Track inspection robot avoidance device, avoidance system and avoidance method

Abstract

The present invention discloses and provides a track inspection robot avoidance device, avoidance system and avoidance method, so that multiple sets of track inspection robots can complete the functions of multi-area joint and alternative inspection or fire extinguishing through avoidance. The technical solution adopted by the present invention is: the present invention includes a track inspection robot avoidance device, the track inspection robot is displaced in the main track, and a number of avoidance areas are arranged on the main track. The avoidance device includes a device body and two vertical tracks. The lower part of the device body is provided with two device tracks. The device body and the vertical track are slidably matched. Both device tracks can be connected to the main track. The upper surface of the device body is provided with two grooves, and a driving wheel and a guide wheel are arranged in the groove at intervals. The driving wheel is arranged vertically and matches with the upper end face of the I-shaped groove of the vertical track, and the guide wheel is arranged horizontally and matches with the inner side face of the I-shaped groove of the vertical track. The present invention can be used in the technical field of track robots.

Description

Technical Field

[0001] The present invention relates to the technical field of rail robots, and in particular to an avoidance device, an avoidance system and an avoidance method of a rail inspection robot. Background Art

[0002] The inspection robot is composed of a mobile carrier, communication equipment and detection equipment. It adopts remote control or fully autonomous operation mode and uses tracks as its travel and navigation path.

[0003] Fire partition refers to a local area (space unit) divided by fire separation measures to prevent the fire from spreading to the rest of the same building within a certain period of time. The use of fire partitioning in a building can effectively control the fire within a certain range in the event of a fire in the building, reduce fire losses, and provide favorable conditions for the safe evacuation of personnel and fire fighting. In buildings where electrical equipment is installed, fire partitions are also divided to protect the equipment, prevent the expansion of fire accidents, and facilitate handling, so as to achieve regional isolation of equipment.

[0004] At present, multiple inspection robots are designed in the substations and power corridors of the power system to inspect the equipment and its installation areas. At the same time, multiple fire-fighting track inspection robots are designed on the same track to extinguish fires. However, in the existing design, because there is only one main track, when a certain inspection robot is under maintenance or a fire occurs in a fire zone, the inspection robots or fire-fighting track inspection robots in other areas are blocked and difficult to cross and reach the area, so other robots cannot replace the inspection, resulting in inspection blind spots and failure to extinguish the fire in time. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a track inspection robot avoidance device, avoidance system and avoidance method, so that multiple sets of track inspection robots can complete the functions of multi-area joint and alternative inspection or fire extinguishing through avoidance.

[0006] The technical solution adopted by the present invention is:

[0007] The present invention includes a track inspection robot avoidance device, which is arranged in a main track, wherein a track inspection robot is arranged on the main track, and a plurality of avoidance areas are arranged on the main track, wherein the avoidance device includes a device main body and two vertical tracks which are perpendicular to the main track and located above the two end portions of the avoidance areas, wherein two device tracks which are parallel to the main track are fixedly arranged at the lower part of the device main body, wherein the main track, the vertical track and the device track are all I-beams, and the device main body is slidably matched with the vertical tracks, and the two device tracks can be connected with the main track after the device main body slides on the vertical tracks, and the upper surface of the device main body is provided with two grooves, and a driving wheel and a guide wheel are arranged in the grooves at intervals, wherein the driving wheel is vertically arranged and matched with the upper end surface of the I-groove of the vertical track, and the guide wheel is horizontally arranged and matched with the inner side surface of the I-groove of the vertical track.

[0008] The two end parts of the device track are both provided with avoidance zone edge marks, the middle part of the device track is provided with four avoidance zone stop marks and three stop position micro-movement contacts, the avoidance zone stop marks and the stop position micro-movement contacts are alternately arranged at intervals, the track inspection robot includes a main body and a sensor, a driver and a transmission unit arranged in the main body, the upper part of the main body is symmetrically provided with two vertical plates, the inner side of the vertical plates is provided with a plurality of driving rollers, a plurality of guide clamping wheels and three elastic protrusions, and the front and rear of the main body are each designed with two elastic protrusions that can meet the requirements of low-speed collision contact The track inspection robot is equipped with a flexible buffer contact element, two adjustable lighting lamps, an adjustable camera and a navigation obstacle avoidance radar; the track inspection robot rolls with the I-beam structure of the device track or the main track through the driving roller and the guide clamping wheel; the avoidance zone edge mark and the avoidance zone docking mark are both coordinated with the sensor electrical signal, and the coordination is used to determine the position of the track inspection robot in the device track; the docking position micro-contact and the elastic protrusion are coordinated, and the coordination is also used to determine the position of the track inspection robot in the device track.

[0009] The avoidance device also includes a power supply, a drive motor, a display module, a control unit, a position signal acquisition unit, a status signal acquisition unit, a communication unit and an operation and abnormality judgment unit. The drive motor cooperates with the drive wheel, the position signal acquisition unit cooperates with the sensor electrical signal, the status signal acquisition unit includes a temperature collector, a humidity collector and a current signal collector, the position signal acquisition unit and the status signal acquisition unit are both electrically connected to the operation and abnormality judgment unit, the operation and abnormality judgment unit is electrically connected to the control unit, the control unit is electrically connected to the communication unit, the drive motor and the display module, and the communication unit cooperates with the track inspection robot signal through wireless communication.

[0010] The present invention also includes a track inspection robot avoidance system, which includes a main track, a track inspection robot avoidance device and at least two track inspection robots, the two track inspection robots are displaced on the main track, the main track is provided with charging devices at both ends of one side of the vertical track, the charging device is provided with a charging controller, the charging device charges the track inspection robot, the charging controller, the avoidance device and the track inspection robot all have wireless communication interfaces and the wireless communication interfaces communicate and cooperate with the wireless communication interfaces of the track inspection robot avoidance system, and the track inspection robot avoidance devices communicate and cooperate with each other wirelessly.

[0011] The present invention also includes an avoidance method applied to a track inspection robot avoidance system, wherein when a track inspection robot A and a track inspection robot B move toward each other on a main track, the track inspection robot A can start an avoidance program autonomously or after receiving a system avoidance command from the track inspection robot avoidance system, wherein the avoidance program first determines an unloaded avoidance zone closest to the track inspection robot A, then the track inspection robot A enters the avoidance zone and lands on a device track of a track inspection robot avoidance device, then the track inspection robot avoidance device is started so that its other device track docks with the main track and the track inspection robot A leaves the main track.

[0012] The track inspection robot B can also change the inspection speed autonomously or after receiving the command to adjust the inspection speed from the track inspection robot avoidance system, and pass through the avoidance zone after obtaining the successful avoidance of the track inspection robot A to achieve safe cross inspection.

[0013] When the track inspection robot B has an abnormality but is still able to walk autonomously, the track inspection robot B independently judges or determines the nearest unloaded avoidance area through the track inspection robot avoidance system and then starts the maintenance avoidance rescue program. The maintenance avoidance rescue program is that the track inspection robot B autonomously enters the avoidance area and uses the track inspection robot avoidance device in the avoidance area to make the track inspection robot B leave the main track, or when the track inspection robot B has an abnormality and is unable to walk autonomously, the track inspection robot avoidance system sends the area where the position of the track inspection robot B is not updated and the nearest unloaded avoidance area to the track inspection robot A, and starts the maintenance avoidance rescue program. The maintenance avoidance rescue program is that the track inspection robot A pushes the track inspection robot B into the avoidance area, and uses the track inspection robot avoidance device in the avoidance area to make the track inspection robot B leave the main track.

[0014] When the track inspection robot B starts the maintenance avoidance and rescue procedure, the track inspection robot avoidance system assigns the inspection task of the track inspection robot B to the track inspection robot A.

[0015] One or more track inspection robots are arranged on the main track for inspection. After the inspection type and inspection frequency are set for the track inspection robots, the avoidance system sends the inspection mode information to the track inspection robots and the avoidance devices and charging devices of each track inspection robot. The track inspection robot replies that it has received the inspection mode information and has the conditions to complete the inspection task. Thereafter, the avoidance device of the track inspection robot needs to reply that it has received the inspection mode information, otherwise the avoidance system will mark the location of the avoidance device of the track inspection robot as an area that cannot be inspected. In addition, the charging device needs to reply that it has received the inspection mode information, otherwise the avoidance system will plan the location of the charging device as a non-charging parking position. When the avoidance system calibrates the specific key inspection area on the main track, the number of the track inspection robots is set to at least 4.

[0016] The track inspection robots include two types: a patrol track inspection robot dedicated to inspection and a fire extinguishing track inspection robot dedicated to fire extinguishing. When a track inspection robot finds a fire hazard while patrolling a certain area on the main track, the track inspection robot sends fire information and the location of the fire area to the avoidance system and related track inspection robots, track inspection robot avoidance devices, and charging devices in the nearby area. The avoidance system starts a preset avoidance and fire extinguishing program. Thereafter, all the patrol track inspection robots enter the avoidance area for avoidance. The avoidance system notifies a specified number of fire extinguishing track inspection robots to go to the fire area. When the number of fire extinguishing track inspection robots that need to arrive in the fire extinguishing area within the predetermined time meets the fire extinguishing requirements, they start to release fire extinguishing agents simultaneously to extinguish the fire. Among them, when the patrol track inspection robot cannot automatically drive to the avoidance area for avoidance, the corresponding fire extinguishing track inspection robot starts the maintenance avoidance and rescue program to rescue and send the patrol track inspection robot that cannot automatically drive to the avoidance area into the avoidance area for avoidance.

[0017] The beneficial effects of the present invention are as follows: the track inspection robot avoidance device of the present invention, by establishing an avoidance zone, on the one hand, does not change the layout of the existing main track and the inspection method of the track inspection robot, and only needs to improve some of the original track sections at appropriate positions, and add a double-track avoidance section that can move laterally, that is, a vertical track; on the other hand, the double-track avoidance section is automatically docked and switched with the main track to achieve cross avoidance of different robots, so that multiple sets of track inspection robots can be shared in multiple fire zones; the use of this track inspection robot avoidance device can effectively improve the convenience and flexibility of operation and maintenance, and at the same time can effectively improve the rapid fire extinguishing capability, and can effectively improve the rapid fire extinguishing capability in a large space. The design of the present invention is based on the avoidance principle. On the one hand, it realizes the requirements of multi-machine joint inspection, cross avoidance, and multi-machine intensive inspection in key areas; on the other hand, it realizes the automatic rescue, avoidance and automatic replacement of inspection areas between faulty inspection robots; effectively improves the convenience and flexibility of operation and maintenance. The design of the present invention is based on the avoidance principle. On the one hand, it realizes the requirements of multi-machine joint firefighting, cross avoidance, and intensive and rapid firefighting of multiple machines in the fault area; on the other hand, it realizes automatic obstacle clearing of the fire-fighting route and automatic rescue, avoidance and automatic replacement of fire-fighting areas between robots, effectively improving the speed and reliability of fault firefighting. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the avoidance device of the track inspection robot;

[0019] Figure 2 This is a schematic diagram of the structure of the track inspection robot avoidance device from another angle;

[0020] Figure 3 It is a schematic diagram of the structure of the device body;

[0021] Figure 4 This is a schematic diagram of the rail inspection robot patrol;

[0022] Figure 5 is a schematic diagram of the avoidance device;

[0023] Figure 6 Schematic diagram of the inspection of the track inspection robot A and the track inspection robot B;

[0024] Figure 7 is a schematic diagram of the track inspection robot A performing avoidance;

[0025] Figure 8 This is a schematic diagram of the abnormal maintenance avoidance of the track inspection robot B;

[0026] Fig. 9 It is a schematic diagram of the structure of the track inspection robot;

[0027] Fig.10 This is a schematic diagram of the structure of the track inspection robot from another angle;

[0028] Fig.11 It is a schematic diagram of multi-machine joint firefighting;

[0029] Fig.12 This is a schematic diagram of multi-machine joint firefighting and avoidance;

[0030] Fig.13 It is a communication diagram of the track inspection robot avoidance system. DETAILED DESCRIPTION

[0031] like Figures 1 to 13 As shown, this specific implementation is:

[0032] The present invention provides a track inspection robot avoidance device, which may be referred to as the avoidance device 30 hereinafter. The device is particularly suitable for equipment areas such as indoor substations, power pipe corridors and other pipe corridors or rail transit systems where track robots are used for inspection.

[0033] The avoidance device 30 is arranged in the main track 1, and a track inspection robot 10 is arranged on the main track 1. The track inspection robot 10 moves in the main track 1. The track inspection robot 10 is a patrol track inspection robot 11 or a fire extinguishing track inspection robot 12 or a patrol and fire extinguishing integrated track inspection robot 13. The main track 1 is provided with a plurality of avoidance areas 2, and the avoidance device 30 is arranged in the avoidance area 2. The avoidance device 30 includes a device body 31 and two vertical tracks 32 which are perpendicular to the main track 1 and located above the two end portions of the avoidance area 2. Two device tracks 33 which are parallel to the main track 1 are fixedly arranged at the lower part of the device body 31. The main track 1, the vertical tracks 32 and the device tracks 33 are all I-beams. The device body 31 is slidably matched with the vertical tracks 32. Both of the device tracks 33 can be connected with the main track 1 after the device body 31 slides on the vertical tracks 32. Two grooves 34 are arranged on the upper surface of the device body 31. A driving wheel 35 and a guide wheel 36 are arranged in between the grooves 34. The driving wheel 35 is arranged vertically and matched with the upper end surface of the I-groove of the vertical track 32, and the guide wheel 36 is arranged horizontally and matched with the inner side surface of the I-groove of the vertical track 32.

[0034] The two end portions of the device track 33 are provided with avoidance zone edge marks 37, the middle portion of the device track 33 is provided with four avoidance zone docking marks 38 and three docking position micro-contacts 39, the avoidance zone docking marks 38 and the docking position micro-contacts 39 are arranged alternately at intervals, the track inspection robot 10 includes a main body 90 and a sensor 41, a driver and a transmission unit arranged in the main body 90, the upper part of the main body 90 is symmetrically provided with two vertical plates 94, the inner side of the vertical plate 94 is provided with a plurality of driving rollers 95, a plurality of guide clamping wheels 96 and three elastic protrusions 91, and the front and rear of the main body 90 are each designed with two Elastic buffer contact element 92, two adjustable lighting lamps 97, an adjustable camera 98 and a navigation obstacle avoidance radar 99; the track inspection robot 10 rolls with the device track 33 or the I-beam structure of the main track 1 through the driving roller 95 and the guide clamping wheel 96; the avoidance zone edge mark 37 and the avoidance zone stop mark 38 are both matched with the electrical signal of the sensor 41, and the match is used to determine the position of the track inspection robot 10 in the device track 33; the stop position micro-contact 39 and the elastic protrusion 91 are matched, and the match is also used to determine the position of the track inspection robot 10 in the device track 33. When the track inspection robot 10 enters the track inspection robot avoidance device, the avoidance zone edge mark 37, the avoidance zone stop mark 38 and the stop position micro-contact 39 are double-identified for accurate position determination.

[0035] A wall 5 is provided above the main track 1 , and a plurality of hanging posts 51 are provided on the lower end surface of the wall 5 . The vertical track 32 is fixedly connected to the main track 1 via the hanging posts 51 .

[0036] The avoidance device 30 also includes a power supply 61, a drive motor 62, a display module 63, a control unit 64, a position signal acquisition unit 65, a state signal acquisition unit 66, a communication unit 67 and an operation and abnormality judgment unit 68. The drive motor 62 cooperates with the drive wheel 35. The position signal acquisition unit 65 cooperates with the electrical signal of the sensor 41. The state signal acquisition unit 66 includes a temperature collector, a humidity collector and a current signal collector. The position signal acquisition unit 65 and the state signal acquisition unit 66 are both electrically connected to the operation and abnormality judgment unit 68. The operation and abnormality judgment unit 68 is electrically connected to the control unit 64. The control unit 64 is electrically connected to the communication unit 67, the drive motor 62 and the display module 63. The communication unit 67 cooperates with the signal of the track inspection robot 10 through wireless communication.

[0037] The track inspection robot 10 is a track inspection robot 11 or a fire extinguishing track inspection robot 12 or a track inspection robot 13 integrating inspection and fire extinguishing.

[0038] The present invention also includes a track inspection robot avoidance system, which may be referred to as the avoidance system below, and includes the main track 1 and the track inspection robot avoidance device 30, the main track 1 and the track inspection robot avoidance device 30, at least two track inspection robots 10 are arranged on the main track 1 and the track inspection robot avoidance device 30, the main track 1 is provided with charging devices 7 at both ends of one side of the vertical track 32, the charging device 7 is provided with a charging controller, the charging device 7 charges the track inspection robot 10, the charging controller, the avoidance device 30 and the track inspection robot 10 all have wireless communication interfaces and the wireless communication interfaces communicate and cooperate with the wireless communication interfaces of the track inspection robot avoidance system, and the track inspection robot avoidance devices 30 communicate and cooperate with each other wirelessly.

[0039] In this specific embodiment, the device body 31 actually has only two standard positions when moving on the vertical track 32, which respectively correspond to the positions of the device body 31 when the two device tracks 33 are connected to the main track 1. The avoidance device 30 can realize the "mutual avoidance" and "cross-passing" of the track inspection robot 10. The avoidance device 30 can be "switched" to realize the exchange and docking of the "track section A" and "track section B" of the "double track" parallel to each other and the main track 1. The "double track" is the vertical track 32. Figure 4 As shown, during normal operation, the track inspection robot 10 (for fire extinguishing), namely the fire extinguishing track inspection robot 12, and the track inspection robot 10 (for inspection), namely the inspection track inspection robot 11, both run on the main track 1 to inspect the relevant fire protection zones 8; the fire extinguishing track inspection robot 12 is docked on one of the tracks in the avoidance zone 2, and is located so as not to affect the inspection position of the inspection track inspection robot 11.

[0040] In this specific embodiment, each vertical rail 32 is evenly designed with 7 hanging columns 51, and one of the hanging columns 51 is set directly above the straightness of the main rail 1, so as to ensure that there are 4 hanging columns 51 directly bearing the weight above the device body 31 when it is in two standard working positions.

[0041] In this specific embodiment, Figure 2 As shown, each end of each device track 33 is designed with an avoidance zone edge marker 37, for a total of two; when the sensor 41 on the track inspection robot 10 recognizes the avoidance zone edge marker 37, the track inspection robot 10 determines that it has entered or left the avoidance zone 2.

[0042] Each section of the device track 33 is designed with 4 avoidance zone stop marks 38. When the forward direction sensor 41 of the track inspection robot 10 recognizes the first avoidance zone stop mark 38, the track inspection robot 10 determines that it has entered the "stop position" of the avoidance zone 2, and starts to execute the deceleration 1 and stop program; when the forward direction sensor 41 of the track inspection robot 10 recognizes the second avoidance zone stop mark 38, the track inspection robot 10 determines that it has entered the middle of the "stop position" of the avoidance zone, and starts to execute the deceleration 2 and stop program; when the forward direction sensor 41 of the track inspection robot 10 recognizes the second avoidance zone stop mark 38, the track inspection robot 10 determines that it has entered the middle of the "stop position" of the avoidance zone, and starts to execute the deceleration 2 and stop program. When the track inspection robot 10 reaches the third avoidance zone stop mark 38, the track inspection robot 10 determines that it has entered the middle of the "stop position" of the avoidance zone and starts to execute the deceleration 3 and stop procedure; when the forward direction sensor 41 of the track inspection robot 10 recognizes the fourth avoidance zone stop mark 38, and at the same time, the forward reverse sensor 41 of the track inspection robot 10 recognizes the first avoidance zone stop mark 38, the track inspection robot 10 determines that it has completely entered the "stop position" of the avoidance zone, and the track inspection robot 10 stops moving forward. This design can achieve the step-by-step deceleration and smooth and accurate stop of the track inspection robot 10.

[0043] Each section of the device track 33 is designed with three stop position micro-movement contacts 39, and the track inspection robot 10 is correspondingly provided with three elastic protrusions 91. When the three elastic protrusions 91 of the track inspection robot 10 are in contact with the three stop position micro-movement contacts 39 on a certain section of the track, and the three stop position micro-movement contacts 39 on the section of the track are all connected and the connection time is greater than the adjustable time A, the avoidance device 30 determines that the track inspection robot 10 is normally parked in the avoidance area; when the three elastic protrusions 91 of the track inspection robot 10 are in contact with the three stop position micro-movement contacts 39 on a certain section of the track, and the three stop position micro-movement contacts 39 on the section of the track are all connected and the connection time is greater than the adjustable time A, the avoidance device 30 determines that the track inspection robot 10 is normally parked in the avoidance area; When the three elastic protrusions 91 of the track inspection robot 10 are in contact with the three stop position micro-movement contacts 39 on a certain track, and the front and rear two (the middle one is not connected) stop position micro-movement contacts 39 on the track are all connected and the connection time is greater than the settable time A, the avoidance device 30 determines that the track inspection robot 10 is normally parked in the avoidance area and the middle stop position micro-movement contact 39 is abnormal, and the avoidance device 30 sends an abnormal alarm signal to the avoidance system; when the three elastic protrusions 91 of the track inspection robot 10 are all in contact with the three stop position micro-movement contacts 39 on a certain track ... the avoidance device 30 sends an abnormal alarm signal to the avoidance system; when the three elastic protrusions 91 of the track inspection robot 10 are all in contact with the three stop position micro-movement contacts 39 on a certain track, the avoidance device 30 determines that the track inspection robot 10 is normally parked in the avoidance area and the middle stop position micro-movement contact 39 is abnormal, the avoidance device 30 sends an abnormal alarm signal to the avoidance system; when the three elastic protrusions 91 of the track inspection robot 10 are all in contact with the three stop position micro-movement contacts 39 on a certain track, the avoidance device 30 determines that the track inspection robot 10 is normally parked in the avoidance area and When the micro-movement contact 39 is in contact and 1 to 2 (excluding the front and rear 2 connected together) micro-movement contacts 39 at the parking position on the track section are connected and the connection time is greater than the settable time A, the avoidance device 30 determines that a track inspection robot 10 is parked in this avoidance area, but it is impossible to confirm whether it is parked normally. The avoidance device 30 sends an abnormal alarm signal to the avoidance system. If the track inspection robot 10 received from the avoidance system at this time is judged to have parked normally after its sensor 41 identifies the position, the avoidance device 30 determines that the parking is normal; if the track inspection robot 10 received from the avoidance system at this time is judged to have parked abnormally after its sensor 41 identifies the position, the avoidance device 30 determines that it is normal not to park; if the avoidance system judgment result is not received at this time, the avoidance device 30 determines that it is normal not to park; when it is judged to be an abnormal parking, the avoidance device 30 starts the abnormal alarm indicator to light up until the abnormality disappears. At the same time, the avoidance device 30 does not perform the avoidance operation to prevent equipment damage.

[0044] In this specific embodiment, four pairs of guide wheels 36 and three pairs of driving wheels 35 are designed in each groove 34, wherein the driving wheel 35 is connected to the speed regulating gear in the device body 31 via the "transmission shaft", and the speed regulating gear is connected to the power regulating transmission unit in the device body 31 via a transmission chain, and the transmission gear in the power regulating transmission unit is connected to the output gear of the driving motor 62 to obtain power; the driving motor 62 is controlled by the control unit 64 of the avoidance device 30 and obtains forward and backward power and rotation time, speed and other information.

[0045] In this specific embodiment, Figure 5As shown, the position signal acquisition unit 65 is responsible for acquiring the status of the three stop position micro-movement contacts 39, and sending the above-collected status to the operation and abnormality judgment unit 68; the status signal acquisition unit 66 is responsible for acquiring "ambient temperature status", "ambient humidity status" and "drive motor current", and sending the above-collected results to the operation and abnormality judgment unit 68; the operation and abnormality judgment unit 68 judges the stop status of the track inspection robot 10 according to the preset judgment criteria by receiving the status information of the three stop position micro-movement contacts 39 sent by the position signal acquisition unit 65, and sends the result to the control unit 64; the operation and abnormality judgment unit The unit 68 receives the ambient humidity value sent by the state signal acquisition unit 66, and adjusts the control speed and control time of the drive motor 62 according to the preset curve, so as to reduce the temperature influence; the operation and abnormality judgment unit 68 receives the operating current value of the drive motor, and judges whether "transmission circuit abnormality or track abnormality" occurs according to the preset value. When the operating current of the drive motor 62 is greater than the adjustable value 1 and the duration is greater than the adjustable value M, it is judged as "transmission circuit abnormality with large resistance or track abnormality"; when the operating current of the drive motor 62 is less than the adjustable value 2 and the duration is greater than the adjustable value N, it is judged as "transmission circuit abnormal idling". When the operation and abnormality judgment unit 68 judges that "transmission circuit abnormality or track abnormality" or "transmission circuit abnormal idling", the information is sent to the control unit 64. The control unit 64 notifies the display module 63 to light up until the abnormality disappears, and on the other hand, the control unit 64 sends a "transmission circuit abnormality or track abnormality" or "transmission circuit abnormal idling" alarm signal to the track robot avoidance system through the communication unit 67.

[0046] In this specific embodiment, the power supply 61 converts the input working power into a constant voltage, which serves as the working power of the avoidance device 30 on the one hand, and as the driving power of the driving motor 62 on the other hand, ensuring the stable rotation speed of the driving motor 62.

[0047] The control unit 64 is the core of the avoidance device 30, which is connected to the operation and abnormality judgment unit 68 to receive the operation and abnormality judgment results; connected to the power supply 61 to obtain the standard voltage and output it to the motor controller; connected to the communication unit 67 to realize information exchange with the avoidance system and related robots; connected to the drive motor 62 to issue motor speed and time control commands and output standard voltage; connected to the display module 63 to make the display module 63 output "normal operation" and "abnormal operation" signals. The display module 63 can be a display light.

[0048] The present invention also provides a charging method and device in a rail robot avoidance system, wherein one avoidance zone corresponds to two charging devices 7, and the charging device 7 can be a charging pile. One charging device 7 has one charging interface, that is, one avoidance zone is designed with two charging interfaces, namely, a "charging A" interface and a "charging B" interface, and the two charging interfaces are controlled by one charging device, which can exchange information with the rail inspection robot 10 via a wireless communication antenna to realize the exchange and monitoring of charging status and charging device operation status information. The normally traveling rail inspection robot 10 will monitor its own battery capacity and the position of the charging device in real time, and select the best charging device position to apply to the avoidance system in advance and reserve the charging position according to the driving speed, the battery capacity decrease speed and the position of the charging device in the forward direction; when the best charging device position has been applied for and reserved by other rail inspection robots 10, the normally traveling rail inspection robot 10 will apply for the second best charging device position until the reservation is successful. When the rail robot enters the charging avoidance, the rail robot avoidance device 30 switches the rail inspection robot 10 to the avoidance position. The rail robot avoidance device sends the information that the docked robot needs to be charged to the charging device at this position and the rail robot avoidance system, and the charging device drives the "Charge A" or "Charge B" interface to charge the robot. When the charging device determines that the rail inspection robot 10 docked in this charging area has completed, the charging device drives the "Charge A" or "Charge B" interface to stop charging the robot. This charging device can be a contactless charging method. When the rail robot avoidance device switches the rail inspection robot 10 to the avoidance position, the "Charge A" or "Charge B" interface and the connected charging receiving end are within the optimal charging gap range. The biggest benefit of the charging method designed by the present invention is that the charging of the rail inspection robot 10 does not affect the continued work of other rail inspection robots 10; the non-contact charging method is adopted to meet the passive charging requirements of the robot without electricity being rescued to the avoidance area.

[0049] The present invention also provides an avoidance method applied to an avoidance system, the method being: when a track inspection robot A and a track inspection robot B move toward each other on a main track 1, the track inspection robot A can start an avoidance program autonomously or after receiving a system avoidance command from the avoidance system, the avoidance program first determining an unloaded avoidance zone 2 closest to the track inspection robot A, then the track inspection robot A enters the avoidance zone 2 and lands on a device track 33 of an avoidance device 30, then the avoidance device 30 is started so that its other device track 33 docks with the main track 1 and causes the track inspection robot A to leave the main track 1.

[0050] The track inspection robot B can also change the inspection speed autonomously or after receiving the command to adjust the inspection speed from the avoidance system, and pass through the avoidance zone 2 after obtaining the successful avoidance of the track inspection robot A to achieve safe cross inspection.

[0051] When the track inspection robot B has an abnormality but is still able to walk autonomously, the track inspection robot B will autonomously judge or determine the nearest unloaded avoidance area 2 through the avoidance system and then start the maintenance avoidance rescue program. The maintenance avoidance rescue program is that the track inspection robot B autonomously enters the avoidance area 2 and uses the avoidance device 30 in the avoidance area 2 to make the track inspection robot B leave the main track 1, or when the track inspection robot B has an abnormality and is unable to walk autonomously, the track inspection robot avoidance system will send the area where the position of the track inspection robot B is not updated and the nearest unloaded avoidance area 2 to the track inspection robot A, and start the maintenance avoidance rescue program. The maintenance avoidance rescue program is that the track inspection robot A pushes the track inspection robot B into the avoidance area, and uses the avoidance device 30 in the avoidance area 2 to make the track inspection robot B leave the main track 1.

[0052] When the track inspection robot B starts the maintenance avoidance and rescue program, the avoidance system assigns the inspection task of the track inspection robot B to the track inspection robot A.

[0053] One or more track inspection robots 10 are arranged on the main track 1 for inspection. After the inspection type and inspection frequency are set for the track inspection robot 10, the avoidance system sends the inspection mode information to the track inspection robot 10 and each track robot avoidance device 30 and charging device 7. The track inspection robot 10 replies that it has received the inspection mode information and has the conditions to complete the inspection task. Thereafter, the track robot avoidance device 30 is required to reply that it has received the inspection mode information, otherwise the avoidance system will plan the location of the track robot avoidance device 30 as an uninspectable area. In addition, the charging device 7 is required to reply that it has received the inspection mode information, otherwise the avoidance system will plan the location of the charging device 7 as a non-charging parking position. When the avoidance system calibrates the specific key inspection area on the main track 1, the number of the track inspection robots 10 is set to at least 4.

[0054] The track inspection robot 10 includes two types: a patrol track inspection robot 11 dedicated to patrol inspection and a fire extinguishing track inspection robot 12 dedicated to fire extinguishing. When the track inspection robot 10 finds a fire hazard while patrolling a certain area of ​​the main track 1, the track inspection robot 10 sends fire information and the location of the fire area to the avoidance system and related track inspection robots 10 in the nearby area, the track robot avoidance device 30, and the charging device 7. The avoidance system starts the preset avoidance and fire extinguishing program. Thereafter, the patrol track inspection robots 11 all enter the avoidance area for avoidance. The avoidance system notifies a specified number of fire extinguishing track inspection robots 12 to go to the fire area. When the number of fire extinguishing track inspection robots 12 that need to arrive in the fire extinguishing area within the predetermined time meets the fire extinguishing requirements, they start to release fire extinguishing agents simultaneously to extinguish the fire. Among them, when the patrol track inspection robot 11 cannot automatically drive to the avoidance area for avoidance, the corresponding fire extinguishing track inspection robot 12 starts the maintenance avoidance rescue program to rescue and send the patrol track inspection robot 11 that cannot automatically drive to the avoidance area into the avoidance area for avoidance.

[0055] This avoidance method can realize the inspection of the rail inspection robot 10 in underground tunnels or pipe corridors, that is, it can realize reciprocating inspection in a fixed area, and can also realize cross, reciprocating or cyclic inspection in any tunnel or pipe corridor connected to this area. Its inspection area is not restricted by the layout of charging facilities, whether other rail inspection robots 10 are in charging state, and whether other rail inspection robots 10 are out of service due to failure. The use of this method and corresponding equipment can greatly improve the ability of the rail inspection robot 10 to perform related inspection tasks.

[0056] In this specific embodiment, a track inspection robot A and a track inspection robot B are arranged in two avoidance areas 2 on the main track 1, and the track inspection robot A and the track inspection robot B are both inspection track inspection robots 11 responsible for inspection; a track inspection robot C and a track inspection robot D are arranged in the other two avoidance areas 2, and the track inspection robot C and the track inspection robot D are both fire-fighting track inspection robots 12 responsible for fire-fighting; charging devices 7 are designed in the four avoidance areas 2, which can be used for charging the inspection track inspection robots 11 and the fire-fighting track inspection robots 12; during normal operation, the track inspection robot C and the track inspection robot D are each docked in the avoidance area 2 and are in a floating charging state, and the track inspection robot A and the track inspection robot B perform inspections on the main track 1 according to their respective inspection tasks.

[0057] ① Instructions for avoiding obstacles between track inspection robots:

[0058] The inspection track inspection robot 11, the fire extinguishing track inspection robot 12, the avoidance device 30 and the avoidance system of the present invention are all designed with wireless communication interfaces and functions, and the same type of devices can exchange information independently; they can also exchange information with each other.

[0059] The track inspection robot A and the track inspection robot B of the present invention may encounter each other when they are inspecting in opposite directions. In a certain area, if the track inspection robot A inspects from left to right and the track inspection robot B inspects from right to left, they may encounter and be unable to pass. Before the track inspection robot A and the track inspection robot B autonomously judge and confirm the encounter or before the communication system receives a notification from the avoidance system that the two track inspection robots 10 are about to encounter, the avoidance system of the present invention can start the avoidance program autonomously or after receiving an avoidance command from the avoidance system according to the set avoidance mechanism, and choose to avoid the track inspection robot B in the most suitable avoidance area; the track inspection robot B can also change the inspection speed autonomously or after receiving an order from the avoidance system to adjust the inspection speed, and pass through the intersection area after obtaining that the track inspection robot A has successfully avoided, to achieve safe intersection inspection. (The principle of choosing to avoid is to avoid the one closest to the avoidance area, and to give priority to avoiding area 2 in the forward direction)

[0060] The reason why the track inspection robot A and the track inspection robot B independently judge and confirm the encounter is that a robot positioning system is designed in the avoidance system of the present invention. Through this positioning system, the track inspection robot 10 will send its own position information to the avoidance system host and other inspection robots in real time; a track inspection robot 10 calculates its travel speed and inspection direction according to the position update of the adjacent track inspection robot 10, as well as the pre-set main track 1 geographic information, and can independently judge that the other party's inspection direction is relative to its own inspection direction, and then judges that an encounter will occur, and needs to communicate with the opposite adjacent track inspection robot 10 and the avoidance system to determine whether its inspection task will encounter with the track inspection robot 10. If it is confirmed that an encounter will occur, the avoidance program is started, and the appropriate avoidance area and inspection speed are selected, and the speeds of both parties are monitored in real time, the speeds are adjusted in real time, and when necessary, the avoidance robot chooses to stop patrolling and wait for the avoidance to succeed before passing through the intersection.

[0061] The reason why the track inspection robot A autonomously selects the avoidance zone is that the avoidance system of the present invention is designed with a robot positioning system, through which the track inspection robot 10 can autonomously determine its own position and can determine the optimal avoidance zone position according to the preset avoidance zone position. The reason why the track inspection robot B autonomously chooses to change the inspection speed is that the avoidance system of the present invention is designed with a robot positioning system, through which the track inspection robot 10 can autonomously determine its own position and the positions of other track inspection robots 10, and can choose to avoid the other party according to the preset avoidance program, and adjust the inspection speed by itself to safely pass through the intersection.

[0062] Specifically, as attached Figure 6 As shown, the track inspection robot A first drives to the device track 33 of the avoidance device 30, such as "track section A" or "track section B", which is determined according to the current state of the avoidance device 30; then the avoidance device 30 is actuated to switch the device track 33 where the track inspection robot A is located away from the main track 1, and connect another device track 33 to the main track 1, so as to achieve the avoidance of the main track 1, as shown in the attached figure. Figure 7 As shown; at this time, the track inspection robot A has successfully avoided and entered the charging state. After learning the above information, the track inspection robot B safely passes through the intersection and can continue to inspect safely to the left. Among them, the avoidance device 30 has a real-time communication function with the avoidance system, and can interface the control command of the avoidance system in real time to achieve the docking operation of the "track A section" and "track B section" of the avoidance device 30 with the main track 1.

[0063] When the track inspection robot A independently determines or receives information from the avoidance system that the track inspection robot B has passed the intersection and started to inspect to the left, the track inspection robot A starts the inspection continuation program and stops charging. Then the track inspection robot A starts the avoidance device 30 or the avoidance system starts the avoidance device 30. The avoidance device 30 switches the track section where the track inspection robot A is located to a docking state with the main track 1, thereby meeting the requirement that the track inspection robot A continue to inspect to the right.

[0064] ②Instructions on the abnormal inspection and avoidance rescue methods of the rail inspection robot:

[0065] During normal inspection, if the track inspection robot B encounters an abnormality (including: communication with the avoidance system is interrupted, the battery power is insufficient and needs to be charged, the inspection instrument abnormality affects the inspection result and needs to be exited, etc.), but the track inspection robot B is able to walk autonomously, then the track inspection robot B will make its own judgment (based on its own position and pre-set track and equipment layout information) or when the track inspection robot inspection system determines that a nearby avoidance area can be avoided and stopped, it will start the maintenance avoidance and rescue procedure.

[0066] The track inspection robot B autonomously determines that a nearby avoidance zone can be avoided and docked because the avoidance system of the present invention is designed with a robot positioning system and an information exchange mechanism; through the above positioning system, the track inspection robot 10 can autonomously determine its own position and the position of the nearby avoidance zone; through the above information exchange mechanism, the track inspection robot 10 can autonomously obtain the operating status information of the nearby avoidance zone, and can also obtain information on whether other equipment has applied to dock in the avoidance zone, and can select and apply to dock in a certain avoidance zone according to a pre-set maintenance avoidance and rescue procedure. When the application for docking is approved, the track inspection robot B performs a maintenance docking operation.

[0067] Preferred: There are two ways to apply for a stop in a certain avoidance area:

[0068] One way is to directly apply to the nearby avoidance zone. The main control judgment process is as follows (this method is used when communication with the avoidance system is interrupted):

[0069] ●The track inspection robot 10 that needs to dock sends a docking application message to the avoidance zone avoidance device 30;

[0070] ● After receiving the docking application information, the avoidance device 30 determines whether other robots have already applied for docking. If not, it is determined that the application is approved, and the avoidance device 30 replies to the applicant "docking is allowed", and sends the avoidance area information to the relevant track inspection robot 10. After receiving the avoidance area information, the relevant track inspection robot 10 enters the avoidance program until it receives the "applicant has successfully entered the maintenance avoidance state" and the avoidance program is terminated; if a robot has already applied for docking, it is determined that the application is not approved, and the avoidance device 30 replies to the applicant "docking is not allowed";

[0071] ●When the track inspection robot 10 receives the "docking not allowed" message, it selects the second closest avoidance area to apply for docking, and the "docking application procedure in a certain avoidance area" is completed after receiving the "docking allowed" message.

[0072] The second method is to directly apply to the avoidance system to enter the avoidance zone. The main control judgment process is as follows (this method is used when the communication with the avoidance system is normal):

[0073] ●The track inspection robot 10 that needs to dock sends a docking application message to the avoidance zone avoidance system;

[0074] ●For example, the avoidance system determines the best docking position according to the operating status, docking status and related docking application information of the relevant track inspection robot 10, and sends the dockable avoidance area information to the applicant, and at the same time sends the avoidance area information to the relevant track inspection robot 10. After the relevant track inspection robot 10 receives the avoidance area information, it enters the avoidance program, and the avoidance program is terminated after receiving the information "the applicant has successfully entered the maintenance avoidance state".

[0075] When the track inspection robot B has an abnormal maintenance stop application and the track inspection robot B drives to the track section of the avoidance device 30 in the avoidance area ("track section A" or "track section B", determined by the current state of the avoidance device 30); then the track inspection robot B starts the avoidance device 30 or the avoidance system starts the avoidance device 30, and the avoidance device 30 switches the track section where the track inspection robot B is located away from the main track 1, and connects another track section to the main track 1, thereby achieving avoidance of the main track 1; at this time, the track inspection robot B has successfully achieved maintenance avoidance.

[0076] Optimal choice 1: When the avoidance system obtains information from the communication system that the track inspection robot B has entered the maintenance avoidance state normally in the avoidance zone avoidance device 30, the inspection task is reallocated to adjacent robots including the track inspection robot A according to a pre-set program, so that the original track inspection robot B can have its inspection area replaced in real time. If there is no abnormal or faulty equipment on the main track 1, the original track inspection robot B's inspection area can be completely replaced by the track inspection robot A.

[0077] Optimal choice 2: When the track inspection robot B enters the avoidance zone for maintenance, if the track inspection robot B enters the avoidance zone due to "insufficient battery power and needs to be charged", the charging program is started to charge the battery; if the track inspection robot B enters the avoidance zone due to other reasons, it stops running and waits for maintenance personnel to handle it. When the exception is handled, the track inspection robot B sends a normal working information to the avoidance system. The avoidance system reallocates the inspection task to the track inspection robot B according to a pre-set program, and adjusts the inspection tasks of other related track inspection robots 10 at the same time.

[0078] During normal inspection, if the track inspection robot B has an abnormality and the communication is abnormal and cannot communicate normally with the avoidance system and related intelligent devices, the avoidance system will determine that the position of the track inspection robot B has not been updated for a long time and the communication is interrupted. It is judged that the track inspection robot B is abnormal and needs rescue. The track inspection robot maintenance avoidance rescue program is started, and the nearby track inspection robot A is notified to go to the rescue, and the area where the track inspection robot B’s position is not updated is sent to the track inspection robot A.

[0079] When the track inspection robot A receives the signal from the avoidance system to rescue the track inspection robot B, it starts the rescue procedure and drives towards the track inspection robot B. When it is judged that it is about to approach the track inspection robot B, it starts to slow down and slowly collides and docks with the track inspection robot B. Figure 8 As shown, the track inspection robot B is then pushed into the nearby avoidance zone.

[0080] When the track inspection robot A receives the signal from the avoidance system to rescue the track inspection robot B, the nearby related track inspection robots 10 also receive the information of the area to be avoided and start to enter the avoidance program. The avoidance program is terminated after receiving the message "the abnormal person has successfully entered the maintenance avoidance state";

[0081] Preferably, the rail inspection robot 10 is equipped with a "navigation obstacle avoidance radar"; one "navigation obstacle avoidance radar" is designed at the front and rear, and the "navigation obstacle avoidance radar" can be used to analyze and judge objects that may collide in the inspection area, and realize the control of obstacle stopping, retreating and deceleration;

[0082] Description of the preferred robot collision docking method: The track inspection robot 10 is designed with elastic buffer contact elements 92 at the front and rear to meet the low-speed collision contact requirements.

[0083] Description of the preferred position identification method 1: In the present invention, position identification codes are designed on the "track section A" and "track section B" of the avoidance zone avoidance device 30, and position identification codes are also designed at equal intervals on the main patrol track, and position identification codes are also designed on the main patrol track near the avoidance zone; among them, the position identification codes on the "track section A" and "track section B" of the avoidance device 30 are used to correctly judge the parking position, the equally spaced position identification codes on the main patrol track are used to judge the driving area and position of the track inspection robot 10, and the position identification codes on the main patrol track near the avoidance zone are used to judge whether it is close to the avoidance zone and the address of the avoidance zone.

[0084] Description of the preferred position identification method 2: In the present invention, three position micro-motion contacts are designed on the "track section A" and "track section B" of the avoidance zone avoidance device 30, and three elastic protrusions 91 are designed on the upper part of the track inspection robot 10; when the track inspection robot 10 is pushed into the avoidance zone by other robots, the three elastic protrusions 91 on the upper part of the track inspection robot 10 touch the three position micro-motion contacts on the "track section A" or "track section B" of the avoidance zone avoidance device 30. After the three micro-motion contacts are all actuated and connected, the avoidance device 30 determines that a track inspection robot 10 has entered the avoidance zone, and on the one hand communicates with the avoidance system and sends a message that an abnormal device has entered the avoidance zone track (if a normal track inspection robot 10 enters the avoidance zone track, the avoidance system will send a message to the avoidance system to indicate that an abnormal device has entered the avoidance zone track). The device 30 can obtain the identity of the entry equipment through the communication system, and can confirm that it is a normal inspection through the avoidance system, and will not send information to the avoidance system), and wait for the next operation command information of the avoidance system. On the other hand, when it is unable to communicate with the avoidance system, the timing starts. After the timing time is equal to the set delay T1, the avoidance device 30 moves the "track segment" where the track inspection robot B is parked to the avoidance position, and docks the "track segment" where no equipment is parked with the main track 1. At this time, the abnormal track inspection robot B is separated from the main track 1 and enters the avoidance state. Until the track inspection robot B is repaired and normal communication is achieved, the avoidance device 30 sends passable information and other equipment cannot dock information to the adjacent track inspection robot 10 and the avoidance system;

[0085] When the track inspection robot A receives the signal from the avoidance system that the track inspection robot B has entered the predetermined track position in the avoidance zone, the track inspection robot A moves backwards to break away from the contact with the track inspection robot B (in addition, if the track inspection robot A does not receive the signal from the avoidance system that the track inspection robot B has entered the predetermined track position in the avoidance zone within the settable delay T2, the track inspection robot A also moves backwards to break away from the contact with the track inspection robot B, where T2 is less than T1). The robot moves to the position identification code near the avoidance zone on the main inspection track and stops, and at the same time sends the information of breaking away from the abnormal track inspection robot B to the avoidance system and the adjacent track inspection robot 10, and waits until the avoidance system assigns the adjusted inspection task.

[0086] When the avoidance system receives the information that the track inspection robot A has lost contact with the abnormal track inspection robot B, it sends a start avoidance program to the avoidance device 30 of the avoidance area where the track inspection robot B is parked. The track inspection robot 10 moves the "track segment" where the track inspection robot B is parked to the avoidance position, and docks the "track segment" where no equipment is parked with the main track 1. At this time, the abnormal track inspection robot B is separated from the main track 1 and enters the avoidance state. After the track inspection robot B is repaired and normal communication is achieved, the avoidance system re-issues inspection tasks to the track inspection robot B and related equipment according to the preset program.

[0087] The track inspection robot 10 provided by the present invention is as follows Fig. 9 As shown, the track inspection robot 10 includes a main body 90 and a sensor 41, a driver and a transmission unit arranged in the main body 90. Two vertical plates 94 are symmetrically arranged on the upper part of the main body 90. Three driving rollers 95 and four guide clamping wheels 96 are arranged on the inner side of the vertical plates 94. The track inspection robot 10 rolls with the I-beam structure of the device track 33 and the main track 1 through the driving rollers 95 and the guide clamping wheels 96. This is similar to the structural cooperation between the device body 31 and the vertical track 32 and is not repeated here; wherein the driving roller 95 is connected to the output gear of the driver; the driver is connected to the sensor 41 signal, and the sensor 41 controls the rotation of the driver to obtain forward and backward power and rotation time, speed and other information. The sensor 41 is arranged in the middle of the upper part of the body 90; two elastic buffer contact elements 92 are respectively designed at the front and rear of the body 90, through which low-speed collision contact can be achieved between the cruise track inspection robots 10 and between the patrol track inspection robots 11 and the fire-fighting track inspection robots 12, and the rescue push of the abnormally operating or frozen robot by the track inspection robot 10 or the fire-fighting track inspection robot 12 in normal operation can be achieved; two adjustable lighting lamps 97 are respectively designed at the front and rear of the body 90, through which the adjustable lighting lamps 97 can be adjusted to the front and rear of the body 90. 7 can realize the adjustment of illumination at different positions in the inspection area; an adjustable camera 98 is designed at the front and rear of the main body 90, and the adjustable camera 98 can realize the status recognition, behavior analysis, video recording, photo generation, etc. of the equipment at different positions in the inspection area; three elastic protrusions 91 are designed on the main body 90, and the elastic protrusions 91 touch the three position micro-contacts on the "track section A" or "track section B" of the avoidance device 30 in the avoidance area, so that the three micro-contacts are connected, so as to realize the judgment that the track inspection robot 10 has completely entered the avoidance area.

[0088] The left and right sides of the main body 90 are each designed with three "sensing devices", and "gas sensing devices", "temperature and humidity sensing devices", "noise sensing devices", "partial discharge sensing devices" and the like can be selected and installed as needed. The "gas sensing devices", "temperature and humidity sensing devices", "noise sensing devices" and "partial discharge sensing devices" collect the harmful gas content, oxygen content, temperature and humidity, spatial noise level, partial discharge signal level and the like in different cross-section areas of the inspection space, and send them to the avoidance system, and the avoidance system is linked with the "ventilation system", "online monitoring system" and "tunnel comprehensive monitoring system" to realize intelligent analysis, intelligent judgment and intelligent control; the front and back of the main body 90 are each designed with a navigation obstacle avoidance radar 99, which can realize the analysis and judgment of objects that may collide in the inspection area, and realize the control of obstacle stopping, retreating and deceleration.

[0089] The structure and appearance of the fire-fighting track inspection robot 12 of the present invention are the same as those of the inspection track inspection robot 11. The difference is that the side components of the fire-fighting track inspection robot 12 do not have the sensor 41 but are replaced by fire-fighting windows. The fire-fighting track inspection robot 12 is designed with 2-3 fire-fighting windows on the left and right. The position and size of the fire-fighting windows are matched with the carried fire extinguishers, and can be replaced according to the type of fire extinguishers that need to be carried. The fire-fighting windows are automatically opened when fire extinguishing is needed, and the opening time is controlled by the fire-fighting track inspection robot 12.

[0090] Description of the joint inspection method of multi-track inspection robots based on the avoidance principle:

[0091] Single-machine independent inspection mode: When the avoidance system of the present invention operates normally, each inspection track inspection robot 11 inspects within the inspection area allocated by the avoidance system. Among them, the fire-fighting track inspection robot 12 and the inspection track inspection robot 11 that needs to be charged or repaired are all stopped in the avoidance area. In order to save investment, one inspection track inspection robot 11 is responsible for the inspection work in multiple fire protection areas. The normal inspection frequency (number of inspections within 1 day or 1 month) K is an adjustable value. At this time, the inspection frequency can be adjusted according to the equipment type, such as K1 is the "cable joint" inspection frequency; K2 is the "cable sheath grounding box" inspection frequency; K3 is the "environmental gas monitoring, ventilation equipment monitoring, drainage equipment monitoring" inspection frequency; and so on. Note: When setting the inspection frequency, it is recommended to adjust it according to the multiple relationship.

[0092] The avoidance system of the present invention provides a definable inspection frequency constant setting function according to the equipment type. When the inspection type and inspection frequency are set, the avoidance system sends the inspection mode information (including the charging position) to the inspection track inspection robot 11, the fire extinguishing track inspection robot 12, the avoidance device 30, and the charging device 7. The corresponding inspection track inspection robot 11 replies that it has received the "inspection mode information" and has the conditions to complete the task. The avoidance system determines that the task is completed, otherwise it contacts the replacement inspection track inspection robot 11 until the task is completed; the fire extinguishing track inspection robot 12 in the patrol area replies that it has received the "inspection mode information", is on standby normally in the avoidance area, allows the inspection track inspection robot 11 to pass, and other equipment has the conditions to complete the inspection task. The avoidance system determines that the task is completed, otherwise the location of the fire extinguishing track inspection robot 12 is an area that cannot be inspected, and the inspection area is re-planned, and the inspection track inspection robot 11 tasks and inspection areas are reallocated; the avoidance device The device 30 replies that it has received the "inspection mode information", the position of the avoidance device 30 is normal (including the information that the track docking is intact), it is on standby normally, the inspection track inspection robot 11 is allowed to pass, and the conditions for other equipment to complete the inspection task are met. The avoidance system determines that the task is established, otherwise the location of the avoidance device 30 is an area that cannot be inspected, the inspection area is re-planned, and the inspection track inspection robot 11 tasks and inspection areas are reallocated; the charging device 7 replies that it has received the "inspection mode information", the working status of the charging device 7 is normal, the inspection track inspection robot 11 is allowed to dock and charge at any time, and the conditions for other equipment to complete the inspection task are met. The avoidance system determines that the task is established, otherwise the avoidance system plans the location of the charging device 7 as a non-charging docking position, re-plans the inspection and charging position area, and reallocates the inspection track inspection robot 11 tasks and inspection areas (including the charging position).

[0093] When the avoidance system determines that the inspection time has arrived, it will start autonomous inspection (when an avoidance system reaches the inspection time and should start inspection, the avoidance system will issue an inspection command to the track inspection robot 10. The dual command method combining autonomous and imperative methods can improve reliability).

[0094] When the track inspection robot 10 completes the inspection task, it sends the inspection information and judgment results to the avoidance system, and the avoidance system further conducts comprehensive analysis and judgment based on the inspection information and judgment results sent by the track inspection robot 11. At the same time, the track inspection robot 10 supports sending the inspection information and judgment results to the avoidance system in real time.

[0095] Multi-machine joint inspection mode: When a certain area needs to be inspected due to maintenance or other work tasks, when power supply needs to be inspected, when there is an abnormality that needs to be inspected, or when other reasons require inspection, the avoidance system of the present invention provides a multi-inspection track inspection robot 11 joint inspection mode. In this joint inspection mode, according to the size of the inspection area and the inspection frequency requirements, the avoidance system allocates multiple inspection track inspection robots 11 to inspect within the inspection area. Among them, the fire-fighting track inspection robot 12 and the inspection track inspection robot 11 that needs to be charged or repaired are all stopped in the avoidance area. As shown in the attached Fig.10 As shown, when focused inspections are required in fire compartments A and B, the inspection tasks defined by the avoidance system of the present invention send the inspection mode information (including the number of robots required, the coordination mode, whether fixed-point monitoring is required, the charging mode and the position planning result) to the nearest 4 inspection track inspection robots 11, the fire extinguishing track inspection robot 12 within the inspection area and in the forward direction of the 4 inspection track inspection robots 11, the avoidance device 30 within the inspection area and in the forward direction of the 4 inspection track inspection robots 11, and the charging device 7 within the inspection area and in the forward direction of the 4 inspection track inspection robots 11. The corresponding inspection track inspection robot 11 replies that it has received the "inspection mode information" and has the conditions to complete the task. The avoidance system determines that the task is established, otherwise it contacts the replacement inspection track inspection robot 11 until the task is established; the fire extinguishing track inspection robot 12 in the current inspection area replies that it has received the "inspection mode information", is on standby normally in the avoidance area, allows the inspection track inspection robot 11 to pass, and other equipment has the conditions to complete the inspection task. The avoidance system determines that the task is established. If the inspection area is not within the specified range, the avoidance system will determine that the task is established. Otherwise, the location of the fire-fighting track inspection robot 12 is an area that cannot be inspected, and the inspection area is re-planned, and the inspection track inspection robot 11 tasks and inspection areas are reallocated; the avoidance device 30 replies that it has received the "inspection mode information", the location of the avoidance device 30 is normal (including the track docking intact information), it is on standby normally, the inspection track inspection robot 11" is allowed to pass, and other equipment has completed the inspection task. The avoidance system determines that the task is established. Otherwise, the location of the avoidance device 30 is an area that cannot be inspected, and the inspection area is re-planned, and the inspection track inspection robot 11 tasks and inspection areas are reallocated; the charging device 7 replies that it has received the "inspection mode information", the working status of the charging device 7 is normal, the inspection track inspection robot 11 is allowed to dock and charge at any time, and other equipment has completed the inspection task. The avoidance system determines that the task is established. Otherwise, the avoidance system plans the location of the charging device 7 as a non-charging docking position, re-plans the inspection charging position area, and reallocates the inspection track inspection robot 11 tasks and inspection areas (including the charging position).

[0096] When the avoidance system determines that the inspection time has arrived, it starts autonomous inspection (when a certain inspection track inspection robot 11 reaches the inspection time and should start inspection, the inspection track inspection robot 11 will issue an inspection command to the avoidance system. The dual command method combining autonomous and imperative methods can improve reliability (.

[0097] When the avoidance system completes the inspection task, the inspection information and judgment results are sent to the avoidance system, and the avoidance system further conducts comprehensive analysis and judgment based on the inspection information and judgment results sent by the inspection track inspection robot 11. At the same time, the avoidance system supports sending the inspection information and judgment results to the avoidance system in real time.

[0098] When the inspection track inspection robot 11 outside the key inspection area is moving towards the key area, the avoidance method of other inspection track inspection robots 11 and fire-fighting track inspection robots 12 is the same as described above, that is, the avoidance area is selected in advance according to the avoidance program.

[0099] When a patrol track inspection robot 11 outside the key inspection area is driving towards the key area, if it encounters a patrol track inspection robot 11 that needs rescue or a fire-fighting track inspection robot 12, rescue is carried out in accordance with the aforementioned rescue procedure. When a patrol track inspection robot 11 cannot reach the key inspection area through the rescue procedure, the patrol track inspection robot 11 sends a "rescue failed" or "unable to arrive on time" message to the avoidance system. The avoidance system then re-plans other patrol track inspection robots 11 on the opposite side to go to the key inspection area, and at the same time notifies maintenance personnel to go for maintenance, and plans the patrol track inspection robots 11 that cannot reach to perform other normal inspection tasks.

[0100] The present invention can realize one-to-one monitoring and inspection, two-to-one monitoring and inspection, and simultaneous forward and reverse monitoring and inspection of equipment by planning multiple inspection track inspection robots 11 to carry out inspection and monitoring work in the same area.

[0101] A joint inspection method and system for 10 multi-track inspection robots based on the avoidance principle are designed. On the one hand, it realizes the requirements of multi-machine joint inspection, cross avoidance, and multi-machine intensive inspection of key areas; on the other hand, it realizes the functions of automatic rescue, avoidance and automatic replacement of inspection areas between faulty inspection robots; it effectively improves the convenience and flexibility of operation and maintenance, and at the same time increases the key monitoring content of robots to effectively prevent safety accidents.

[0102] The present invention also provides a multi-machine joint fire extinguishing method: when a patrol track inspection robot 11 in a certain area finds a fire hazard during patrol, the patrol track inspection robot 11 sends fire information and the fire area address (including the fire partition address (and starts the avoidance fire extinguishing preset program) to the avoidance system and related patrol track inspection robots 11 in the nearby area, the fire extinguishing track inspection robot 12, the avoidance device 30, and the charging device 7. At this time, the avoidance system notifies a specified number of fire extinguishing track inspection robots 12 to go to extinguish the fire according to a pre-set fire extinguishing plan, notifies the fire extinguishing track inspection robot 12 to go to the corresponding patrol track inspection robot 11 on the fire extinguishing path to enter a certain "avoidance area" for avoidance, and notifies the avoidance device 30 in the corresponding avoidance area to prepare for the avoidance inspection system situation.

[0103] When the inspection track inspection robot 11 receives the fire information and the address of the fire area and the signal of the preset avoidance and fire extinguishing program, it starts the avoidance program and enters the avoidance area. The avoidance device 30 switches the inspection track inspection robot 11 to the avoidance position, so that the fire extinguishing track inspection robot 12 is unobstructed. Fig.11 If the first planned avoidance area of ​​the patrol track inspection robot 11 cannot meet the conditions of the patrol track inspection robot 11, the avoidance system or the patrol track inspection robot 11 will select the second planned avoidance area until success is inevitable. At this time, the patrol track inspection robot 11 applies for the highest level of avoidance.

[0104] When the avoidance device 30 of the "avoidance zone" receives the fire information and the address of the fire area and the signal of preparing to start the preset avoidance fire extinguishing program, the avoidance device 30 checks the system. If it can normally meet the avoidance requirements of the patrol track inspection robot 11, it replies with the signal of "can enter avoidance". The avoidance system and the patrol track inspection robot 11 that needs to enter the position for avoidance determine that the avoidance combined fire extinguishing requirements are met, and the patrol track inspection robot 11 starts to start the autonomous avoidance program. If the avoidance device 30 checks that the system does not meet the avoidance requirements (such as power system abnormalities, etc.), it replies with the signal of "does not meet avoidance requirements", the "track robot system" and the patrol track inspection robot 11 that needs to enter the position for avoidance determine that the avoidance combined fire extinguishing requirements are not met, and apply for avoidance to the second preset avoidance zone avoidance device 30 until the avoidance application is successful.

[0105] When the charging device 7 in the "avoidance area" receives the fire information and the address of the fire area and the signal of preparing to start the preset avoidance fire extinguishing program, it checks whether there is any equipment charging. If not, it replies that there is no equipment docked for charging, and the avoidance requirement is met. The avoidance system and the inspection track inspection robot 11 that needs to enter the position for avoidance determine that the avoidance combined fire extinguishing requirements are met, and the inspection track inspection robot 11 starts the autonomous avoidance program; if there is charging, it determines whether its charging amount meets the avoidance requirement. If the avoidance requirement is met, it stops charging and replies that the equipment charging meets the requirement. The avoidance and docking requirements, the avoidance system and the inspection track inspection robot 11 that needs to enter the position for avoidance are judged to meet the avoidance and combined fire extinguishing requirements, and the inspection track inspection robot 11 starts the autonomous avoidance program; if it is charged and it is judged that its charging amount does not meet the avoidance requirements, then the reply device charging does not meet the avoidance and docking requirements, the avoidance system and the inspection track inspection robot 11 that needs to enter the position for avoidance are judged to not meet the avoidance and combined fire extinguishing requirements, and apply for avoidance to the charging device 7 of the second preset "avoidance area" until the avoidance application is successful.

[0106] In the avoidance principle multi-track fire-fighting robot joint fire-fighting method and system of the present invention, when a fire occurs in a certain fire zone, the number of fire-fighting track inspection robots 12 that need to go to jointly extinguish the fire can be adjusted. The adjustment principle is calculated and determined based on the effective fire-fighting area of ​​the fire-fighting equipment loaded by one fire-fighting track inspection robot 12 and the area of ​​the fire zone that needs to be extinguished. The calculation method is as follows:

[0107] M is: the number of fire-fighting track inspection robots 12 required;

[0108] N is: effective fire extinguishing area of ​​1 fire extinguishing track inspection robot 12 fire extinguishing equipment;

[0109] L is: the fire partition area that needs to be extinguished;

[0110] M=X+L÷N. If the calculated result is not an integer, round it up. X is the number of spare fire-fighting track inspection robots 12, which is selected according to the principle of being greater than or equal to 1. The purpose is to prevent the fire-fighting track inspection robots 12 from failing to reach the fire-fighting area in time.

[0111] Preferably, the fire-fighting track inspection robot 12 that has successfully applied will immediately go to the fire-fighting area and exchange position information with the avoidance system and other fire-fighting track inspection robots 12 that come to the fire-fighting area in real time. When the number of fire-fighting track inspection robots 12 that need to arrive in the fire-fighting area within the predetermined time meets the fire-fighting requirements, they will simultaneously start releasing fire extinguishing agents to start extinguishing the fire.

[0112] Preferably, when other systems discover a fire hazard, the other systems will first send the required fire extinguishing information to the avoidance system, and the track avoidance system will separately send the multi-track fire extinguishing robot joint fire extinguishing information.

[0113] The present invention can realize one-to-one fire extinguishing, two-to-one fire extinguishing, and many-to-one fire extinguishing of equipment by planning multiple fire extinguishing track inspection robots 12 to carry out fire extinguishing work in the same area.

[0114] Advantages of the joint fire-fighting method and system of multi-track fire-fighting robots based on the avoidance principle: The design of a joint fire-fighting method and system of multi-track fire-fighting robots based on the avoidance principle can, on the one hand, realize the requirements of multi-machine joint fire-fighting, cross avoidance, and intensive and rapid fire-fighting of multiple machines in the fault area, avoiding the shortcomings of insufficient fire-extinguishing agent capacity of a single machine and small effective fire-fighting space; on the other hand, it can realize automatic obstacle clearing of the fire-fighting route and automatic rescue, avoidance and automatic replacement of fire-fighting areas between robots; effectively improve the speed and reliability of fault fire-fighting.

[0115] In the present invention, a track inspection robot 10 with avoidance and rescue functions is designed. When a "track inspection robot 10" exits abnormally, another one can replace it to perform inspection, making the system task allocation more flexible and reducing the overall investment.

Claims

1. A track inspection robot avoidance device, arranged in a main track (1), wherein a track inspection robot (10) is arranged on the main track (1), characterized in that: A plurality of avoidance areas (2) are arranged in the main track (1); the avoidance device (30) comprises a device body (31) and two vertical tracks (32) perpendicular to the main track (1) and located above the two end portions of the avoidance areas (2); two device tracks (33) parallel to the main track (1) are fixedly arranged at the lower part of the device body (31); the main track (1), the vertical tracks (32) and the device tracks (33) are all I-beams; the device body (31) and the vertical tracks (32) are slidably matched; the two device tracks (33) can be moved by the device body (31) at the The vertical track (32) slides on the vertical track (32) and then contacts the main track (1). The upper surface of the device body (31) is provided with two grooves (34). A driving wheel (35) and a guide wheel (36) are arranged in between the grooves (34). The driving wheel (35) is arranged vertically and matches with the upper end surface of the I-shaped groove of the vertical track (32). The guide wheel (36) is arranged horizontally and matches with the inner side surface of the I-shaped groove of the vertical track (32). The track inspection robot (10) is a track inspection robot (11) or a fire extinguishing track inspection robot (12) or a track inspection robot (13) integrating inspection and fire extinguishing.

2. A track inspection robot avoidance device according to claim 1, characterized in that: Both end portions of the device track (33) are provided with avoidance zone edge markings (37), and the middle portion of the device track (33) is provided with four avoidance zone stop markings (38) and three stop position micro-movement contacts (39), and the avoidance zone stop markings (38) and the stop position micro-movement contacts (39) are alternately arranged at intervals. The track inspection robot (10) includes a main body (90) and a sensor (41), a driver and a transmission unit arranged in the main body (90), and two vertical plates (94) are symmetrically arranged on the upper part of the main body (90), and a plurality of driving rollers (95), a plurality of guide clamping wheels (96) and three elastic protrusions (91) are arranged on the inner side of the vertical plates (94), and the front and rear of the main body (90) are each designed with two contact surfaces that can meet the requirements of low-speed collision contact. An elastic buffer contact element (92), two adjustable lighting lamps (97), an adjustable camera (98) and a navigation obstacle avoidance radar (99); the track inspection robot (10) rolls with the I-beam structure of the device track (33) or the main track (1) through the driving roller (95) and the guide clamping wheel (96); the avoidance zone edge mark (37) and the avoidance zone docking mark (38) are both coordinated with the electrical signal of the sensor (41), and the coordination is used to determine the position of the track inspection robot (10) in the device track (33); the docking position micro-contact (39) and the elastic protrusion (91) are coordinated, and the coordination is also used to determine the position of the track inspection robot (10) in the device track (33).

3. A track inspection robot avoidance device according to claim 2, characterized in that: The avoidance device (30) further comprises a power supply (61), a drive motor (62), a display module (63), a control unit (64), a position signal acquisition unit (65), a state signal acquisition unit (66), a communication unit (67) and an operation and abnormality judgment unit (68); the drive motor (62) cooperates with the drive wheel (35); the position signal acquisition unit (65) cooperates with the sensor (41) in terms of electrical signals; the state signal acquisition unit (66) comprises a temperature collector, a humidity collector and a current signal collector; the position signal acquisition unit (65) and the state signal acquisition unit (66) are both electrically connected to the operation and abnormality judgment unit (68); the operation and abnormality judgment unit (68) is electrically connected to the control unit (64); the control unit (64) is electrically connected to the communication unit (67), the drive motor (62) and the display module (63); and the communication unit (67) cooperates with the track inspection robot (10) in terms of signals through wireless communication.

4. A track inspection robot avoidance system, characterized in that: It comprises the main track (1) and avoidance device (30) as claimed in any one of claims 1 to 3, at least two track inspection robots (10) are arranged on the main track (1) and avoidance device (30), charging devices (7) are correspondingly arranged at both ends of one side of the vertical track (32) of the main track (1), the charging device (7) is provided with a charging controller, the charging device (7) charges the track inspection robot (10), the charging controller, the avoidance device (30) and the track inspection robot (10) all have a wireless communication interface and the wireless communication interface communicates and cooperates with the wireless communication interface of the track inspection robot avoidance system, and the avoidance devices (30) communicate and cooperate with each other wirelessly.

5. An avoidance method applied to the track inspection robot avoidance system as claimed in claim 4, characterized in that: When the track inspection robot A and the track inspection robot B move toward each other on the main track (1), the track inspection robot A can start the avoidance program autonomously or after receiving the system avoidance command of the track inspection robot avoidance system. The avoidance program first determines the unloaded avoidance area (2) closest to the track inspection robot A, then the track inspection robot A enters the avoidance area (2) and lands on a device track (33) of the avoidance device (30), and then the avoidance device (30) is started so that its other device track (33) docks with the main track (1) and the track inspection robot A leaves the main track (1).

6. The avoidance method according to claim 5, characterized in that: The track inspection robot B can also change the inspection speed autonomously or after receiving the command to adjust the inspection speed from the track inspection robot avoidance system, and then pass through the avoidance zone (2) after obtaining the information that the track inspection robot A has successfully avoided, thereby achieving safe cross inspection.

7. The avoidance method according to claim 5, characterized in that: When the track inspection robot B has an abnormality but is still able to walk autonomously, the track inspection robot B determines the nearest empty avoidance zone (2) through its own judgment or through the track inspection robot avoidance system and then starts a maintenance avoidance rescue program. The maintenance avoidance rescue program is that the track inspection robot B autonomously enters the avoidance zone (2) and uses the avoidance device (30) in the avoidance zone (2) to make the track inspection robot B leave the main track (1). Alternatively, when the track inspection robot B has an abnormality and is unable to walk autonomously, the track inspection robot avoidance system sends the track inspection robot B position non-updated area and the nearest empty avoidance zone (2) to the track inspection robot A and starts a maintenance avoidance rescue program. The maintenance avoidance rescue program is that the track inspection robot A pushes the track inspection robot B into the avoidance zone (2) and uses the avoidance device (30) in the avoidance zone (2) to make the track inspection robot B leave the main track (1).

8. The avoidance method according to claim 7, characterized in that: When the track inspection robot B starts the maintenance avoidance and rescue procedure, the track inspection robot avoidance system assigns the inspection task of the track inspection robot B to the track inspection robot A.

9. The avoidance method according to claim 5, characterized in that: One or more track inspection robots (10) are arranged on the main track (1) for inspection. After the inspection type and inspection frequency are set for the track inspection robot (10), the avoidance system sends inspection mode information to the track inspection robot (10) and each avoidance device (30) and charging device (7). The track inspection robot (10) replies that it has received the inspection mode information and has the conditions to complete the inspection task. After that, the avoidance device (30) needs to reply that it has received the inspection mode information, otherwise the avoidance system will set the location of the avoidance device (30) as an area that cannot be inspected. In addition, the charging device (7) needs to reply that it has received the inspection mode information, otherwise the avoidance system will plan the location of the charging device (7) as a non-charging parking position. When the avoidance system marks a specific key inspection area on the main track (1), the number of the track inspection robots (10) is set to at least 4.

10. The avoidance method according to claim 7, characterized in that: The track inspection robot (10) includes two types: a track inspection robot (11) for inspection and a track inspection robot (12) for fire extinguishing. When the track inspection robot (10) finds a fire hazard while inspecting a certain area of ​​the main track (1), the track inspection robot (10) sends fire information and the location of the fire area to the avoidance system and related track inspection robots (10), avoidance devices (30), and charging devices (7) in the nearby area. The avoidance system starts a preset avoidance and fire extinguishing program. After that, the track inspection robot (11) All enter the avoidance zone for avoidance, and the avoidance system notifies a specified number of fire-fighting track inspection robots (12) to go to the fire area. When the number of fire-fighting track inspection robots (12) that need to arrive in the fire-fighting area within a predetermined time meets the fire-fighting requirements, they start to release fire-extinguishing agents simultaneously to extinguish the fire. Among them, when the inspection track inspection robot (11) cannot automatically drive to the avoidance zone for avoidance, the corresponding fire-fighting track inspection robot (12) starts the maintenance avoidance rescue program to rescue and send the inspection track inspection robot (11) that cannot automatically drive to the avoidance zone into the avoidance zone for avoidance.

Images