A highway inspection robot

Abstract

The embodiment of the application relates to a highway inspection robot, which comprises a robot main body, a driving device, a first guiding device, a second guiding device and a camera device; the driving device is used for driving the inspection robot to move along a highway guardrail at a predetermined speed and direction; the first guiding device is used for guiding the inspection robot to move along the highway guardrail; the second guiding device is used for guiding the inspection robot to move along the lower edge of the highway guardrail; and the camera device is used for monitoring the road conditions of the inspected highway in real time. The highway inspection robot provided by the embodiment of the application realizes elastic contact with the contact part of the guardrail, solves the problem of large overall vibration of the existing inspection robot, solves the problem of unclearness in the camera process due to vibration, and the damping effect can be adjusted according to actual use, and the flexibility is high.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the technical field of expressway monitoring, in particular to an expressway inspection robot. BACKGROUND

[0002] With the rapid development of expressways, expressway accidents are increasing; timely cleaning of abnormal road conditions of the expressway is an important measure to reduce or avoid safety hazards. At present, the expressway monitoring is mainly manual inspection, which has low work efficiency, high labor intensity and great safety hazards; dense cameras can also be arranged on the expressway to monitor the road conditions, and the abnormal conditions are handled by special personnel, but the installation and maintenance costs are relatively high. Therefore, it is urgent to provide a device capable of automatically inspecting the road conditions of the expressway. SUMMARY

[0003] Based on the above situation of the prior art, the purpose of the embodiment of the present application is to provide an expressway inspection robot which can effectively monitor the road conditions of the expressway.

[0004] To achieve the above purpose, according to one aspect of the present application, an expressway inspection robot is provided, comprising a robot main body, a driving device, a first guide device, a second guide device and a camera device;

[0005] The robot main body bears and connects the driving device, the first guide device, the second guide device and the camera device;

[0006] The driving device is fixedly connected with the robot main body through a first damping mechanism, and is used to drive the inspection robot to move along the expressway guardrail at a predetermined speed and direction;

[0007] The first guide device is arranged on the lower side of the connecting surface between the robot main body and the upper part of the expressway guardrail, and is used to guide the inspection robot to move along the expressway guardrail;

[0008] The second guide device is arranged on the connecting surface between the robot main body and the side surface of the expressway guardrail, and is used to guide the inspection robot to move along the lower edge of the expressway guardrail;

[0009] The camera device is arranged on the upper part of the robot main body and is fixedly connected with the robot main body through a second damping mechanism, and is used to monitor the road conditions of the inspected expressway in real time.

[0010] Further, the first damping mechanism comprises a connecting frame, a pin shaft, a swing rod, a damping spring and a spring fixing sleeve; wherein,

[0011] The connecting frame comprises a "π" type structure composed of a flat upper part and two long lower parts, the upper part is fixedly connected with the robot body, and the lower parts are respectively hingedly connected with one end of the two swing rods;

[0012] The other end of the two swing rods is connected with the driving wheel and the spring fixing sleeve in the driving device through a shaft;

[0013] One end of the damping spring is fixedly connected with the connecting frame, and the other end is fixed in the spring fixing sleeve; the connecting frame, the swing rod and the damping spring form a triangular structure.

[0014] Further, the first guide device comprises a base, an upper guide wheel assembly and a connecting spring assembly; wherein,

[0015] The base is fixedly connected with the robot body, one end of the base is hingedly connected with one end of the upper guide wheel assembly, and the other end is connected with the other end of the upper guide wheel assembly through the connecting spring assembly;

[0016] The base, the upper guide wheel assembly and the connecting spring assembly form a force triangle.

[0017] Further, the upper guide wheel assembly comprises a guide wheel frame and a guide wheel;

[0018] The guide wheel is connected to the inside of the guide wheel frame through a pin shaft;

[0019] The end of the guide wheel frame is provided with an arc-shaped surface transition, so that the guide wheel smoothly passes through the two guardrail connecting joints.

[0020] Further, the second guide device comprises a support, a first spring assembly and a first guide wheel assembly, and a second spring assembly and a second guide wheel assembly; wherein,

[0021] The upper part of the support is fixedly connected with the robot body;

[0022] The lower part of the support symmetrically arranges the first spring assembly and the second spring assembly, the first guide wheel assembly is connected to one end of the first spring assembly away from the support, and the second guide wheel assembly is connected to one end of the second spring assembly away from the support.

[0023] Further, the first spring assembly comprises a first spring, a first connecting sleeve, a first connecting shaft and a first L plate; the second spring assembly comprises a second spring, a second connecting sleeve, a second connecting shaft and a second L plate; wherein,

[0024] One end of the first L plate is hingedly connected with the first side of the support through a pin shaft, and the other end is fixedly connected with the first guide wheel assembly through the first connecting shaft and one end of the first spring;

[0025] One end of the second L plate is hinged to the second side of the support via a pin, and is connected to one end of the second spring via a second connecting shaft, while the other end is fixed to the second guide wheel assembly;

[0026] The other end of the first spring is inserted into the first connecting sleeve and hinged to the second side of the support through the first connecting sleeve; the other end of the second spring is inserted into the second connecting sleeve and hinged to the first side of the support through the second connecting sleeve.

[0027] Furthermore, the camera device includes a second shock absorption mechanism, an angle adjustment mechanism, and a camera; wherein,

[0028] The second shock absorption mechanism is fixed to the upper part of the robot body via a base;

[0029] An angle adjustment mechanism is provided at the upper part of the second shock absorption mechanism;

[0030] The camera is mounted on an angle adjustment mechanism, and the angle of the camera is adjusted by the angle adjustment mechanism.

[0031] Furthermore, the second shock absorption mechanism includes a top frame, a base, a tension spring, a compression spring, an adjusting sleeve, a guide rod, and four linkage assemblies; wherein,

[0032] One end of each of the four connecting rod assemblies is respectively located at the four corners of the base, and the other end is connected to the four corners of the top frame;

[0033] The two ends of the tension spring are respectively connected to the base and the top frame via tension spring adjusting rods;

[0034] The tension spring adjusting rod is provided with multiple connecting holes at different positions, and the tension spring adjusts the magnitude of the tension force by connecting to different connecting holes;

[0035] One end of the compression spring is inserted into the sleeve of the adjusting sleeve and is compressibly connected to the base through the adjusting sleeve. The other end is inserted into the guide rod and is connected to the top frame through the guide rod.

[0036] Furthermore, each of the link assemblies includes a first link and a second link, which are hinged together by a pin.

[0037] In summary, the embodiment of the present application provides a highway inspection robot, which comprises a robot main body, a driving device, a first guiding device, a second guiding device and a camera device; the robot main body bears and connects the driving device, the first guiding device, the second guiding device and the camera device; the driving device is fixedly connected with the robot main body through a first damping mechanism and is used for driving the inspection robot to move along the highway guardrail at a predetermined speed and direction; the first guiding device is arranged on the lower side of the connecting surface between the robot main body and the upper part of the highway guardrail and is used for guiding the inspection robot to move along the highway guardrail; the second guiding device is arranged on the connecting surface between the robot main body and the side surface of the highway guardrail and is used for guiding the inspection robot to move along the lower edge of the highway guardrail; and the camera device is arranged on the upper part of the robot main body and is fixedly connected with the robot main body through a second damping mechanism and is used for monitoring the road condition of the inspected highway in real time. The highway inspection robot provided by the embodiment of the present application realizes the elastic contact with the contact part of the guardrail through the design of the guiding device, solves the problem of large overall vibration of the existing inspection robot, avoids the interference with the middle reflective plate of the guardrail, sets the damping mechanism between the camera device and the driving device and the robot main body, solves the problem of unclearness in the camera process due to vibration, the damping effect can be adjusted according to the actual use condition, and the flexibility is high. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is the overall structure schematic diagram of the highway inspection robot provided by the embodiment of the present application;

[0039] Figure 2 is the working condition schematic diagram of the highway inspection robot provided by the embodiment of the present application when monitoring the road condition of the highway;

[0040] Figure 3 is the overall structure schematic diagram of the robot main body provided by the embodiment of the present application;

[0041] Figure 4 is the overall structure schematic diagram of the driving device provided by the embodiment of the present application;

[0042] Figure 5 is the overall structure schematic diagram of the damping spring provided by the embodiment of the present application;

[0043] Figure 6 is the overall structure schematic diagram of the first guiding device provided by the embodiment of the present application;

[0044] Figure 7 is the overall structure schematic diagram of the upper guide wheel assembly provided by the embodiment of the present application;

[0045] Figure 8Is the overall structure schematic diagram of the connecting spring assembly provided by the embodiment of the application;

[0046] Figure 9 Is the overall structure schematic diagram of the second guide device provided by the embodiment of the application;

[0047] Figure 10 Is the overall structure schematic diagram of the spring assembly provided by the embodiment of the application;

[0048] Figure 11 Is the overall structure schematic diagram of the lower guide wheel assembly provided by the embodiment of the application;

[0049] Figure 12 Is the overall structure schematic diagram of the camera device provided by the embodiment of the application;

[0050] Figure 13 Is the overall structure schematic diagram of the second damping mechanism provided by the embodiment of the application;

[0051] Figure 14 Is the structure schematic diagram of the second damping mechanism without installing the connecting rod assembly provided by the embodiment of the application Figure 1 ;

[0052] Figure 15 Is the structure schematic diagram of the second damping mechanism without installing the connecting rod assembly provided by the embodiment of the application Figure 2 ;

[0053] Figure 16 Is the overall structure schematic diagram of the connecting rod assembly provided by the embodiment of the application;

[0054] Figure 17 Is the overall structure schematic diagram of the angle adjusting mechanism provided by the embodiment of the application.

[0055] Explanation of reference numerals: 1 - robot main body; 2 - driving device; 3 - first guide device; 4 - second guide device; 5 - camera device; 6 - highway guardrail; 11 - box; 12 - door; 13 - shield; 21 - connecting frame; 22 - pin shaft, 23 - swing lever, 24 - damping spring, 25 - spring fixing sleeve; 26 - driving wheel; 241 - first connecting plate; 242 - second connecting plate; 243 - spring main body; 31 - base; 32 - upper guide wheel assembly; 33 - first pin shaft; 34 - connecting spring assembly; 35 - second pin shaft; 36 - third pin shaft; 321 - guide wheel frame; 322 - guide wheel; 323 - guide wheel pin shaft; 324 - arc surface; 341 - first connecting piece; 342 - connecting spring; 343 - second connecting piece; 41 - support; 42 - pin shaft; 43 - spring assembly; 44 - lower guide wheel assembly; 431 - connecting sleeve; 432 - spring; 433 - connecting shaft; 434 - pin shaft; 435 - L plate; 441 - bracket; 442 - shaft; 443 - guide wheel; 51 - second damping mechanism; 52 - angle adjustment mechanism; 53 - camera; 511 - base; 512 - first pin shaft; 513 - link assembly; 514 - second pin shaft; 515 - top frame; 516 - tension spring; 517 - compression spring; 511a - base main body; 511b - ear plate; 511c - tension spring adjustment lever; 511d - lock nut 511d; 511e - adjustment sleeve; 511f - lock nut; 515a - upper plate; 515b - ear plate; 515c - tension spring adjustment lever; 515d - lock nut; 515e - guide rod; 513a - first link; 513b - pin shaft; 513c - second link; 521 - bracket; 522 - gland; 523 - gland seat; 524 - rubber pad; 521a - support; 521b - shaft; 523 - gland seat; 523a - semicircular block; 523b - bottom plate. DETAILED DESCRIPTION

[0056] In order to make the objectives, technical solutions, and advantages of the present application clearer, further detailed description will be made to the present application with reference to the specific embodiments and the accompanying drawings. It should be understood that these descriptions are only exemplary, and are not intended to limit the scope of the present application. In addition, in the following description, the description of the well-known structures and technologies will be omitted to avoid unnecessary confusion of the concept of the present application.

[0057] It should be noted that the technical terms or scientific terms used in one or more embodiments of the present application should be understood as the general meaning understood by those skilled in the art of the present application unless otherwise defined. The terms "first", "second" and the like used in one or more embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. The terms "include" or "contain" and the like mean that the elements or objects before the terms cover the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connected" or "connected" and the like are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to represent relative positional relationships, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0058] The technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The embodiments of the present application provide a highway inspection robot, Figure 1 The overall structure of the highway inspection robot provided by the embodiments of the present application is shown, Figure 2 The working condition of the highway inspection robot provided by the embodiments of the present application when monitoring the road conditions of the highway is shown, as Figure 1 And Figure 2 The highway inspection robot includes a robot body 1, a driving device 2, a first guide device 3, a second guide device 4 and a camera device 5. The robot body 1 carries and connects the driving device 2, the first guide device 3, the second guide device 4 and the camera device 5; the driving device 2 is fixedly connected with the robot body 1 through a first damping mechanism, and is used to drive the inspection robot to move along the highway guardrail 6 at a predetermined speed and direction; the first guide device 3 is arranged on the lower side of the connecting surface between the robot body 1 and the upper part of the highway guardrail 6, and is used to guide the inspection robot to move along the highway guardrail 6; the second guide device 4 is arranged on the connecting surface between the robot body 1 and the side surface of the highway guardrail 6, and is used to guide the inspection robot to move along the lower edge of the highway guardrail 6; the camera device 5 is arranged on the upper part of the robot body 1 and is fixedly connected with the robot body 1 through a second damping mechanism, and is used to monitor the road conditions of the inspected highway in real time.

[0059] Figure 3 The overall structure of the robot body provided by the embodiments of the present application is shown, Figure 3As shown in the figure, the robot body 1 comprises a box body 11, a door 12 and a shield 13; the box body 11 is an inner empty structure, in which electrical elements, batteries and the like can be placed; the shield 13 can surround the driving device 2, the first guiding device 3 and the second guiding device 4, and effectively protect them.

[0060] Figure 4 As shown in the figure, the driving device 2 is used for driving the inspection robot to move along the highway guardrail 6 according to a predetermined speed and direction. Figure 4 As shown in the figure, the driving device 2 is used for driving the inspection robot to move along the highway guardrail 6 according to a predetermined speed and direction. The driving device 2 comprises a driving wheel 26, which is fixedly connected to the robot body 1 through a first damping mechanism, and a group of driving devices 2 and first damping mechanisms are arranged at both ends of the lower side of the box body 11. The first damping mechanism comprises a connecting frame 21, a pin shaft 22, a swing rod 23, a damping spring 24 and a spring fixing sleeve 25; the connecting frame 21 is fixed to the lower side of the box body 11, the swing rod 23 is hingedly connected to the connecting frame 21 through the pin shaft 22 at one end hole, and the other end hole of the swing rod 23 is fixed by the shaft of the driving wheel 26. The connecting frame 21 comprises a "π" type structure composed of a flat upper part and two long lower parts, the upper part is fixedly connected to the robot body 1, and the lower parts are respectively hingedly connected to one end of the two swing rods 23; the other ends of the two swing rods 23 are connected to the driving wheel 26 and the spring fixing sleeve 25 in the driving device 2 through the shaft, and the shaft of the driving wheel 26 is hingedly connected to the lower end hole of the spring fixing sleeve 25 at the same time; one end of the damping spring 24 is fixedly connected to the connecting frame 21, and the other end is fixed in the spring fixing sleeve 25; the connecting frame 21, the swing rod 23 and the damping spring 24 form a triangular structure, and when the driving wheel 26 vibrates during walking, the damping spring 24 can better alleviate the vibration of the robot body 1 caused thereby. Figure 5 As shown in the figure, the driving device 2 is used for driving the inspection robot to move along the highway guardrail 6 according to a predetermined speed and direction. Figure 5 As shown in the figure, the damping spring 24 comprises a first connecting plate 241, a second connecting plate 242 and a spring main body 243; the first connecting plate 241 and the second connecting plate 242 are fixed at both ends of the spring 243, and are used for connecting the damping spring 24 with the connecting frame 21 and the spring fixing sleeve 25.

[0061] Figure 6 As shown in the figure, the driving device 2 is used for driving the inspection robot to move along the highway guardrail 6 according to a predetermined speed and direction. Figure 6As shown, the first guide device 3 is arranged on the upper part of the robot body 1 near one side of the highway guardrail 6, for guiding the inspection robot to move along the highway guardrail. The first guide device 3 comprises a base 31, an upper guide wheel assembly 32, a first pin shaft 33, a connecting spring assembly 34, a second pin shaft 35 and a third pin shaft 36, the base 31 is fixedly connected with the robot body 1, one end of the base 31 is hingedly connected with one end of the upper guide wheel assembly 32 through the first pin shaft 33, and the other end of the base 31 is connected with the other end of the upper guide wheel assembly 32 through the second pin shaft 35 via the connecting spring assembly 34; the base 31, the upper guide wheel assembly 32 and the connecting spring assembly 34 form a force triangle, when the guide wheel 322 of the upper guide wheel assembly 32 is subjected to vibration, the connecting spring assembly 34 can absorb the vibration energy, thereby reducing the influence on the robot host. Figure 7 As shown in the overall structural schematic diagram of the upper guide wheel assembly provided by the embodiment of the application, Figure 7 As shown, the upper guide wheel assembly 32 comprises a guide wheel frame 321, a guide wheel 322 and a guide wheel pin shaft 323, the upper guide wheel assembly 32 is directly clamped on the inner side of the upper edge of the highway guardrail 6, so that the robot body 1 can walk along the track of the highway guardrail 6, the guide wheel 322 is connected through a bearing and the guide wheel pin shaft 323, and the guide wheel pin shaft 323 passes through the guide wheel frame 321 at both ends; wherein the end of the guide wheel frame 321 has an arc surface 324 transition, which can make the guide wheel 322 smoothly pass through the connecting joint of the two guardrails. Figure 8 As shown in the overall structural schematic diagram of the connecting spring assembly provided by the embodiment of the application, Figure 8 As shown, the connecting spring assembly 34 comprises a first connecting piece 341, a connecting spring 342 and a second connecting piece 343, the first connecting piece 341 is hingedly connected through the second pin shaft 35 and the base 31, the second connecting piece 343 is hingedly connected through the third pin shaft 36 and the guide wheel frame 321, the end of the first connecting piece 341 has a deep hole, and one end of the connecting spring 342 can be placed in the deep hole; the end of the second connecting piece 343 has a cylinder which can be inserted into the hole of the connecting spring 342, and the cylinder plays a guiding role on the connecting spring 342.

[0062] Figure 9 As shown in the overall structural schematic diagram of the second guide device provided by the embodiment of the application, the second guide device 4 mainly has an auxiliary supporting effect on the robot body 1, and is arranged on the lower side of the robot body 1 near one side of the highway guardrail 6, and leans on the lower side of the two-wave guardrail to walk. As shown in Figure 9As shown, the second guiding device 4 comprises a support 41, a pin shaft 42, a spring assembly 43 and a lower guide wheel assembly 44, wherein the spring assembly 43 comprises a first spring assembly and a second spring assembly, and the lower guide wheel assembly 44 comprises a first guide wheel assembly and a second guide wheel assembly. The support 41 is used to fix the second guiding device 4 at the lower edge of the box body 11, the spring assembly 43 is hinged to the support 41 through the pin shaft 42, and the lower guide wheel assembly 44 is fixed at one end of the spring assembly 43; when the lower guide wheel assembly 44 passes through a bumpy guardrail joint, the spring assembly 43 can slow down the vibration of the main body. The lower part of the support 41 is symmetrically arranged with the first spring assembly and the second spring assembly, the first guide wheel assembly is connected to one end of the first spring assembly away from the support 41, and the second guide wheel assembly is connected to one end of the second spring assembly away from the support 41. Figure 10 As shown in the overall structural schematic diagram of the spring assembly provided by the embodiment of the application, Figure 10 As shown, each spring assembly comprises a connecting sleeve 431, a spring 432, a connecting shaft 433, a pin shaft 434 and an L-shaped plate 435, wherein the first spring assembly comprises a first spring, a first connecting sleeve, a first connecting shaft and a first L-shaped plate; and the second spring assembly comprises a second spring, a second connecting sleeve, a second connecting shaft and a second L-shaped plate. The first spring assembly and the second spring assembly are symmetrically arranged on both sides of the support 41, for example, the first spring assembly is arranged on the left side of the support 41, and the second spring assembly is arranged on the right side of the support 41. The right side L-shaped plate 435 is hinged to the right side hole of the support 41 through the right side pin shaft 42, one end of the right side L-shaped plate 435 is fixed to the right guide wheel assembly 44, the other end is hinged through the right side pin shaft 434 and the right side connecting shaft 433, the right side connecting shaft 433 can be inserted into the inner hole of the right side spring 432, the right side spring 432 can be inserted into the sleeve at one end of the right side connecting sleeve 431, the other end hole of the right side connecting sleeve 431 is hinged through the left side pin shaft 42 and the left side hole of the support 41, and when the right side L-shaped plate 435 is subjected to vibration impact, it can rotate around the right side pin shaft 42, and the other end of the L-shaped plate 435 presses the right side spring 432, thereby reducing the influence of vibration. Figure 11 As shown in the overall structural schematic diagram of the lower guide wheel assembly provided by the embodiment of the application, Figure 11 As shown, the lower guide wheel assembly 44 comprises a bracket 441, a shaft 442 and a guide wheel 443, the guide wheel 443 is fixed on the shaft 442 through a bearing, the shaft 442 is fixed on the bracket 441 through the shaft holes at both ends of the bracket 441, and the upper part of the guide wheel 443 adopts a stepped shaft, the upper part flat wheel can avoid interference with the middle reflective plate of the two-wave guardrail in the walking process, and the lower part has a diameter larger than that of the upper part, thereby preventing the robot main body from being separated from the guardrail.

[0063] Figure 12 As shown in the overall structural schematic diagram of the camera device provided by the embodiment of the application, Figure 12As shown, the camera 5 comprises a second damping mechanism 51, an angle adjustment mechanism 52 and a camera 53; wherein the second damping mechanism 51 is fixed on the upper part of the robot body 1 through a base 511; the angle adjustment mechanism 52 is arranged on the upper part of the second damping mechanism 51; the camera 53 is arranged on the angle adjustment mechanism 52, and the angle of the camera 53 is adjusted through the angle adjustment mechanism 52, so that the shooting angle of the camera 53 is in an ideal state; the second damping mechanism 51 can effectively weaken the problem of unclear shooting picture caused by the vibration of the robot body 1. Figure 13 As shown in the overall structure schematic diagram of the second damping mechanism provided by the embodiment of the application, Figure 14- Figure 15 As shown in the structure schematic diagram of the second damping mechanism without installing the connecting rod assembly provided by the embodiment of the application; as Figure 13- Figure 15 As shown, the second damping mechanism 51 comprises a base 511, a first pin shaft 512, a connecting rod assembly 513, a second pin shaft 514, a top frame 515, a tension spring 516 and a compression spring 517; the base 511 is fixed with the robot body 1, and the base 511 comprises a base body 511a, an ear plate 511b, a tension spring adjusting rod 511c, a lock nut 511d, an adjusting sleeve 511e and a lock nut 511f; the top frame 515 corresponding thereto comprises an upper plate 515a, an ear plate 515b, a tension spring adjusting rod 515c, a lock nut 515d and a guide rod 515e. Four connecting rod assemblies 513 are distributed on the four corners of the base 511, one end of the connecting rod assembly 513 is hinged on the ear plate 511b on the base 511 through the first pin shaft 512, and the other end is hinged on the ear plate 515b on the top frame 515 through the second pin shaft 514; one end of the tension spring 516 is fixed on the tension spring adjusting rod 511c, and the other end is fixed on the tension spring adjusting rod 515c; in addition, there are different holes on the tension spring adjusting rod 511c / 515c, the tension spring is hung on different holes to adjust the size of the tension force of the tension spring; the lower end of the compression spring 517 is inserted into the sleeve of the adjusting sleeve 511e, and the guide rod 515e is inserted into the upper end hole thereof; the adjusting sleeve 511e can be adjusted up and down by loosening the lock nut 511d, so as to change the compression degree of the compression spring 517; the tensioning degree of the tension spring 516 can be adjusted by loosening the lock nut 511d or 515d, and the compression spring 517 and the tension spring 516 are cooperatively adjusted to ensure that they are in the optimal damping state. Figure 16 As shown in the overall structure schematic diagram of the connecting rod assembly provided by the embodiment of the application, Figure 16 As shown, the connecting rod assembly 513 is used for connecting the base 511 and the top frame 515, and each connecting rod assembly 513 comprises a first connecting rod 513a, a pin shaft 513b and a second connecting rod 513c, and the first connecting rod 513a and the second connecting rod 513c are hinged through the pin shaft 513b.

[0064] Figure 17The overall structure schematic diagram of the angle adjusting mechanism provided by the embodiment of the application is shown, and the angle adjusting mechanism 52 is used for adjusting the angle of the camera 53 to be at an ideal shooting angle. Figure 17 As shown in the figure, the angle adjusting mechanism 52 comprises a support 521, a gland 522, a gland seat 523 and a rubber pad 524; the support 521 is provided with a support base 521a and a shaft 521b, the gland seat 523 is provided with a semicircular block 523a and a bottom plate 523b, and the two glands 522 are correspondingly pressed on the two semicircular blocks 523a on the gland seat 523 through the shaft 521b, and the angle can be adjusted by loosening the screw.

[0065] In summary, the embodiment of the application relates to a highway inspection robot, which comprises a robot main body, a driving device, a first guiding device, a second guiding device and a camera device; the robot main body bears and connects the driving device, the first guiding device, the second guiding device and the camera device; the driving device is fixedly connected with the robot main body through a first damping mechanism and is used for driving the inspection robot to move along the highway guardrail at a predetermined speed and direction; the first guiding device is arranged on the lower side of the connecting surface between the robot main body and the upper part of the highway guardrail and is used for guiding the inspection robot to move along the highway guardrail; the second guiding device is arranged on the connecting surface between the robot main body and the side surface of the highway guardrail and is used for guiding the inspection robot to move along the lower edge of the highway guardrail; and the camera device is arranged on the upper part of the robot main body and is fixedly connected with the robot main body through a second damping mechanism and is used for monitoring the road condition of the inspected highway in real time. The highway inspection robot provided by the embodiment of the application realizes the elastic contact with the contact part of the guardrail through the design of the guiding device, solves the problem of large overall vibration of the existing inspection robot, avoids the interference with the middle reflective plate of the guardrail, sets the damping mechanism between the camera device and the driving device and the robot main body, solves the problem of unclearness in the camera process due to vibration, the damping effect can be adjusted according to the actual use condition, and the flexibility is high.

[0066] It should be understood that the above specific embodiments of the application are only used for illustrative or explanatory purposes of the principles of the application, and do not constitute a limitation on the application. Therefore, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the application shall be included in the protection scope of the application. In addition, the appended claims of the application are intended to cover all changes and modifications falling within the scope and boundary of the appended claims or the equivalent forms of such scope and boundary.

Claims

1. A highway inspection robot, characterized by, The robot body, the driving device, the first guiding device, the second guiding device and the camera device are included. The robot body carries and connects the driving device, the first guiding device, the second guiding device and the camera device. The driving device is fixedly connected with the robot body through the first damping mechanism and is used for driving the inspection robot to move along the highway guardrail at a predetermined speed and direction. The first guiding device is arranged on the lower side of the connecting surface between the robot body and the upper part of the highway guardrail and is used for guiding the inspection robot to move along the highway guardrail. The second guiding device is arranged on the connecting surface between the robot body and the side surface of the highway guardrail and is used for guiding the inspection robot to move along the lower edge of the highway guardrail. The camera device is arranged on the upper part of the robot body, is fixedly connected with the robot body through the second damping mechanism and is used for monitoring the road condition of the inspected highway in real time. The first guiding device includes a base, an upper guide wheel assembly and a connecting spring assembly.

2. The highway inspection robot of claim 1, wherein, The base is fixedly connected with the robot body, one end of the base is hingedly connected with one end of the upper guide wheel assembly and the other end is connected with the other end of the upper guide wheel assembly through the connecting spring assembly. The base, the upper guide wheel assembly and the connecting spring assembly form a force triangle. The first damping mechanism includes a connecting frame, a pin shaft, a swing rod, a damping spring and a spring fixing sleeve. The connecting frame includes a "π" type structure composed of a flat upper part and two long lower parts.

3. The highway inspection robot of claim 1, wherein, The upper part is fixedly connected with the robot body and the lower parts are hingedly connected with one end of the two swing rods respectively. The other end of the two swing rods is connected with the driving wheel in the driving device and the spring fixing sleeve through a shaft. One end of the damping spring is fixedly connected with the connecting frame and the other end is fixed in the spring fixing sleeve.

4. The highway inspection robot of claim 1, wherein, The connecting frame, the swing rod and the damping spring form a triangular structure. The upper guide wheel assembly includes a guide wheel frame and a guide wheel. The guide wheel is connected to the inside of the guide wheel frame through a pin shaft.

5. The highway inspection robot of claim 4, wherein, The end of the guide wheel frame is provided with an arc surface transition to make the guide wheel smoothly pass through the connecting joint of the two guardrails. The second guiding device includes a support, a first spring assembly and a first guide wheel assembly, a second spring assembly and a second guide wheel assembly. The upper part of the support is fixedly connected with the robot body. The lower part of the support symmetrically arranges the first spring assembly and the second spring assembly. The first guide wheel assembly is connected to one end of the first spring assembly away from the support and the second guide wheel assembly is connected to one end of the second spring assembly away from the support. The first spring assembly includes a first spring, a first connecting sleeve, a first connecting shaft and a first L plate. The second spring assembly includes a second spring, a second connecting sleeve, a second connecting shaft and a second L plate. One end of the first L plate is hingedly connected with the first side of the support through a pin shaft and is connected with one end of the first spring through the first connecting shaft and the other end is fixed with the first guide wheel assembly. One end of the second L plate is hingedly connected with the second side of the support through a pin shaft and is connected with one end of the second spring through the second connecting shaft and the other end is fixed with the second guide wheel assembly. The other end of the first spring is inserted into the first connecting sleeve and is hingedly connected to the second side of the support through the first connecting sleeve; the other end of the second spring is inserted into the second connecting sleeve and is hingedly connected to the first side of the support through the second connecting sleeve.

6. The highway inspection robot of claim 1, wherein, The camera device comprises a second damping mechanism, an angle adjusting mechanism and a camera; wherein, The second damping mechanism is fixed on the upper part of the robot body through a base; The upper part of the second damping mechanism is provided with an angle adjusting mechanism; The camera is arranged on the angle adjusting mechanism and the angle of the camera is adjusted through the angle adjusting mechanism.

7. The highway inspection robot of claim 6, wherein, The second damping mechanism comprises a top frame, a base, a tension spring, a compression spring, an adjusting sleeve, a guide rod and four link assemblies; wherein, One end of each of the four link assemblies is arranged on each of the four corners of the base, and the other end is connected to each of the four corners of the top frame; The two ends of the tension spring are connected to the base and the top frame through a tension spring adjusting rod respectively; A plurality of connecting holes of different positions are arranged on the tension spring adjusting rod, and the tension of the tension spring is adjusted by being connected to different connecting holes; One end of the compression spring is inserted into the sleeve of the adjusting sleeve and is compressibly connected to the base through the adjusting sleeve, and the other end is inserted into the guide rod and is connected to the top frame through the guide rod.

8. The highway inspection robot of claim 7, wherein, Each of the link assemblies comprises a first link and a second link, and the first link and the second link are hingedly connected through a pin shaft.

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