An intelligent inspection robot for rail transit

Abstract

The present invention relates to the field of rail transit technology, and specifically discloses an intelligent inspection robot for rail transit, including a robot body and a camera, wherein the camera is arranged on the top of the robot body, and a protective mechanism and an anti-collision mechanism are respectively arranged on the top and front end of the robot body, wherein the protective mechanism includes two magnetic protective shells arranged on the top of the robot body, the two protective shells are respectively located on both sides of the camera, and the two protective shells can be connected to each other by magnetic attraction to form a protective cover body after rotating in a direction close to each other, and the two protective shells are both installed by an installation mechanism arranged on the top of the robot body. In the invention, the anti-collision mechanism can buffer and release the impact force generated by the collision when the robot body collides with other objects during the process of moving forward, thereby preventing this part of the impact force from directly acting on the robot body and causing damage to the outer shell of the robot body.

Description

Technical Field

[0001] The invention relates to an intelligent inspection robot, in particular to an intelligent inspection robot used for rail transportation, and belongs to the technical field of rail transportation. Background Art

[0002] Intelligent inspection robots are mainly used to perform inspection tasks through self-charging, path planning, autonomous navigation and positioning, image recognition and analysis, environmental perception and other high-tech technologies. Without human intervention, they can provide enterprises with equipment failure identification and automatic alarm, helping enterprises to better automate management. The use of intelligent inspection robots in the field of rail transit can use new information technology and means to realize the electronic and information-based inspection of equipment, so that equipment management personnel can use equipment inspection data to track and analyze equipment operating status and deterioration trends, know the equipment operating status, prevent equipment failures in advance, and reduce equipment failure rates and downtime events, greatly improving the level of equipment point inspection management.

[0003] During actual use of the rail transit intelligent inspection robot in the prior art, if the robot moves to a position with poor signal, the robot will lose control and collide with other objects. However, the robot in the prior art has weak anti-collision capability, especially the camera on the top of the robot is exposed. After the robot collides with other objects, the objects placed on the top of the collided object will fall down, posing a threat to the safety of the camera without any protective mechanism, and easily causing damage to the camera, resulting in the loss of robot inspection data, thereby reducing the utilization efficiency of the inspection robot. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to provide an intelligent inspection robot for rail transit.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An intelligent inspection robot for rail transit comprises a robot body and a camera, wherein the camera is arranged on the top of the robot body, and a protection mechanism and an anti-collision mechanism are respectively arranged on the top and front end of the robot body, and the protection mechanism comprises two magnetic protection shells arranged on the top of the robot body, the two protection shells are respectively located on both sides of the camera, and the two protection shells can be connected with each other by magnetic attraction after rotating in a direction close to each other to form a protection cover main body, and the two protection shells are both installed by an installation mechanism arranged on the top of the robot body.

[0007] Optionally, the inner walls of the two protective shells are both installed with return springs, and the ends of the return springs away from the protective shells are connected to the top of the robot body through a mounting piece.

[0008] Optionally, the anti-collision mechanism includes an anti-collision plate arranged at the front end of the robot body, a sleeve plate is installed at the front end of the robot body, a sliding block is provided on the outer wall of the anti-collision plate close to the sleeve plate, and the end of the movable block away from the anti-collision plate extends into the sleeve plate, and the end of the movable block located in the sleeve plate is connected to the inner wall of the sleeve plate through a first connecting spring.

[0009] Optionally, fixing rods are installed at both ends of the anti-collision plate, sleeve rods are provided on the opposite outer walls of the robot body, and a second connecting spring is installed in the sleeve rod, and one end of the fixing rod away from the anti-collision plate extends into the sleeve rod and is connected to the second connecting spring.

[0010] Optionally, a connecting rod is installed on the outer wall of the fixing rod, and a connecting rope is provided on the outer wall of the protective shell, and a connecting rope is installed on the end away from the protective shell, and the connecting rope is installed on the outer wall of the connecting rod.

[0011] Optionally, inner walls of the two protective shells are connected to soft pads, and the sides thereof away from the protective shells are provided with a wiping layer.

[0012] Optionally, the mounting mechanism includes a mounting block arranged on the top of the robot, a receiving block is arranged on the top of the mounting block, and a groove adapted to the rotating shaft of the protective shell is opened on the top of the mounting block.

[0013] Optionally, two rotating plates are symmetrically hinged on the top of the mounting block, and a wedge-shaped clamping block is provided on the side where the two rotating plates are close to each other, and the bottom surfaces of the two wedge-shaped clamping blocks are in contact with the outer wall of the rotating shaft of the protective shell, and a limiting mechanism for limiting the position of the two rotating plates is also provided on the outer wall of one side of the mounting block.

[0014] Optionally, the limiting mechanism includes a slide groove and two movable plates, and one end of the two movable plates close to the mounting block is provided with a slider slidably adapted to the slide groove, and the outer walls of the two movable plates on one side close to each other are connected by a third connecting spring.

[0015] Optionally, a plug-in rod is provided on one side of the two movable plates that are away from each other, and a slot that is plugged and matched with the plug-in rod is provided on the hinge shafts of the two rotating plates.

[0016] The beneficial effects of the present invention are:

[0017] In the invention, by setting up an anti-collision mechanism, when the robot body moves forward and collides with other objects, the anti-collision plate of the anti-collision mechanism will contact the objects first, and the anti-collision plate will be squeezed during the contact between the anti-collision plate and the objects, so that the first connecting spring in the sleeve plate and the second connecting spring in the sleeve rod are subjected to force and are in a compressed state, and the first connecting spring and the second connecting spring will buffer and release the impact force generated by the collision of the robot body and other objects during the process of being compressed, thereby avoiding this part of the impact force from directly acting on the robot body, causing damage to the outer shell of the robot body, and affecting the use of the robot body.

[0018] In the invention, a protective mechanism is set up, and when the anti-collision plate of the anti-collision mechanism collides with other objects, one end of the fixed rod can be driven to move toward the sleeve rod. When the fixed rod moves, the connecting rope on the protective shell of the protective mechanism will be separated from the connecting rod on the fixed rod, so that the two protective shells located on the top of the robot body are no longer restricted by the connecting rope. The elastic reset of the reset spring drives the two protective shells to automatically flip upward and dock to form a protective cover main body, thereby protecting the camera on the top of the robot body, thereby avoiding the situation where objects placed on top of other objects fall down and threaten the safety of the camera after the robot body collides with other objects, thereby improving the safety of the robot body during use.

[0019] In this invention, the protective shell is installed by means of a mounting mechanism arranged on the top of the robot body, so that the protective shell can be quickly installed and disassembled, and the damaged protective shell can be replaced in time, so that the protective shell can protect the camera in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0021] Figure 1 This is a schematic diagram of the overall structure of an intelligent inspection robot for rail transit proposed by the present invention;

[0022] Figure 2 for Figure 1 A schematic diagram of the structure from another angle;

[0023] Figure 3 It is a structural cross-sectional view of the robot body, sleeve plate and sleeve rod in the present invention;

[0024] Figure 4 It is a structural schematic diagram of the installation mechanism in the present invention;

[0025] Figure 5 It is a structural schematic diagram of the limiting mechanism in the present invention.

[0026] In the figure: 1. robot body; 2. camera; 3. anti-collision plate; 4. protective shell; 5. sleeve plate; 6. mounting block; 7. fixing rod; 8. sleeve rod; 9. sliding block; 10. first connecting spring; 11. cushion; 12. second connecting spring; 13. connecting rope; 14. connecting rod; 15. sleeve ring; 16. reset spring; 17. mounting piece; 18. rotating shaft; 19. rotating plate; 20. wedge-shaped block; 21. receiving block; 22. hinge shaft; 23. slot; 24. slide groove; 25. moving plate; 26. slider; 27. third connecting spring; 28. plug-in rod. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Reference Figure 1-5 An intelligent inspection robot for rail transit includes a robot body 1 and a camera 2. The camera 2 is arranged on the top of the robot body 1. The top and front end of the robot body 1 are respectively provided with a protective mechanism and an anti-collision mechanism. The protective mechanism includes two magnetic protective shells 4 arranged on the top of the robot body 1. The two protective shells 4 are respectively located on both sides of the camera 2, and the two protective shells 4 can be connected to each other by magnetic attraction to form a protective cover body after rotating in a direction close to each other. The two protective shells 4 are both installed by the installation mechanism arranged on the top of the robot body 1.

[0029] As a technical optimization solution of the present invention, the inner walls of the two protective shells 4 are both installed with a reset spring 16, and the end thereof away from the protective shell 4 is connected to the top of the robot body 1 through a mounting member 17. The two protective shells 4 of the protection mechanism can be reset by the elastic reset of the reset spring 16, and the two protective shells 4 can be connected to form a protective cover body after reset, so as to protect the camera 2 on the top of the robot body 1, and improve the safety of the camera 2 when used in the external environment.

[0030] As a technical optimization scheme of the present invention, the anti-collision mechanism includes an anti-collision plate 3 arranged at the front end of the robot body 1, a sleeve plate 5 is installed at the front end of the robot body 1, a sliding block 9 is provided on the outer wall of the anti-collision plate 3 close to the sleeve plate 5, and the end of the movable block away from the anti-collision plate 3 extends into the sleeve plate 5, and the end of the movable block located in the sleeve plate 5 is connected to the inner wall of the sleeve plate 5 through a first connecting spring 10.

[0031] As a technical optimization solution of the present invention, fixing rods 7 are installed at both ends of the anti-collision plate 3, sleeve rods 8 are provided on the opposite side outer walls of the robot body 1, and a second connecting spring 12 is installed in the sleeve rod 8, and one end of the fixing rod 7 away from the anti-collision plate 3 extends into the sleeve rod 8 and is connected to the second connecting spring 12. When the robot body 1 is in use, after it moves to a position with poor signal, since the robot body 1 is out of control, the robot body 1 will no longer move along the preset route, and will collide with other objects during the movement. The anti-collision plate 3 will contact the object first, and will squeeze the anti-collision plate 3 during the contact between the anti-collision plate 3 and the object, so that the sliding block 9 on the anti-collision plate 3 enters the sleeve plate 5 and squeezes the first connecting spring 10. When the anti-collision plate 3 is squeezed, one end of the fixed rod 7 located at both ends of the anti-collision plate 3 will move in the sleeve rod 8 and synchronously squeeze the second connecting spring 12. The first connecting spring 10 and the second connecting spring 12 will buffer and release the impact force generated by the collision between the robot body 1 and other objects during the process of being compressed, thereby avoiding damage to the outer shell of the robot body 1 and protecting the outer shell of the robot body 1.

[0032] As a technical optimization solution of the present invention, a connecting rod 14 is installed on the outer wall of the fixing rod 7, and a connecting rope 13 is provided on the outer wall of the protective shell 4. A collar 15 is installed on the end away from the protective shell 4, and the collar 15 is sleeved on the outer wall of the connecting rod 14. The two protective shells 4 of the protective mechanism can be sleeved and connected with the connecting rod 14 on the outer wall of the fixing rod 7 through the connecting rope 13 on their outer walls, so that the positions of the two protective shells 4 after flipping down can be fixed, so that the reset spring 16 is in a stretched state at this time. When the robot body 1 collides with other objects, the anti-collision plate 3 is squeezed and drives the fixing rod 7 to move toward the rear end of the robot body 1. In the process of the movement of the fixing rod 7, the connecting rod 14 on its outer wall will be driven to disengage from the collar 15 of the connecting rope 13, so that the protective shell 4 loses the limiting and fixing effect of the connection rope 13 pulling down, and the reset spring 16 elastically resets the protective shell 4 to automatically flip upward, and the two protective shells 4 move to After flipping up and connecting with each other, they can form a protective cover main body, which can provide all-round protection for the camera 2, thereby preventing objects placed on the top of the collided object from falling down and causing damage to the camera 2; and it can also be applicable to the situation that when the robot body 1 is moving, the front end of the robot body 1 collides with a pedestrian, and the pedestrian is holding a drink or other liquid in his hand. After the robot body 1 collides with the pedestrian, the pedestrian is frightened and drops the drink or other liquid in his hand. At this time, the two protective shells 4 rotate upwards and connect with each other to block the drink or other liquid in this case, thereby preventing the camera 2 from being damaged by the liquid and becoming unusable.

[0033] As a technical optimization solution of the present invention, the inner walls of the two protective shells 4 are connected with soft pads 11, and the sides away from the protective shells 4 are provided with wiping layers. When there is dirt on the lens of the camera 2, the connecting rope 13 can be manually loosened, so that the protective shell 4 rotates upward with the elastic reset of the reset spring 16. At this time, the wiping layer of the soft pad 11 inside the protective shell 4 is in friction contact with the lens of the camera 2, and the dirt on the lens is wiped off, so that the picture of the camera 2 can be kept clear at all times; and the soft pad 11 can also protect the lens of the camera 2 when the protective shell 4 rotates upward to protect the camera 2, so as to avoid the robot body 1 from tipping over when colliding with other objects, causing the camera 2 to be subjected to a large vibration in the protective shell 4, so that the lens of the camera 2 is vibrated and broken.

[0034] As a technical optimization solution of the present invention, the mounting mechanism includes a mounting block 6 arranged on the top of the robot, and a receiving block 21 is arranged on the top of the mounting block 6, and a groove adapted to the rotating shaft 18 of the protective shell 4 is opened on the top of the receiving block 21.

[0035] As a technical optimization solution of the present invention, two rotating plates 19 are symmetrically hinged on the top of the mounting block 6, and a wedge-shaped block 20 is provided on the side where the two rotating plates 19 are close to each other. The bottom surfaces of the two wedge-shaped blocks 20 are in contact with the outer wall of the rotating shaft 18 of the protective shell 4, and a limiting mechanism for limiting the position of the two rotating plates 19 is also provided on the outer wall of one side of the mounting block 6.

[0036] As a technical optimization solution of the present invention, the limiting mechanism includes a slide groove 24 and two movable plates 25. The two movable plates 25 are provided with a slider 26 that is slidably adapted to the slide groove 24 at one end close to the mounting block 6, and the outer walls of the two movable plates 25 that are close to each other are connected by a third connecting spring 27.

[0037] As a technical optimization scheme of the present invention, a plug-in rod 28 is provided on the side of the two movable plates 25 that are away from each other, and a slot 23 that is plugged in and adapted to the plug-in rod 28 is provided on the hinge shaft 22 of the two rotating plates 19. When installing the protective shell 4 on the top of the robot body 1, it is necessary to place the rotating shaft 18 of the protective shell 4 above the two rotating plates 19, and then press the protective shell 4 downward so that the rotating shaft 18 of the protective shell 4 passes through the arc surface at the top of the two wedge-shaped blocks 20 and enters the groove at the top of the receiving block 21, and then the reset spring 16 on the inner wall of the protective shell 4 is installed on the top of the robot body 1 through the mounting piece 17. At this time, the installation of the protective shell 4 is completed, which facilitates the rotation of the protective shell 4; and when the protective shell 4 is damaged by falling objects and needs to be replaced, through Manual pressure is applied to the two movable plates 25, causing the two movable plates 25 to be forced to move toward each other, so that the third connecting spring 27 is forced to be in a compressed state, and drives the connecting rod 28 on the side of the two movable plates 25 away from each other to leave the slot 23 on the two hinge shafts 22, so that the two rotating plates 19 are free from restrictions and can rotate in the direction away from each other. After the two rotating plates 19 rotate in the direction away from each other, the wedge-shaped block 20 on the side of the two rotating plates 19 approaching each other no longer limits the rotating shaft 18 of the protective shell 4, and the protective shell 4 can be freely taken out for replacement.

[0038] In the present invention, when the user uses the device, after the robot body 1 moves to a position with poor signal, since the robot body 1 is out of control, the robot body 1 will no longer move along the preset route, and will collide with other objects during the movement. The anti-collision plate 3 will preferentially contact the objects, so that the first connecting spring 10 and the second connecting spring 12 will buffer and release the impact force generated by the collision between the robot body 1 and other objects during the process of being compressed, thereby avoiding damage to the outer shell of the robot body 1 and protecting the outer shell of the robot body 1.

[0039] At the same time, when there are other objects placed on top of the object that the robot body 1 collides with during its forward movement, the anti-collision plate 3 is squeezed and drives the fixing rod 7 to move toward the rear end of the robot body 1, so that the connecting rope 13 on the outer wall of the protective shell 4 falls off from the connecting rod 14, so that the two protective shells 4 automatically flip upwards and dock to form a protective cover body, providing all-round protection for the camera 2, thereby preventing objects placed on the top of the collided object from falling down and causing damage to the camera 2.

[0040] And when the protective shell 4 is damaged by falling objects and needs to be replaced, pressure is manually applied to the two movable plates 25 to cause the two movable plates 25 to move toward each other, driving the connecting rods 28 on the side where the two movable plates 25 are away from each other to leave the slots 23 on the two hinge shafts 22, so that the two rotating plates 19 are no longer restricted, so that the rotating shaft 18 of the protective shell 4 will no longer be limited by the wedge-shaped block 20, and the protective shell 4 can be freely taken out for replacement, so that the protective shell 4 can protect the camera 2 in time when it is in danger, avoiding many adverse effects caused by its damage.

[0041] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An intelligent inspection robot for rail transit, comprising a robot body (1) and a camera (2), wherein the camera (2) is arranged on the top of the robot body (1), and is characterized in that: The top and front end of the robot body (1) are respectively provided with a protective mechanism and an anti-collision mechanism, the protective mechanism comprising two magnetic protective shells (4) arranged on the top of the robot body (1), the two protective shells (4) are respectively located on both sides of the camera (2), and the two protective shells (4) can be connected to each other by magnetic attraction to form a protective cover body after rotating in a direction close to each other, and the two protective shells (4) are both installed through the installation mechanism arranged on the top of the robot body (1); The inner walls of the two protective shells (4) are both equipped with a return spring (16), and one end of the return spring away from the protective shell (4) is connected to the top of the robot body (1) through a mounting member (17); The anti-collision mechanism comprises an anti-collision plate (3) arranged at the front end of the robot body (1); a sleeve plate (5) is installed at the front end of the robot body (1); a sliding block (9) is arranged on the outer wall of the anti-collision plate (3) close to the sleeve plate (5); and an end of the sliding block (9) away from the anti-collision plate (3) extends into the sleeve plate (5); and an end of the sliding block (9) located in the sleeve plate (5) is connected to the inner wall of the sleeve plate (5) through a first connecting spring (10); Both ends of the anti-collision plate (3) are equipped with fixing rods (7), both opposite outer walls of the robot body (1) are equipped with sleeve rods (8), and a second connecting spring (12) is installed in the sleeve rod (8), and one end of the fixing rod (7) away from the anti-collision plate (3) extends into the sleeve rod (8) and is connected to the second connecting spring (12); The outer wall of the fixing rod (7) is provided with a connecting rod (14), and the outer wall of the protective shell (4) is provided with a connecting rope (13), the end of which is away from the protective shell (4) is provided with a sleeve (15), and the sleeve (15) is sleeved on the outer wall of the connecting rod (14).

2. The intelligent inspection robot for rail transit according to claim 1, characterized in that: The inner walls of the two protective shells (4) are both connected with soft pads (11), and the sides thereof away from the protective shells (4) are both provided with a wiping layer.

3. The intelligent inspection robot for rail transit according to claim 1, characterized in that: The mounting mechanism comprises a mounting block (6) arranged on the top of the robot, a receiving block (21) is arranged on the top of the mounting block (6), and a groove matching the rotating shaft (18) of the protective shell (4) is opened on the top of the mounting block (6).

4. The intelligent inspection robot for rail transit according to claim 3, characterized in that: The top of the mounting block (6) is symmetrically hinged with two rotating plates (19), and a wedge-shaped clamping block (20) is provided on the side where the two rotating plates (19) are close to each other, and the bottom surfaces of the two wedge-shaped clamping blocks (20) are in contact with the outer wall of the rotating shaft (18) of the protective shell (4), and a limiting mechanism for limiting the position of the two rotating plates (19) is also provided on the outer wall of one side of the mounting block (6).

5. The intelligent inspection robot for rail transit according to claim 4, characterized in that: The limiting mechanism comprises a slide groove (24) and two movable plates (25), and one end of the two movable plates (25) close to the mounting block (6) is provided with a slider (26) slidably adapted to the slide groove (24), and the outer walls of the two movable plates (25) close to each other are connected by a third connecting spring (27).

6. The intelligent inspection robot for rail transit according to claim 5, characterized in that: A plug-in rod (28) is provided on the side of the two movable plates (25) that is away from each other, and a slot (23) that is plugged and matched with the plug-in rod (28) is provided on the hinge shafts (22) of the two rotating plates (19).

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