , and the sliding member driving unit 424 is meshed with the rack 4221 on the sliding member 422 via a transmission gear 4241 .

[0029] In the disclosed embodiment, a fixing groove 4231 is provided on the fixing member 423. When the vibration reduction platform is actually used, a fixing protrusion matching the fixing groove 4231 can be provided on the inspection robot, and the fixing protrusion is stuck in the fixing groove, which can further ensure the fixing effect of the vibration reduction platform on the inspection robot, avoid the shaking of the vibration reduction platform due to unstable fixing, and reduce the detection accuracy of the detection component provided on the vibration reduction platform.

[0030] In the embodiment of the present disclosure, the fixing assembly 42 further includes: The fixed frame 425 is fixedly connected to the base 421 , one end of the damping member 432 is hinged to the bearing member 41 , and the other end of the damping member 432 is hinged to the fixed frame 425 .

[0031] A plurality of fixing columns 411 are disposed on the supporting member 41 , and the fixing columns 411 penetrate through the supporting member 41 .

[0032] In the embodiment of the present disclosure, the damping member, the fixed frame and the bearing member are connected in a hinged manner, so as to further determine the vibration reduction effect of the vibration reduction platform and ensure the stability of the connection between the damping member, the fixed frame and the bearing member.

[0033] In the embodiment of the present disclosure, the fixing assembly 42 further includes: A pressure detection unit 426 and a control unit 427; The pressure detection unit 426 is used to detect the pressure between the fixing member 423 and the robot body 1 when the fixing component 42 is fixed on the robot body 1; when the pressure is lower than the minimum pressure threshold, control the sliding member driving unit 424 to enter the first driving state; when the pressure is higher than the maximum pressure threshold, turn off the sliding member driving unit 424.

[0034] The pressure detection unit 426 may be a pressure sensor.

[0035] In the disclosed embodiment, by setting a pressure detection unit and a control unit, after the vibration reduction platform is fixed on the inspection robot, the pressure detection unit is turned on, and the pressure detection unit can obtain the pressure between the fixing part and the inspection robot in real time. When the pressure detection unit detects that the pressure between the fixing part and the inspection robot is lower than the minimum pressure threshold, that is, the fixing effect between the fixing part and the inspection robot is weakened, the sliding part driving unit is turned on to enter the first driving state, and the fixing parts at both ends of the base are tightened to improve the fixing effect between the fixing part and the inspection robot. After tightening the fixing part, the pressure detection unit continues to obtain the pressure between the fixing part and the inspection robot. When it is detected that the pressure between the fixing part and the inspection robot is greater than the maximum pressure threshold, it is determined that the fixing effect between the fixing part and the inspection robot is good, and the sliding part driving unit can be turned off to avoid damage to the sliding part driving unit, the fixing part, the sliding part and other mechanisms due to excessive pressure.

[0036] When the vibration reduction platform needs to be removed from the inspection robot, the pressure sensor is turned off and the sliding member driving unit is controlled to enter the second driving state, so that the fixing members at both ends of the base can be controlled to move away from each other, thereby removing the vibration reduction platform from the inspection robot.

[0037] Figure 3 This is a schematic diagram of the structure of another vibration reduction platform provided in an embodiment of the present disclosure. Figure 3 A fixing plate 428 may also be provided in the fixing assembly 42 , wherein the fixing plate 428 may be fixed on the raised portion 4212 of the base 421 , and the fixing frame 425 may be fixed on the fixing plate 428 , thereby ensuring the stability of the fixing frame 425 .

[0038] In the embodiment of the present disclosure, a seat 11 ( Figure 1 ), for operators to ride on.

[0039] Figure 4 A schematic diagram of the structure of a mobile component provided by an embodiment of the present disclosure. Figure 4 , the mobile component 2 includes: Moving wheel 21; A transmission shaft 22 is fixedly connected to the plurality of moving wheels 21; The moving wheel driving unit 23 is in driving connection with the transmission shaft 22 and is used for driving the transmission shaft 22 to rotate, thereby driving the moving wheel 21 to rotate.

[0040] Among them, the moving wheel driving unit 23 is a driving motor.

[0041] In the embodiment of the present disclosure, a braking mechanism may be further provided in the moving component for braking the inspection robot, which is not elaborated in the present disclosure.

[0042] Figure 5 This is a structural block diagram of a contact rail geometric parameter detection unit provided in an embodiment of the present disclosure. Figure 5 , the contact rail geometric parameter detection unit 31 includes: The camera 311 and the laser 312 are used to emit laser light toward the contact rail, and the camera 311 is used to obtain the structured light image reflected by the contact rail; the processing unit 34 uses the structured light triangulation imaging detection technology to determine the geometric parameters of the contact rail according to the structured light image obtained by the camera 311.

[0043] In the disclosed embodiment, the optical paths of the camera and the laser are at a certain angle, such as 30°, 45°, etc.

[0044] In the disclosed embodiment, the geometric parameters of the contact rail can be accurately measured by using structured light triangulation imaging detection technology.

[0045] Figure 6 This is a block diagram of a contact network detection unit provided by an embodiment of the present disclosure. Figure 6 , the contact network detection unit 32 includes: The laser radar 321 is used to preliminarily determine the location of the contact network and obtain point cloud data of the contact network. The processing unit 34 establishes a point cloud model of the contact network according to the point cloud data obtained by the laser radar; A laser distance measuring sensor 322, used to measure the distance of the contact network; An encoder 323 and a servo motor 324 , wherein the encoder 323 controls the servo motor 324 according to the point cloud model, adjusts the direction of the laser ranging sensor 322 , and measures the distance of the contact network.

[0046] In the disclosed embodiment, a point cloud model of the contact network is constructed to determine how to adjust the angle of the laser ranging sensor based on the measurement points on the point cloud model. After the laser ranging sensor is adjusted to a suitable measurement angle, the position of the contact network is measured.

[0047] In the disclosed embodiment, the point cloud model may adopt the Marching Cubes algorithm, the basic idea of ​​which is to process the cubes (voxels) in the data field one by one, extract isosurfaces from the voxel data, divide the continuous three-dimensional space into regular cubic grids, find intersections on the boundaries of these voxels, determine the appropriate surface topology for each voxel to generate isosurfaces, and then splice these local surfaces into a continuous three-dimensional surface to complete the operation of three-dimensional reconstruction of the data.

[0048] Figure 7 This is a structural block diagram of a control module of an inspection robot provided by an embodiment of the present disclosure. Figure 7 , the control module 5 includes: The main control system 51 is the main control system of the inspection robot, which can control the operation mode of the inspection robot, generate corresponding control commands through the action strategy library, and send control instructions to other control systems through the RS485 / CAN bus.

[0049] The redundant control system 52 includes a redundant controller. The main control system sends heartbeat packets to the redundant controller of the redundant control system at a certain frequency. Once the main control system detects that a serious fault has occurred in the robot, it stops sending heartbeat packets. When the redundant control system cannot receive the heartbeat packet, it will activate and start, shut down the main control system, and obtain control of the robot, thereby ensuring the basic mobility and communication capabilities of the robot.

[0050] Positioning system 53, positioning system 53 periodically sends positioning information to the main control system through odometer positioning and fastener counting positioning.

[0051] The electric control system 54 receives control instructions from the main control system and controls the power supply of each component in the inspection robot.

[0052] The motion control system 55 receives control instructions from the main control system and is used to control the moving components to control the inspection robot to move.

[0053] The environment perception system 56 obtains the surrounding environment information of the inspection robot by controlling the environment perception laser radar, environment perception camera, temperature and humidity sensor and other devices in the inspection robot.

[0054] See again Figure 1 The inspection robot also includes an environment perception component 6, including a front environment perception camera 61, a rear environment perception camera 62 and an environment perception laser radar 63.

[0055] In the disclosed embodiment, the control module includes multiple control systems, each of which is used to execute different control commands of the main control system to realize the control of the inspection robot. In addition, the control module is provided with a redundant control system, which can ensure that the inspection robot can continue to perform the inspection task even if it is damaged while performing the inspection task.

[0056] Figure 8 This is a schematic diagram of the structure of an electric control system provided by an embodiment of the present disclosure. Figure 8 The electric control system includes a main battery (48V battery) and a backup battery, which supplies power to various electrical devices in the inspection robot through a DC-DC converter and a power controller.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rail transit contact network, tunnel, and limit integrated inspection robot, characterized in that: include: Robot body; A moving component, used for driving the robot body to move; The detection component includes a contact rail geometric parameter detection unit, a contact network detection unit, a tunnel disease detection unit and a processing unit; the processing unit is used to process parameter information obtained by the contact rail geometric parameter detection unit, the contact network detection unit and the tunnel disease detection unit; A vibration reduction platform, wherein the contact network detection unit and the tunnel disease detection unit are respectively installed on the robot body through the vibration reduction platform; the vibration reduction platform comprises a bearing, an elastic component and a fixing component, the bearing is installed on the fixing component through the elastic component, the fixing component is installed on the robot body, and the bearing is used to carry the contact network detection unit or the tunnel disease detection unit; The control module is used to obtain the information processed by the processing unit and to control the moving component to drive the robot body to move.

2. The integrated inspection robot for contact network, tunnel and clearance of rail transit according to claim 1, characterized in that: The elastic component comprises: A plurality of elastic members and a plurality of damping members, wherein the damping member passes through the elastic member, and two ends of the elastic member are respectively fixed to two ends of the damping member; one end of the damping member is connected to the bearing member, and the other end of the damping member is connected to the fixing assembly.

3. The integrated inspection robot for contact network, tunnel and boundary of rail transit according to claim 2, characterized in that: The fixing assembly comprises: A base, a surface of which is provided with a plurality of sliding channels; A sliding member, wherein a plurality of the sliding members are respectively arranged in a plurality of the sliding channels; A fixing member, wherein a plurality of fixing members are respectively arranged on both sides of the base, and the plurality of fixing members are respectively fixedly connected to the plurality of sliding members; The sliding member driving unit is arranged between two adjacent sliding members and is simultaneously transmission-connected to the two adjacent sliding members; in a first driving state, the sliding member driving unit drives the two adjacent sliding members to approach each other, and in a second driving state, the sliding member driving unit drives the two adjacent sliding members to move away from each other.

4. The integrated inspection robot for rail transit contact network, tunnel and clearance according to claim 3 is characterized in that: The fixing assembly further comprises: A fixed frame is fixedly connected to the base, one end of the damping member is hinged to the bearing member, and the other end of the damping member is hinged to the fixed frame.

5. The integrated inspection robot for contact network, tunnel and clearance of rail transit according to claim 3, characterized in that: The surface of the base has a plurality of protrusions, which are respectively arranged corresponding to a plurality of sliding members, and the protrusions are located at a side of the sliding member away from the sliding member driving unit.

6. The integrated inspection robot for contact network, tunnel and clearance of rail transit according to claim 3, characterized in that: The fixing assembly further comprises: Pressure detection unit and control unit; The pressure detection unit is used to detect the pressure between the fixing part and the robot body when the fixing component is fixed on the robot body; when the pressure is lower than the minimum pressure threshold, the sliding part driving unit is controlled to enter the first driving state; when the pressure is higher than the maximum pressure threshold, the sliding part driving unit is turned off.

7. A rail transit contact network, tunnel, and clearance integrated inspection robot according to any one of claims 1 to 6, characterized in that: The contact rail geometric parameter detection unit comprises: A camera and a laser, wherein the laser is used to emit laser toward the contact rail, and the camera is used to obtain a structured light image reflected by the contact rail; the processing unit uses structured light triangulation imaging detection technology to determine the geometric parameters of the contact rail based on the structured light image obtained by the camera.

8. A rail transit contact network, tunnel, and clearance integrated inspection robot according to any one of claims 1 to 6, characterized in that: The contact network detection unit comprises: A laser radar is used to preliminarily determine the location of the contact network and obtain point cloud data of the contact network. The processing unit establishes a point cloud model of the contact network according to the point cloud data obtained by the laser radar; Laser distance sensor, used to measure the distance of the contact network; An encoder and a servo motor, wherein the encoder controls the servo motor according to the point cloud model, adjusts the direction of the laser ranging sensor, and measures the distance of the contact network.

9. A rail transit contact network, tunnel, and clearance integrated inspection robot according to any one of claims 1 to 6, characterized in that: The tunnel disease detection unit comprises: The laser scanner acquires three-dimensional point cloud data of the tunnel by laser scanning. The processing unit establishes a point cloud model of the tunnel according to the three-dimensional point cloud data, and determines the disease information in the tunnel according to the point cloud model of the tunnel.

10. The rail transit contact network, tunnel, and clearance integrated inspection robot according to claim 6, characterized in that: The control unit comprises: A main control system, used to release control instructions; Redundant control system, as a backup control system, controls the inspection robot to perform inspection tasks when the main control system fails; The positioning system uses odometer positioning or fastener counting positioning to send the location information of the inspection robot to the main control system; The electric control system receives control instructions from the main control system and controls the power supply of each component in the inspection robot; The motion control system receives control instructions from the main control system and is used to control the mobile components to control the movement of the inspection robot.

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