A single-track robot walking device and walking method

Abstract

The present invention discloses a monorail robot walking device and walking method, the walking device comprises a chassis, at least two walking wheels are arranged on the chassis, and the walking wheels are equipped with a walking drive module and a steering drive module; the walking device also comprises a control center and a position detection device, the control center is respectively connected with the position detection device, the walking drive module and the steering drive module, the position detection device is used to detect the position relationship between the chassis and the monorail, and the control center controls the walking drive module and the steering drive module to operate according to the detection information of the position detection device so that the walking wheels are kept walking on the top surface of the monorail. The control center of the present invention controls the steering drive module to perform appropriate steering to adjust the position of the driving wheel, ensure that the driving wheel and the driven wheel can stably walk on the monorail, and prevent the walking device from derailing.

Description

Technical Field

[0001] The invention belongs to the field of rail transportation equipment, and in particular relates to a single-track robot walking device and a walking method. Background Art

[0002] Currently in the field of rail transit, most devices running on tracks use hook-type clamping devices to clamp the equipment running devices on the tracks, and rely on the clamping tracks to maintain the balance and running of the detection devices.

[0003] Main disadvantages: 1. The fit with the rail is not tight enough and it is easy to get stuck with the rail; 2. The self-balancing performance is relatively poor and it is easy to overturn and derail during movement; 3. There are safety hazards on the upper and lower rails, and the manual labor is large; 4. It cannot cross the track switch area, 5. It is large in size and complex in structure. Summary of the invention

[0004] In order to solve one of the above problems existing in the prior art, the present invention aims to provide a single-track robot walking device.

[0005] The technical solution adopted by the present invention is: a single-track robot walking device, including a base frame, at least two walking wheels are provided on the base frame, and the walking wheels are equipped with a walking drive module and a steering drive module; it also includes a control center and a position detection device, the control center is respectively connected to the position detection device, the walking drive module and the steering drive module, the position detection device is used to detect the position relationship between the base frame and the single track, and the control center controls the walking drive module and the steering drive module to operate according to the detection information of the position detection device so that the walking wheels keep walking on the top surface of the single track.

[0006] As a preferred embodiment, the travel drive module includes a drive motor, and the drive motor is connected to the travel wheel.

[0007] As a preferred embodiment, the steering drive module includes a steering drive motor, the steering drive motor is equipped with a bogie connected to the chassis, the output end of the steering drive motor is connected to a front fork bar, and the walking wheel is connected to the front fork bar.

[0008] As a preferred embodiment, the chassis is provided with four running wheels, the four running wheels include a driving wheel and three driven wheels, and the driving wheel and the three driven wheels are arranged in a single row, and the mid-vertical plane of the driving wheel shaft and the mid-vertical plane of the driven wheel shaft are coplanar.

[0009] As a preferred embodiment, the control center controls the travel drive module and the steering drive module to operate so that when the travel wheels travel on the top surface of the single track, the center of gravity projection point of the travel device is located on the center line of the single track.

[0010] As a preferred embodiment, the position detection device includes a distance sensor, which is connected to a control center and is used to detect the positional relationship between the chassis and the single track.

[0011] As a preferred embodiment, it further comprises a gyro balancing device and a posture detection device, and the gyro balancing device and the posture detection device are connected to a control center.

[0012] Another object of the present invention is to provide a single track robot walking method, comprising the following steps:

[0013] Get the walking status of the walking device;

[0014] Control the operation of the travel drive module and the steering drive module to keep the travel wheels moving on the top surface of the single track.

[0015] As a preferred method, obtaining the walking state of the walking device includes: detecting the positional relationship between the walking device and the single track through a distance sensor, thereby obtaining the walking position of the walking device; detecting the posture information of the walking device through a posture detection device, thereby obtaining the walking posture of the walking device.

[0016] As a preferred method, the walking drive module and the steering drive module are controlled to operate so that the walking wheels keep walking on the top surface of the single track, including: judging whether the walking device deviates from the center line of the single track according to the walking position of the walking device, and making the projection point of the center of gravity of the walking device located on the center line of the single track by controlling the walking drive module and the steering drive module; judging whether the walking device enters the track switch area according to the walking position of the walking device, and adjusting the power by controlling the walking drive module and the steering drive module so that the walking device passes through the track switch area smoothly; judging whether the walking device enters the track curve area according to the walking posture of the walking device, and making the walking device pass through the track curve area smoothly by controlling the walking drive module and the steering drive module.

[0017] The beneficial effects of the present invention are:

[0018] The present invention provides a monorail robot walking device, wherein a position detection device is used to detect the positional relationship between a chassis and a monorail, and a control center controls the operation of a walking drive module and a steering drive module according to the detection information of the position detection device so that the driving wheel and the driven wheel remain walking on the monorail. The walking drive module of the present invention can drive the driving wheel and the driven wheel to walk on the monorail, and when the position detection device detects that the position of the chassis on the monorail is offset, the control center controls the steering drive module to perform appropriate steering to adjust the position of the driving wheel, thereby ensuring that the driving wheel and the driven wheel can walk stably on the monorail and preventing the walking device from derailing. The present invention also provides a monorail robot walking method, which can realize the walking work of the walking device on the monorail, and at the same time can control the operation of the walking drive module and the steering drive module according to the walking state, timely correct the walking direction, and ensure that the walking device walks normally along the track direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a front structural schematic diagram of a single-track robot walking device provided by the present invention;

[0020] Figure 2 It is a schematic diagram of the back structure of a single-track robot walking device provided by the present invention;

[0021] Figure 3 It is a structural schematic diagram of a walking drive module and a steering drive module in a single-track robot walking device provided by the present invention;

[0022] Figure 4 It is a control block diagram of a single-track robot walking device provided by the present invention;

[0023] In the figure: 1- chassis; 2- driving wheel; 3- driven wheel; 4- walking drive module; 5- steering drive module; 6- control center; 7- position detection device; 8- driving motor; 9- steering drive motor; 10- bogie; 11- front fork lever; 12- gyro balancing device; 13- posture detection device. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0027] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0028] In the description of the embodiments of the present invention, it should be noted that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the invention product is usually placed when in use, or the orientation or positional relationship commonly understood by those skilled in the art, or the orientation or positional relationship in which the invention product is usually placed when in use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0029] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The drawings in the embodiments clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments.

[0030] like Figure 1 and Figure 2As shown, this embodiment provides a single track robot walking device, which includes a chassis 1, and the chassis 1 is provided with at least two walking wheels. The number of walking wheels can be set according to actual needs. The two walking wheels include a driving wheel 2 and a driven wheel 3. The driving wheel 2 is equipped with a walking drive module 4 and a steering drive module 5. There is a certain distance between the driving wheel 2 and the driven wheel 3, and the center of gravity of the walking device is close to the center of the chassis 1, which is conducive to the robot crossing the track switch area. The walking drive module 4 drives the driving wheel 2 to operate, and the driving wheel 2 and the driven wheel 3 both roll on the surface of the single track to realize the walking function of the walking device. When the track is in a curve area, the steering drive module 5 drives the driving wheel 2 to turn, ensuring that the driving wheel 2 and the driven wheel 3 can walk along the single track.

[0031] like Figure 4 As shown, the walking device also includes a control center 6 and a position detection device 7, the control center 6 is connected to the position detection device 7, the walking drive module 4 and the steering drive module 5 respectively, the position detection device 7 is used to detect the position relationship between the chassis 1 and the single track, and the control center 6 controls the walking drive module 4 and the steering drive module 5 to operate according to the detection information of the position detection device 7 so that the driving wheel 2 and the driven wheel 3 are kept walking on the top surface of the single track. The walking drive module 4 of the present invention can drive the driving wheel 2 and the driven wheel 3 to walk on the single track. When the position detection device 7 detects that the position of the chassis 1 on the single track is offset, the control center 6 controls the steering drive module 5 to make appropriate steering to adjust the position of the driving wheel 2, so as to ensure that the driving wheel 2 and the driven wheel 3 can walk stably on the single track and prevent the walking device from derailing.

[0032] Preferably, in order to improve the stability of the robot during walking, the control center 6 controls the walking drive module 4 and the steering drive module 5 to operate so that when the driving wheel 2 and the driven wheel 3 walk on the single track, the projection point of the center of gravity of the walking device is located on the center line of the single track.

[0033] Specifically, the position detection device 7 includes a distance sensor, which is connected to the control center 6 and is used to detect the positional relationship between the chassis 1 and the monorail. When the chassis 1 deviates, the control center 6 controls the steering drive module 5 to make the driving wheel 2 steer in real time, so that the center of gravity projection point of the walking device is located on the center line of the monorail, so that the walking device can walk stably.

[0034] In some embodiments, the walking drive module 4 includes a driving motor 8, which is connected to the driving wheel 2. The driving motor 8 can be, but is not limited to, a hub motor, which is arranged inside the driving wheel 2. The driving motor 8 is connected to the control center 6, which controls the operation of the driving motor 8 in real time to achieve the walking speed control of the walking device. The driving wheel 2 is wrapped around the outside of the driving motor 8, and the operation of the driving motor 8 is controlled by the control center 6, so that the driving motor 8 drives the driving wheel 2 to rotate. This design makes the structure of the walking device more compact, saves space, and lowers the center of gravity of the walking device.

[0035] like Figure 3 As shown, in some embodiments, the steering drive module 5 includes a steering drive motor 9, the steering drive motor 9 is equipped with a bogie 10 connected to the chassis 1, the output end of the steering drive motor 9 is connected to a front fork lever 11, the driving wheel 2 is connected to the front fork lever 11, and the front fork lever 11 is rotatably connected to the bogie 10. The steering drive motor 9 is connected to the control center 6, and the control center 6 dynamically adjusts the operating state of the steering drive motor 9 in real time, corrects the walking direction of the driving wheel 2, realizes high-precision steering, and ensures that the driving wheel 2 and the driven wheel 3 can keep walking on the top surface of the single track.

[0036] In some embodiments, a driving wheel 2 and three driven wheels 3 are provided on the chassis 1, and the driving wheel 2 and the three driven wheels 3 are arranged in a single row, and the median vertical plane of the driving wheel 2 shaft and the median vertical plane of the driven wheel 3 shaft are coplanar. During walking, the driving wheel 2 and the three driven wheels 3 are in contact with the surface of the single track. The use of this unique design ensures that the walking device can automatically and smoothly cross the track switch area during walking without tipping over, getting stuck, or going off track. The present invention adopts the design of longitudinal multi-axis walking wheels to allow the center of gravity of the robot to fall on the support surface on the track surface during the process of crossing the track switch area, ensuring that the robot smoothly crosses the track switch area, and supports any one of the multi-axis walking wheels to cross the track switch area in a suspended manner.

[0037] In some embodiments, the traveling wheel may also be designed in other ways, such as designing two driving wheels 2 or multiple driving wheels 2. The present invention ensures the stability of the automatic travel of the traveling device through the design of one driving wheel 2 and three driven wheels 3; when the traveling device crosses the track switch area, there are always enough driven wheels 3 to maintain contact with the rail surface, ensuring that the center of gravity of the traveling device does not shift when crossing the track switch area, so that the traveling device can smoothly cross the track switch area (i.e., without getting stuck); the driving wheel 2 runs smoothly along the single track, ensuring the correctness of the traveling track when crossing the track switch area (i.e., without going off track).

[0038] In some embodiments, the walking device further includes a gyro balancing device 12 and a posture detection device 13, and the gyro balancing device 12 and the posture detection device 13 are connected to the control center 6. The posture detection device 13 can detect the walking posture of the walking device in real time, and when the walking device tilts, the gyro balancing device 12 is used to correct the balance of the walking device.

[0039] This embodiment also provides a single-track robot walking method, which is applied to the above-mentioned walking device. The walking method includes the following steps:

[0040] Acquiring the walking state of the walking device specifically includes: detecting the positional relationship between the chassis 1 and the single track by a distance sensor, thereby acquiring the walking position of the walking device; and detecting the posture information of the walking device by a posture detection device 13, thereby acquiring the walking posture of the walking device.

[0041] Controlling the operation of the walking drive module 4 and the steering drive module 5 to keep the driving wheel 2 and the driven wheel 3 walking on the single track, specifically including: judging whether the walking device deviates from the center line of the single track according to the walking position of the walking device, and making the projection point of the center of gravity of the walking device located on the center line of the single track by controlling the walking drive module 4 and the steering drive module 5; judging whether the walking device enters the track switch area according to the walking position of the walking device, and adjusting the power by controlling the walking drive module 4 and the steering drive module 5 so that the walking device passes through the track switch area smoothly; judging whether the walking device enters the track curve area according to the walking posture of the walking device, and making the walking device pass through the track curve area smoothly by controlling the walking drive module 4 and the steering drive module 5.

[0042] The present invention provides a single-track robot walking method, which can realize the walking of a walking device on a single track, and can control the operation of a walking drive module 4 and a steering drive module 5 according to the walking state, and timely correct the walking direction to ensure that the walking device walks normally along the track direction.

[0043] The present invention is not limited to the above optional implementations, and anyone can derive other various forms of products under the enlightenment of the present invention. The above specific implementations should not be understood as limiting the scope of protection of the present invention. The scope of protection of the present invention should be based on the definition in the claims, and the description can be used to interpret the claims.

Claims

1. A single-track robot walking device, characterized in that: The invention comprises a chassis (1), wherein at least two running wheels are arranged on the chassis (1), and the running wheels are equipped with a running drive module (4) and a steering drive module (5); and further comprises a control center (6) and a position detection device (7), wherein the control center (6) is connected to the position detection device (7), the running drive module (4) and the steering drive module (5) respectively, and the position detection device (7) is used to detect the position relationship between the chassis (1) and the monorail, and the control center (6) controls the running drive module (4) and the steering drive module (5) according to the detection information of the position detection device (7) so that the running wheels keep running on the top surface of the monorail; The base frame (1) is provided with four running wheels, the four running wheels include a driving wheel (2) and three driven wheels (3), the driving wheel (2) and the three driven wheels (3) are arranged in a single row, and the mid-vertical plane of the rotating shaft of the driving wheel (2) and the mid-vertical plane of the rotating shaft of the driven wheel (3) are coplanar; the control center (6) controls the running of the running drive module (4) and the steering drive module (5) so that when the running wheels run on the top surface of the single track, the projection point of the center of gravity of the running device is located on the center line of the single track.

2. The single-track robot walking device according to claim 1, characterized in that: The travel drive module (4) comprises a drive motor (8), and the drive motor (8) is connected to a travel wheel.

3. The single-track robot walking device according to claim 1, characterized in that: The steering drive module (5) comprises a steering drive motor (9), the steering drive motor (9) is provided with a bogie (10) connected to the chassis (1), the output end of the steering drive motor (9) is connected to a front fork lever (11), and the running wheel is connected to the front fork lever (11).

4. The single-track robot walking device according to claim 1, characterized in that: The position detection device (7) comprises a distance sensor, which is connected to a control center (6) and is used to detect the positional relationship between the chassis (1) and the single track; the walking device also comprises a gyro balancing device (12) and a posture detection device (13), which are connected to the control center (6).

5. A single-track robot walking method, characterized in that: The single-track robot walking device applied to any one of claims 1 to 4 comprises the following steps: Get the walking status of the walking device; The travel drive module (4) and the steering drive module (5) are controlled to operate so that the travel wheels can keep traveling on the top surface of the single track.

6. The single-track robot walking method according to claim 5, characterized in that: Acquiring the walking state of the walking device comprises: detecting the positional relationship between the walking device and the single track by means of a distance sensor, thereby acquiring the walking position of the walking device; and detecting the posture information of the walking device by means of a posture detection device (13), thereby acquiring the walking posture of the walking device.

7. The single-track robot walking method according to claim 6, characterized in that: Controlling the operation of a walking drive module (4) and a steering drive module (5) so that the walking wheels are kept walking on the top surface of the single track, comprising: judging whether the walking device deviates from the center line of the single track according to the walking position of the walking device, and making the projection point of the center of gravity of the walking device located on the center line of the single track by controlling the walking drive module (4) and the steering drive module (5); judging whether the walking device enters a track switch area according to the walking position of the walking device, and adjusting the power by controlling the walking drive module (4) and the steering drive module (5) so that the walking device smoothly passes through the track switch area; judging whether the walking device enters a track curve area according to the walking posture of the walking device, and making the walking device smoothly pass through the track curve area by controlling the walking drive module (4) and the steering drive module (5).

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