A single track inspection robot and its processing control method

Abstract

The present invention discloses a single track inspection robot and a processing control method thereof, wherein the inspection robot comprises a body, the body is provided with a walking device, a contact network detection device, a position detection device and a processing control center, the walking device comprises a chassis, the chassis is provided with at least two walking wheels, the walking wheels are equipped with a walking drive module and a steering drive module; the processing control center is respectively connected with the contact network detection device, the position detection device and the walking device, the position detection device is used to detect the positional relationship between the body and the single track, and the processing 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 wheel keeps walking on the top surface of the single track. The inspection robot of the present invention can automatically and continuously track and measure the geometric parameters of the contact network, greatly improving the detection efficiency and detection accuracy, while also greatly reducing the labor of the detection personnel, further improving the work efficiency.

Description

Technical Field

[0001] The present invention belongs to the field of rail transportation equipment, and in particular relates to a single-track inspection robot and a processing and control method thereof. Background Art

[0002] The overhead contact network is a high-voltage transmission line that is erected in a zigzag shape above the rails in electrified railways and urban rails. It is the main structure of the railway electrification project and a special form of transmission line erected above the railway line to supply power to electric locomotives. It consists of contact suspension, support device, positioning device, pillar and foundation. The overhead contact network is a high-voltage transmission line that supplies power to electric locomotives. It is responsible for directly transmitting the electric energy obtained from the traction substation to the train. The two most critical parameters of the overhead contact network geometric parameters are the height of the overhead contact network conductor and the pull-out value, which are defined as the vertical distance of the conductor from the plane on the track and the horizontal distance of the conductor from the center line of the track. According to the construction characteristics of my country's railways, the geometric position of the overhead contact network in space is relatively easy to change, especially when a large number of high-speed EMUs are put into operation, and various geometric parameters need to be measured and corrected frequently. Therefore, accurate and reliable measurement of the true state of the overhead contact network is an important guarantee for the normal operation and safe driving of electrified railways, and provides a theoretical basis for the daily maintenance and overhaul of the overhead contact network.

[0003] As my country's urbanization process continues to accelerate, the total amount of urban transportation demand is also growing sharply. As an important tool for urban transportation, the subway has the advantages of large capacity, fast speed, punctuality, convenience, energy saving and environmental protection. Therefore, the subway has become the main means of transportation for urban rail and has been rapidly developed and constructed. In order to ensure the normal, safe and high-speed operation of the subway, the construction and maintenance of the contact network is particularly important. Therefore, accurate, safe, reliable and convenient measurement of the operating status of the contact network will become an important part of the normal operation and safe driving of the subway, and also provide a theoretical basis for the daily maintenance and inspection of the subway contact network.

[0004] At present, there are mainly the following methods for detecting the geometric parameters of the contact network: 1) Contact measurement, such as the drop line method and the insulated measuring rod method. Contact measurement requires manual contact between the measuring equipment and the contact line. This method has the disadvantages of low efficiency, large workload, low measurement accuracy, high labor intensity, and long time consumption; 2) Non-contact fixed-point measurement, such as ultrasonic measurement, laser radar, and image detection. This method uses manually operated detection equipment for fixed-point measurement. Although this method is non-contact detection, it has improved in work efficiency and measurement accuracy, but it still has the disadvantages of high labor intensity, low efficiency, large workload, complex installation, cumbersome calibration, inaccurate calibration, low measurement accuracy, and few measurement points. 3) Non-contact continuous measurement. This method uses automatic measurement with continuous walking, which has been greatly improved compared with the past, but there are still a lot of problems, such as low measurement accuracy, large size, need to walk on double tracks, complex installation, difficult manual operation, and low work efficiency. Summary of the invention

[0005] In order to solve one of the above problems existing in the prior art, the present invention aims to provide a single-track inspection robot.

[0006] The technical solution adopted by the present invention is: a single-track inspection robot, including a body, the body is provided with a walking device, a contact network detection device, a position detection device and a processing control center, the walking device includes a base frame, the base frame is provided with at least two walking wheels, the walking wheels are equipped with a walking drive module and a steering drive module; the processing control center is respectively connected to the contact network detection device, the position detection device and the walking device, the position detection device is used to detect the position relationship between the body and the single track, and the processing control center controls the operation of the walking drive module and the steering drive module 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.

[0007] As an optional method, the contact network detection device includes a non-contact detection module, which is used for the patrol robot to detect the position of the contact line during walking and send it to the processing and control center. The processing and control center calculates the distance between the contact line and the non-contact detection module to obtain the geometric parameter value of the contact network.

[0008] As an optional manner, 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 an optional embodiment, the walking drive module includes a driving motor, which is connected to the walking wheel; the steering drive module includes a steering drive motor, which is equipped with a bogie connected to the underframe, the output end of the steering drive motor is connected to the front fork bar, and the walking wheel is connected to the front fork bar.

[0010] As an optional manner, the processing control center controls the walking drive module and the steering drive module to operate so that when the walking wheels walk on the top surface of the single track, the center of gravity projection point of the inspection robot is located on the center line of the single track.

[0011] As an optional method, it also includes a track detection device, an operation status acquisition device, a wireless communication device, an alarm device, a gyro balancing device, a posture detection device, a power supply device, a display device, and an image detection device. The processing control center is respectively connected to the track detection device, the operation status acquisition device, the wireless communication device, the alarm device, the gyro balancing device, the posture detection device, the power supply device and the display device; the wireless communication device is connected to a monitoring service mobile terminal; the track detection device is used to detect the geometric parameters of the track; the operation status acquisition device is used to collect and process the operation status information of the inspection robot in real time, and display it through a display device, or send it to the monitoring service mobile terminal through a wireless communication device, and the monitoring service mobile terminal monitors the operation status information of the inspection robot in real time; the monitoring service mobile terminal has a built-in database, which saves the detection data and analysis reports in real time and monitors the working status of the inspection robot; the image detection device is used to collect and detect the contact network image information and the track image information.

[0012] Another object of the present invention is to provide a processing control method of a single-track inspection robot, which is applied to the above-mentioned inspection robot and comprises the following steps:

[0013] Get the walking status of the inspection robot;

[0014] Control the running of the travel drive module and the steering drive module to keep the travel wheels running on the top surface of the single track;

[0015] The position of the contact line is obtained, the distance between the contact line and the contact network detection device is calculated and processed, and the geometric parameter value of the contact network is obtained.

[0016] As an optional method, obtaining the walking state of the inspection robot includes: detecting the position relationship between the inspection robot and the single track through a distance sensor, thereby obtaining the walking position of the inspection robot; detecting the posture information of the inspection robot through a posture detection device, thereby obtaining the walking posture of the inspection robot.

[0017] As an optional method, the walking drive module and the steering drive module are controlled to operate so that the walking wheels remain on the top surface of the single track, including: judging whether the inspection robot deviates from the center line of the single track according to the walking position of the inspection robot, and making the projection point of the center of gravity of the inspection robot 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 inspection robot, and adjusting the power by controlling the walking drive module and the steering drive module so that the inspection robot passes through the track switch area smoothly; judging whether the inspection robot enters the track curve area according to the walking posture of the inspection robot, and making the inspection robot pass through the track curve area smoothly by controlling the walking drive module and the steering drive module.

[0018] As an optional method, the position of the contact line is obtained, the distance between the contact line and the contact network detection device is calculated, and the geometric parameter values ​​of the contact network are obtained, including: a non-contact detection module detects the position of the contact line and sends it to a processing and control center, and the processing and control center calculates the distance between the contact line and the non-contact detection module to obtain the geometric parameter values ​​of the contact network.

[0019] As an optional method, the position of the contact line is obtained, the distance between the contact line and the contact network detection device is calculated, and the geometric parameter values ​​of the contact network are obtained. It also includes: the processing control center obtains data from the track detection device and the attitude detection device and corrects the geometric parameter values ​​of the contact network in real time to obtain high-precision detection data.

[0020] The beneficial effects of the present invention are:

[0021] The present invention provides a single-track inspection robot, the walking device can drive the inspection robot to walk smoothly on the single track, and the inspection robot can automatically and continuously track and measure the geometric parameters of the contact network, which greatly improves the detection efficiency and detection accuracy, and also greatly reduces the labor of the detection personnel, further improving the work efficiency. The present invention also provides a processing and control method for a single-track inspection robot, the inspection robot continuously measures the geometric parameters of the contact network through the contact network detection device during the walking process, when the position detection device detects that the position of the chassis on the single track changes, the processing control center controls the steering drive module to perform appropriate steering to adjust the position of the driving wheel, to ensure that the driving wheel and the driven wheel can walk stably on the single track, and prevent the inspection robot from derailing. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of a single-track inspection robot provided by the present invention;

[0023] Figure 2 It is a front structural schematic diagram of a walking device in a single-track inspection robot provided by the present invention;

[0024] Figure 3 It is a schematic diagram of the back structure of a walking device in a single-track inspection robot provided by the present invention;

[0025] Figure 4 It is a structural schematic diagram of a walking drive module and a steering drive module in a single-track inspection robot provided by the present invention;

[0026] Figure 5 It is a processing control block diagram of a single track inspection robot provided by the present invention;

[0027] In the figure: 1-machine body; 2-contact network detection device; 3-position detection device; 4-underframe; 5-driving wheel; 6-driven wheel; 7-travel drive module; 8-steering drive module; 9-processing control center; 10-drive motor; 11-steering drive motor; 12-bogie; 13-front fork lever; 14-track detection device; 15-operation status acquisition device; 16-wireless communication device; 17-alarm device; 18-gyro balancing device; 19-attitude detection device; 20-monitoring service mobile terminal; 21-power supply device; 22-display device; 23-travel device; 24-image detection device. DETAILED DESCRIPTION

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] like Figure 1 As shown, this embodiment provides a single track inspection robot, including a body 1, wherein the body 1 is provided with a walking device 23, a contact network detection device 2, a position detection device 3 and a processing control center 9, wherein the walking device 23 is arranged at the bottom of the body 1, and is used to drive the body 1 to walk along the single track. The contact network detection device 2 is arranged at the top of the body 1, and is used to detect the geometric parameters of the contact network, specifically including the conduction height and pull-out value of the contact line of the contact network. The position detection device 3 is arranged on the surface of the body 1, and is used to detect the positional relationship between the body 1 and the single track.

[0035] like Figure 2 and Figure 3 As shown, the walking device 23 includes a chassis 4, and the chassis 4 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 5 and a driven wheel 6. The driving wheel 5 is equipped with a walking drive module 7 and a steering drive module 8. There is a certain distance between the driving wheel 5 and the driven wheel 6. The center of gravity of the entire inspection robot is close to the center of the chassis 4, which is conducive to the inspection robot crossing the track switch area. The walking drive module 7 drives the driving wheel 5 to operate, and the driving wheel 5 and the driven wheel 6 both roll on the surface of the single track to realize the walking function of the inspection robot. When the track is in a curve area, the steering drive module 8 drives the driving wheel 5 to turn to ensure that the driving wheel 5 and the driven wheel 6 can walk along the single track.

[0036] The processing control center 9 is connected to the contact network detection device 2, the position detection device 3, the walking drive module 7 and the steering drive module 8 respectively. The position detection device 3 is used to detect the position relationship between the body 1 and the single track. The processing control center 9 controls the walking drive module 7 and the steering drive module 8 to operate according to the detection information of the position detection device 3, so that the driving wheel 5 and the driven wheel 6 keep walking on the top surface of the single track. The present invention provides a single track inspection robot, the walking drive module 7 can drive the inspection robot to walk on the single track, and the inspection robot can automatically and continuously track and measure the geometric parameters of the contact network, which greatly improves the detection efficiency and detection accuracy, and also greatly reduces the labor of the detection personnel, further improving the work efficiency.

[0037] The contact network detection device 2 can be a camera, or a laser distance sensor, a laser radar, an ultrasonic distance sensor, etc., which can detect the contact network geometric parameter information such as the contact network conduction height and the pull-out value. Specifically, the contact network detection device 2 includes a non-contact detection module, which can be a laser detection module or a camera detection module. The laser detection module or the camera detection module is used for the inspection robot to detect the position of the contact line during the walking process and send it to the processing control center 9. The processing control center 9 calculates the distance between the contact line and the laser detection module or the camera detection module to obtain the conduction height and the pull-out value of the contact line; preferably, in order to improve the detection accuracy of the inspection robot during the walking process, the processing control center 9 controls the walking drive module 7 and the steering drive module 8 to operate, so that the center of gravity projection point of the inspection robot is located on the center line of the single track during the walking of the driving wheel 5 and the driven wheel 6 on the top surface of the single track. The inspection robot does not deviate, which can improve the detection accuracy of the contact network detection device 2.

[0038] In some embodiments, the position detection device 3 includes a distance sensor, which is connected to the processing control center 9 and is used to detect the positional relationship between the body 1 and the single track. When the driving wheel 5 deviates, the processing control center 9 controls the steering drive module 8 to make the driving wheel 5 turn in real time, so that the center of gravity projection point of the inspection robot is located on the center line of the single track, so that the inspection robot can walk stably.

[0039] In some embodiments, the walking drive module 7 includes a driving motor 10, which is connected to the driving wheel 5. The driving motor 10 can be, but is not limited to, a hub motor, which is arranged inside the driving wheel 5. The driving motor 10 is connected to the processing control center 9, which controls the operation of the driving motor 10 in real time to achieve the walking speed control of the inspection robot. The driving wheel 5 is wrapped around the outside of the driving motor 10, and the operation of the driving motor 10 is controlled by the processing control center 9, so that the driving motor 10 drives the driving wheel 5 to rotate. This design makes the structure of the inspection robot more compact, saves space, and lowers the center of gravity of the inspection robot.

[0040] like Figure 4 As shown, in some embodiments, the steering drive module 8 includes a steering drive motor 11, the steering drive motor 11 is equipped with a bogie 12 connected to the chassis 4, the output end of the steering drive motor 11 is connected to a front fork lever 13, the driving wheel 5 is fixedly connected to the front fork lever 13, and the front fork lever 13 is rotatably connected to the bogie 12. The steering drive motor 11 is connected to the processing control center 9, and the processing control center 9 dynamically adjusts the operating state of the steering drive motor 11 in real time, corrects the walking direction of the driving wheel 5, realizes high-precision steering, and ensures that the driving wheel 5 and the driven wheel 6 can keep walking on the top surface of the single track.

[0041] In some embodiments, a driving wheel 5 and three driven wheels 6 are provided on the base frame 4, and the driving wheel 5 and the three driven wheels 6 are arranged in a single row, and the median vertical plane of the driving wheel 5 rotating shaft and the median vertical plane of the driven wheel 6 rotating shaft are coplanar. During walking, the driving wheel 5 and the three driven wheels 6 are in contact with the surface of the single track. The use of this unique design ensures that the inspection robot 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 always fall within 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.

[0042] In some embodiments, the walking wheels may also be provided in other ways, such as by designing two driving wheels 2 or a plurality of driving wheels 2. The present invention ensures the stability of the automatic movement of the inspection robot through the design of a driving wheel 5 and three driven wheels 6; when the inspection robot crosses the track switch area, there are always enough driven wheels 6 to maintain contact with the track surface, ensuring that the center of gravity of the inspection robot does not shift when crossing the track switch area, thereby allowing the inspection robot to smoothly cross the track switch area (i.e., without getting stuck); the driving wheel 5 moves smoothly along the single track, ensuring the correctness of the travel track when crossing the track switch area (i.e., without going off track).

[0043] like Figure 5 As shown, in some embodiments, the inspection robot also includes a power supply device 21, a track detection device 14, a running state acquisition device 15, a wireless communication device 16, an alarm device 17, a gyro balance device 18, a posture detection device 19, a power supply device 21, a display device 22 and an image detection device 24, and the processing control center 9 is connected to the power supply device 21, the display device 22, the track detection device 14, the running state acquisition device 15, the wireless communication device 16, the alarm device 17, the gyro balance device 18 and the posture detection device 19 respectively. The wireless communication device 16 can use a Bluetooth module, a 3G module, a 4G module, a 5G module or a WIFI module to realize the wireless communication function. When the inspection robot tilts, the gyro balance device 18 is used to correct the balance of the inspection robot. The posture detection device 19 can detect the walking posture of the walking device 23 in real time. When the inspection robot enters the track curve area, the processing control center 9 controls the steering drive module 8 to operate to make the inspection robot turn. The wireless communication device 16 is connected to a monitoring service mobile terminal 20; the track detection device 14 is used to detect the geometric parameters of the track and can correct the geometric parameters of the contact network; the operation status acquisition device 15 is used to collect and process the operation status information of the inspection robot in real time, and display it through the display device 22, or send it to the monitoring service mobile terminal 20 through the wireless communication device 16, and the monitoring service mobile terminal 20 monitors the operation status information of the inspection robot in real time; the image detection device 24 is used for collecting and detecting contact network image information and track image information, and can analyze the corresponding image defect information through the image information.

[0044] The monitoring service mobile terminal 20 has a built-in database to store detection data and analysis reports in real time, so that data can be queried at any time to monitor the working status of the inspection robot. The alarm device 17 includes a voice alarm module and a warning light alarm module. After the running status acquisition device 15 collects data, it processes the data analysis of the control center 9 and issues a voice alarm and a warning light alarm in real time for the relevant over-limit data.

[0045] The power supply device 21 can use a high-performance polymer lithium battery. The power supply device 21 is the source of electricity required by all equipment such as the inspection robot's walking, detection, crossing the track switch area, voice alarm, data transmission, etc., to ensure the normal operation of the entire inspection robot's software and hardware. The power supply device 21 also has a charging interface for charging when the power supply is insufficient. The high-performance polymer lithium battery can be designed to be replaceable so that it can be replaced in time when needed.

[0046] The processing and control center 9 is used to send instruction tasks to the contact network detection device 2, position detection device 3, walking device 23, track detection device 14, image detection device 24, operation status acquisition device 15, wireless communication device 16, alarm device 17, gyro balancing device 18 and posture detection device 19 of the inspection robot; the walking drive module 7 and the steering drive module 8 complete tasks such as walking on a single track and crossing the track switch area according to the walking instructions of the processing and control center 9, and send the relevant data to the processing and control center 9 in real time; the monitoring service mobile terminal 20 is used to receive the relevant data sent by the processing and control center 9 through the wireless communication device 16, and store and analyze the relevant data in time.

[0047] When the inspection robot of the present invention travels on a single track, it completes the automatic continuous measurement of the geometric parameters of the contact network, the correction of the robot's walking direction, the correction of the robot's posture balance, the control of the robot crossing the track switch area, etc., thereby realizing the automatic inspection of the contact network on a single track by the inspection robot. Compared with the existing technology and devices, the inspection robot is small in size, light in weight, and has high detection accuracy. It does not require manual intervention in the detection process of the contact network, avoids the defects of low inspection efficiency and missed inspection by personnel, and improves the efficiency and accuracy of inspection.

[0048] This embodiment also provides a processing control method for a single-track inspection robot, which is applied to the above-mentioned inspection robot. The processing control method includes the following steps:

[0049] Obtaining the walking state of the inspection robot specifically includes: detecting the positional relationship between the body 1 and the single track through a distance sensor, thereby obtaining the walking position of the inspection robot on the single track; detecting the posture information of the inspection robot through a posture detection device 19, thereby obtaining the walking posture of the inspection robot.

[0050] Controlling the operation of the walking drive module 7 and the steering drive module 8 to keep the walking wheels on the top surface of the single track, specifically including: judging whether the inspection robot deviates from the center line of the single track according to the walking position of the inspection robot, and making the projection point of the center of gravity of the inspection robot located on the center line of the single track by controlling the walking drive module 7 and the steering drive module 8; judging whether the walking device 23 enters the track switch area according to the walking position of the inspection robot, and adjusting the power by controlling the walking drive module 7 and the steering drive module 8 so that the inspection robot can pass through the track switch area smoothly; judging whether the inspection robot enters the track curve area according to the walking posture of the inspection robot, and making the inspection robot pass through the track curve area smoothly by controlling the walking drive module 7 and the steering drive module 8.

[0051] The position of the contact wire is obtained, the distance between the contact wire and the contact network detection device 2 is calculated, and the contact wire conduction height and pull-out value are obtained, specifically including: during the walking process of the inspection robot, the non-contact detection module detects the position of the contact wire and sends it to the processing control center 9, and the processing control center 9 calculates the distance between the contact wire and the non-contact detection module, and obtains the geometric parameter values ​​of the contact network such as conduction height and pull-out value. During the walking process of the inspection robot, the vehicle body may tilt, the track distance may change, etc., which will affect the contact network detection device 2 to detect the geometric parameter values ​​of the contact network. In order to improve the detection accuracy, the processing control center 9 obtains the data of the track detection device 14 and the posture detection device 19 and corrects the geometric parameter values ​​of the contact network in real time to obtain high-precision detection data.

[0052] During the walking process, the inspection robot continuously measures the geometric parameters of the contact network through the contact network detection device 2. When the position detection device 3 detects that the position of the chassis 4 on the single track is offset, the processing control center 9 controls the steering drive module 8 to make appropriate steering to adjust the position of the driving wheel 5, ensuring that the driving wheel 5 and the driven wheel 6 can walk smoothly on the top surface of the single track to prevent the inspection robot from derailing.

[0053] 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 inspection robot, characterized in that: The invention comprises a machine body (1), wherein the machine body (1) is provided with a running device (23), a contact network detection device (2), a position detection device (3) and a processing control center (9), wherein the running device (23) comprises a base frame (4), wherein the base frame (4) is provided with at least two running wheels, wherein the running wheels are provided with a running drive module (7) and a steering drive module (8); and the processing control center (9) is respectively connected to the contact network detection device (2), the position detection device (3) and the running device (23); The position detection device (3) comprises a distance sensor, which is connected to a processing control center (9), and is used to detect the positional relationship between the body (1) and the single track, so that the center of gravity projection point of the single track inspection robot is located on the center line of the single track; the processing control center (9) controls the operation of the walking drive module (7) and the steering drive module (8) according to the detection information of the position detection device (3), so that the center of gravity projection point of the single track inspection robot is maintained on the center line of the single track when the walking wheels are walking on the top surface of the single track; The center of gravity of the single-track inspection robot is close to the center of the base frame, and the base frame (4) is provided with four running wheels, the four running wheels include a driving wheel (5) and three driven wheels (6), and the driving wheel (5) and the three driven wheels (6) are arranged in a single row, and the mid-vertical plane of the driving wheel (5) and the mid-vertical plane of the driven wheel (6) are coplanar.

2. The single-track inspection robot according to claim 1, characterized in that: The contact network detection device (2) comprises a non-contact detection module, which is used for the inspection robot to detect the position of the contact line during walking and send it to the processing control center (9). The processing control center (9) calculates the distance between the contact line and the non-contact detection module to obtain the geometric parameter value of the contact network.

3. The single track inspection robot according to claim 1, characterized in that: The travel drive module (7) comprises a drive motor (10), and the drive motor (10) is connected to the travel wheel; the steering drive module (8) comprises a steering drive motor (11), and the steering drive motor (11) is equipped with a steering frame (12) connected to the chassis (4); the output end of the steering drive motor (11) is connected to a front fork lever (13), and the travel wheel is connected to the front fork lever (13).

4. The single-track inspection robot according to claim 1, characterized in that: The single track inspection robot further comprises a track detection device (14), an operation status acquisition device (15), a wireless communication device (16), an alarm device (17), a gyro balancing device (18), a posture detection device (19), a power supply device (21), a display device (22) and an image detection device (24); the processing control center (9) is respectively connected to the track detection device (14), the operation status acquisition device (15), the wireless communication device (16), the alarm device (17), the gyro balancing device (18), the posture detection device (19), the power supply device (21) and the display device (22); the wireless communication device (16) is connected to a monitoring service mobile The mobile terminal (20) is used for detecting the geometric parameters of the track; the running status acquisition device (15) is used for real-time acquisition and processing of the running status information of the inspection robot, and displaying it through the display device (22), or sending it to the monitoring service mobile terminal (20) through the wireless communication device (16), and the monitoring service mobile terminal (20) monitors the running status information of the inspection robot in real time; the monitoring service mobile terminal (20) has a built-in database, which saves the detection data and analysis reports in real time and monitors the working status of the inspection robot; the image detection device (24) is used for collecting and detecting the contact network image information and the track image information.

5. A processing and control method for a single-track inspection robot, characterized in that: The single-track inspection robot according to any one of claims 1 to 4 comprises the following steps: Get the walking status of the inspection robot; Controlling the running of the walking drive module (7) and the steering drive module (8) to keep the walking wheels walking on the top surface of the single track, including: judging whether the inspection robot deviates from the center line of the single track according to the walking position of the inspection robot, and making the projection point of the center of gravity of the inspection robot located on the center line of the single track by controlling the walking drive module (7) and the steering drive module (8); judging whether the walking device (23) enters the track switch area according to the walking position of the inspection robot, and adjusting the power by controlling the walking drive module (7) and the steering drive module (8) to make the inspection robot pass through the track switch area smoothly; judging whether the inspection robot enters the track curve area according to the walking posture of the inspection robot, and making the inspection robot pass through the track curve area smoothly by controlling the walking drive module (7) and the steering drive module (8); The position of the contact line is obtained, the distance between the contact line and the contact network detection device (2) is calculated and processed, and the geometric parameter value of the contact network is obtained.

6. The processing and control method of the single-track inspection robot according to claim 5, characterized in that: The method comprises: obtaining the position of the contact line, calculating and processing the distance between the contact line and the contact network detection device (2), and obtaining the geometric parameter value of the contact network, including: a non-contact detection module detects the position of the contact line and sends it to a processing control center (9), and the processing control center (9) calculates the distance between the contact line and the non-contact detection module to obtain the geometric parameter value of the contact network.

7. The processing and control method of the single-track inspection robot according to claim 6, characterized in that: The method comprises obtaining the position of the contact line, calculating the distance between the contact line and the contact network detection device (2), and obtaining the geometric parameter value of the contact network. The method also comprises: a processing control center (9) obtains data of a track detection device (14) and a posture detection device (19) and corrects the geometric parameter value of the contact network in real time to obtain high-precision detection data.

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