A method for preventing falling of a patrol robot when turning and a patrol robot

Abstract

The application discloses a method for preventing patrol robot from falling when turning and the patrol robot. The method for preventing patrol robot from falling when turning adjusts the position of the rear end of the vehicle body, and leaves enough space on the left and right sides of the rear end of the vehicle body for the rear end of the vehicle body to turn, so that the rear end of the patrol robot does not fall from the edge of the patrol road during left and right turning. The method for preventing patrol robot from falling when turning adjusts the position of the rear end of the vehicle body, and leaves enough space on the right side of the rear end of the vehicle body for the rear end of the vehicle body to turn, so that the rear end of the patrol robot does not fall from the right edge of the patrol road during left turning. The method for preventing patrol robot from falling when turning adjusts the position of the vehicle body by cooperation of the triggering assembly and the vehicle body, and leaves enough space on the right side of the front end of the vehicle body for the front end of the vehicle body to turn, so that the front end of the patrol robot does not fall from the right side of the patrol road during left turning.

Description

Technical Field

[0001] This invention relates to the field of inspection equipment technology, and in particular to a method for preventing an inspection robot from falling when turning, and the inspection robot itself. Background Technology

[0002] With the accelerated construction of smart substations, robots are increasingly being used for substation inspections, significantly reducing the workload of on-duty personnel. When performing inspection tasks, the inspection robot travels along inspection paths, which are typically 80cm wide and 5cm above the substation ground level. Due to the narrowness of the inspection paths and their significant elevation above the substation ground, the robot is prone to falling off the paths when making right-angle turns and cannot extricate itself, requiring on-duty personnel to assist it, thus increasing their workload.

[0003] Analysis revealed that the reason the inspection robot fell off the inspection road was that there were primary equipment and wireless communication devices from other manufacturers at the substation site. These devices interfered with the inspection robot's wireless communication signal, causing intermittent communication delays. Once a communication delay occurs, the inspection robot will be out of control of the back-end machine, rush out of the inspection road and fall off the road, and may even collide with equipment on both sides of the inspection road, posing a safety hazard. Summary of the Invention

[0004] One objective of this invention is to provide a method for preventing inspection robots from falling off the inspection path, thereby improving the safety of using inspection robots.

[0005] Another objective of this invention is to provide an inspection robot with high safety.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] On one hand, a method for preventing a patrol robot from falling when turning is provided. The patrol robot includes a vehicle body and four sets of triggering components. Two of the four triggering components are respectively located on the left and right sides of the front end of the vehicle body, and the other two are respectively located on the left and right sides of the rear end of the vehicle body. When the vehicle body reaches the edge of the patrol road, the triggering components can be triggered. A safe distance d1 is set between the left triggering component at the rear end of the vehicle body and the left edge of the patrol road when the vehicle body turns right, and a safe distance d2 is set between the right triggering component at the rear end of the vehicle body and the right side of the patrol road when the vehicle body turns left. Right turn safe positions and left turn safe positions are marked on the patrol road respectively. The distance between the right turn safe position and the left edge of the patrol road and the distance between the left turn safe position and the right edge of the patrol road are both d3. The method includes the following steps:

[0008] Step S10: Before the vehicle body turns, obtain the position information of the vehicle body, obtain the first position of the vehicle body, and determine the direction in which the inspection robot needs to turn. If the inspection robot needs to turn right, then execute step S20; if the inspection robot needs to turn left, then execute step S30.

[0009] Step S20 includes the following steps:

[0010] Step S21: Adjust the position of the rear end of the vehicle body to obtain a second position. The distance between the trigger component on the left side of the rear end of the vehicle body and the left edge of the inspection road in the second position is d4, where d4≥d1.

[0011] Step S22: Move the inspection robot forward from the second position. When the triggering components on the left and / or right of the front end of the vehicle are triggered, the vehicle stops. Then move the vehicle backward in a straight line a distance d5, where d5 = d3. Then turn the inspection robot to the right.

[0012] Step S30 includes the following steps:

[0013] Step S31: Adjust the position of the rear end of the vehicle body to obtain a third position. The distance between the trigger component on the right side of the rear end of the vehicle body at the third position and the right edge of the inspection road is d6, where d6 ≥ d2.

[0014] Step S32: Move the inspection robot forward from the third position. When the triggering component on the left or right front of the vehicle body is triggered, the vehicle body stops. Then, move the vehicle body backward in a straight line a distance d7, where d7 = d3. Then, turn the inspection robot to the left.

[0015] As a preferred technical solution for the turning anti-fall method of the inspection robot, before step S10, the rotation center point of the vehicle body is determined, the distance d8 between the center of the front left wheel or the center of the front right wheel of the vehicle body and the rotation center point is obtained, the distance L1 between the left and right sets of trigger components at the rear end of the vehicle body is obtained, the distance L2 between the left trigger component at the front end of the vehicle body and the left trigger component at the rear end of the vehicle body is obtained, and the distance d9 between the straight line where the center of the front left wheel and the center of the front right wheel are located and the right trigger component at the front end of the vehicle body is obtained, and the rotation speed of the front left wheel and the front right wheel is set to v.

[0016] Step S21 includes the following specific steps: Step S211, rotate the vehicle body around the rotation center point along the first direction. When the trigger component on the left side of the rear end of the vehicle body is triggered, the vehicle body stops rotating and obtains the fourth position. Then, the vehicle body returns to the first position. Based on the time t1, d8 and v taken for the vehicle body to rotate from the first position to the fourth position, calculate the angle β1 of the vehicle body rotating from the first position to the fourth position.

[0017] Step S212: Calculate the distance d between the rear end of the vehicle body at the first position and the rear end of the vehicle body at the fourth position based on β1, L1, and d9. x According to d1 and d x After calculating the distance ∆d1 that the rear end of the vehicle body needs to move from the first position to the second position, the vehicle body is adjusted from the first position to the second position according to ∆d1;

[0018] Step S31 includes the following steps: Step S31, rotate the vehicle body around the rotation center along the second direction, the first direction being opposite to the second direction. When the trigger component on the right side of the rear end of the vehicle body is triggered, the vehicle body stops rotating and reaches the fifth position. Then, the vehicle body returns to the first position. Based on the time t2, d8, and v taken for the vehicle body to rotate from the first position to the fifth position, calculate the angle α1 of the vehicle body rotating from the first position to the fifth position.

[0019] Step S312: Based on α1, L1, and d9, calculate the distance between the rear end of the vehicle body at the first position and the rear end of the vehicle body at the fifth position, and obtain d. y According to d2 and d y After calculating the distance ∆d2 that the rear end of the vehicle body needs to move from the first position to the third position, the vehicle body is adjusted from the first position to the third position according to ∆d2.

[0020] On the other hand, an inspection robot is also provided, including a vehicle body and four triggering components disposed on the vehicle body. Two of the four triggering components are respectively disposed on the left and right sides of the front end of the vehicle body, and the other two are respectively disposed on the left and right sides of the rear end of the vehicle body. Each set of triggering components includes a driving component, a first lifting component, and a second lifting component located above the first lifting component. Both the first lifting component and the second lifting component can be raised and lowered. The first lifting component is connected to the second lifting component through a first elastic component. The first elastic component always has a tendency to drive the first lifting component to move downward. An abutment is connected to the bottom of the first lifting component. When the abutment is moved outside the inspection path, the first elastic component drives the abutment to descend and abut against the ground below the inspection path, thereby triggering the triggering component. When the triggering component is triggered, the driving component drives the second lifting component to rise, thereby causing the abutment to rise and reset, so that the triggering component changes from a triggered state to a non-triggered state.

[0021] As a preferred technical solution for the inspection robot, the triggering component further includes a controller, which includes a control unit and a resistance detection unit connected to the control unit. The control unit is used to control the operation of the drive component. The first lifting component includes a conductive component and a resistance rod slidably connected to the conductive component. The conductive component is disposed on one side of the resistance rod. The upper end of the resistance rod and the conductive component are electrically connected to the resistance detection unit, respectively. The abutment component is connected to the lower end of the resistance rod.

[0022] As a preferred technical solution for the inspection robot, a first connecting block is provided at the upper end of the resistor rod. The first connecting block is a conductor. The end of the first elastic member away from the second lifting member and the upper end of the resistor rod are both connected to the first connecting block. The first connecting block is electrically connected to the resistance detection unit of the controller.

[0023] As a preferred technical solution for the inspection robot, the second lifting component includes a lifting rod and a second connecting block. The lower end of the lifting rod is connected to the second connecting block. The end of the first elastic member away from the first lifting component is connected to the second connecting block. The lifting rod has a rack segment that extends along the length of the lifting rod. The driving component includes a drive motor and a drive gear disposed on the output shaft of the drive motor. The drive gear meshes with the rack segment. The controller is electrically connected to the drive motor to control the operation of the drive motor.

[0024] As a preferred technical solution for the inspection robot, the triggering component further includes a housing, the interior of which is provided with a cavity, and the bottom of the cavity is provided with a first through hole. The drive gear, the first elastic element, the first lifting element and the second lifting element are all disposed in the cavity, and the lower end of the abutment element protrudes from the outside of the cavity through the first through hole.

[0025] As a preferred technical solution for the inspection robot, the first through hole is provided with a first guide sleeve, the first guide sleeve is slidably connected to the abutment member, and the abutment member passes through the first guide sleeve.

[0026] As a preferred technical solution for the inspection robot, the top of the housing is provided with a second through hole communicating with the interior of the cavity, and the upper end of the lifting rod extends out of the housing through the second through hole.

[0027] As a preferred technical solution for the inspection robot, the second through hole is provided with a second guide sleeve, the second guide sleeve is slidably connected to the lifting rod, and the lifting rod passes through the second guide sleeve.

[0028] The beneficial effects of this invention are as follows: By adjusting the position of the rear end of the vehicle body, the distance between the trigger component on the left side of the rear end of the vehicle body and the left side of the inspection road is greater than d1. Sufficient space is reserved on the left side of the rear end of the vehicle body for turning, so that the rear end of the inspection robot will not fall off the left edge of the inspection road during a right turn. By cooperating with the trigger component and the vehicle body, the vehicle body can be adjusted to a second position, and sufficient space is reserved on the left side of the front end of the vehicle body for turning, so that the front end of the inspection robot will not fall off the left side of the inspection road during a right turn. By adjusting the position of the rear end of the vehicle body, the distance between the trigger component on the right side of the rear end of the vehicle body and the right side of the inspection road is greater than d2. Sufficient space is reserved on the right side of the rear end of the vehicle body for turning, so that the rear end of the inspection robot will not fall off the right edge of the inspection road during a left turn. By cooperating with the trigger component and the vehicle body, the vehicle body can be adjusted to a third position, and sufficient space is reserved on the right side of the front end of the vehicle body for turning, so that the front end of the inspection robot will not fall off the right side of the inspection road during a left turn. This anti-fall method can effectively prevent the inspection robot from falling off the left or right edge of the inspection road when turning, thus preventing the robot from getting stuck. It helps reduce the workload of on-duty personnel and improves the safety of the inspection robot. Attached Figure Description

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0030] Figure 1This is a diagram showing the distribution of the four triggering components on the vehicle body in the cornering anti-fall method of the inspection robot described in the embodiment.

[0031] Figure 2 This is a partial trajectory diagram of the inspection robot described in the embodiment during step S20.

[0032] Figure 3 This is a partial trajectory diagram of the inspection robot described in the embodiment during step S30.

[0033] Figure 4 This is a schematic diagram of the inspection robot on the inspection road when the vehicle body moves backward a straight distance d5 in step S22, as described in the embodiment.

[0034] Figure 5 This is a schematic diagram of the inspection robot on the inspection road when the left and / or right triggering components are triggered in step S22, as described in the embodiment.

[0035] Figure 6 This is a schematic diagram of the inspection robot completing a right turn as described in the embodiment.

[0036] Figure 7 This is a structural diagram of the triggering component described in the embodiment.

[0037] In the picture:

[0038] 1. Vehicle body; 2. Rear wheel; 3. Front left wheel; 4. Front right wheel; 5. Trigger assembly; 51. First lifting component; 511. Resistor rod; 512. Conductive component; 513. First connecting block; 52. Second lifting component; 521. Lifting rod; 5211. Rack segment; 522. Second connecting block; 53. Abutment component; 531. Roller; 54. First elastic component; 55. Housing; 56. Cavity; 6. First guide sleeve; 7. Second guide sleeve; 8. Third guide sleeve; 9. Drive gear; 10. Wire; 11. Second elastic component; 100. Centerline of vehicle body; 200. Inspection road. Detailed Implementation

[0039] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0042] This invention provides a method for preventing an inspection robot from falling when turning (hereinafter referred to as the turning anti-fall method). This turning anti-fall method is mainly applied to the turning of the inspection robot on the inspection road. The turning anti-fall method is described in detail below with reference to the specific structure of the inspection robot and the inspection road.

[0043] Reference Figures 1 to 6The inspection robot includes a body 1, two front wheels, one rear wheel 2, two body motors (not shown in the figure), radar, and four triggering components 5. The two front wheels and the rear wheel 2 are located at the bottom of the body 1. The two front wheels are mounted on the left and right sides of the front end of the body 1, respectively, symmetrically positioned about 100 degrees from the center line of the body. The front wheel located to the left of the center line 100 is the left front wheel 3, and the front wheel located to the right of the center line 100 is the right front wheel 3. The rear wheel 2 is mounted in the middle of the rear end of the body 1 (i.e., the rear wheel 2 is located on the center line 100). Each front wheel is connected to a body motor, and the two body motors are independent of each other, driving the corresponding front wheel to rotate independently. The rear wheel 2 is the driven wheel, and the rotation speed of the left front wheel 3 is the same as that of the front and rear wheels 2. When the two front wheels move at the same speed in opposite directions, the body 1 rotates around the midpoint between the two front wheels as its rotation center point A; when the two front wheels move at the same speed and in the same direction, the body 1 moves in a straight line. Two of the four trigger components 5 are respectively located on the left and right sides of the front end of the vehicle body 1, and the other two are respectively located on the left and right sides of the rear end of the vehicle body 1. The four trigger components 5 are arranged in a rectangular shape, and the left trigger component 5 at the front end of the vehicle body 1 and the right trigger component 5 at the front end of the vehicle body 1 are symmetrical to each other on the left and right along the center line 100 of the vehicle body. The left trigger component 5 at the rear end of the vehicle body 1 and the right trigger component 5 at the rear end of the vehicle body 1 are symmetrical to each other on the left and right along the center line 100 of the vehicle body. When vehicle 1 reaches the edge of inspection road 200, trigger component 5 can be activated. Specifically, when the trigger component 5 on the left rear of vehicle 1 reaches the left edge of inspection road 200, it will be activated; when the trigger component 5 on the right rear of vehicle 1 reaches the right edge of inspection road 200, it will be activated; when the trigger component 5 on the left front of vehicle 1 reaches the left edge of inspection road 200, it will be activated; and when the trigger component 5 on the right front of vehicle 1 reaches the right edge of inspection road 200, it will be activated. A radar is mounted on vehicle 1 to acquire its position information. Inspection road 200 is a concrete road specifically laid inside the substation for the movement of inspection robots. The road surface of inspection road 200 protrudes above the ground, typically 5cm higher than the ground, and is 0.7-1.2m wide. Inspection road 200 passes through the equipment area. Since the inspection road 200 needs to pass through the equipment area, the inspection road 200 has straight sections and turning sections. The turning angle of the inspection road 200 is 90°. The width of the inspection road 200 is greater than the overall width of the inspection robot, so that the inspection robot can turn on the inspection road 200.

[0044] This method for preventing falls during turns includes an inspection robot. When the robot's body 1 reaches the edge of the inspection road 200, the triggering component 5 is activated. (See reference...) Figures 2 to 6The following steps are included: setting a safety distance d1 between the left trigger component 5 at the rear end of vehicle 1 and the left edge of the inspection road 200 when vehicle 1 turns right; setting a safety distance d2 between the right trigger component 5 at the rear end of vehicle 1 and the right side of the inspection road 200 when vehicle 1 turns left; and marking right-turn and left-turn safety positions on the inspection road 200 respectively, with the distance between the right-turn safety position and the left edge of the inspection road 200 and the distance between the left-turn safety position and the right edge of the inspection road 200 both being d3.

[0045] In step S10, before vehicle 1 turns, the radar on the inspection robot acquires the position information of vehicle 1, obtains the first position of vehicle 1, and determines the direction in which the inspection robot needs to turn. If the inspection robot needs to turn right, step S20 is executed; if the inspection robot needs to turn left, step S30 is executed. In practice, the inspection robot usually automatically triggers the turning program when it reaches 2m before the turning point of the inspection road 200, so that the radar on the inspection robot acquires the position information of vehicle 1. At this time, the inspection robot relies on laser positioning and acts completely autonomously, without being controlled by the backend. Understandably, d1 is known and was obtained through multiple tests by the inspection robot on inspection road 200. When vehicle 1 turns right, the safety distance between the left trigger component 5 at the rear of vehicle 1 and the left side of inspection road 200 is set to d1, and the rear of the inspection robot will not fall off the left edge of inspection road 200. d2 is known and was obtained through multiple tests by the inspection robot on inspection road 200. When vehicle 1 turns right, the safety distance between the right trigger component 5 at the rear of vehicle 1 and the right side of inspection road 200 is set to d2, and the rear of the inspection robot will not fall off the right edge of inspection road 200. d3 is known and was obtained through multiple tests by the inspection robot on inspection road 200. When the inspection robot turns left, it will not fall off the right edge of inspection road 200 at the safe left-turn position, and when the inspection robot turns right, it will not fall off the left edge of inspection road 200 at the safe right-turn position.

[0046] Step S20 includes the following steps:

[0047] Step S21: Adjust the position of the rear end of vehicle body 1 to obtain the second position. The distance between the left trigger component 5 of the rear end of vehicle body 1 and the left edge of the inspection road 200 in the second position is d4, where d4 ≥ d1. In this example, d4 = d1.

[0048] Step S22: Move the inspection robot forward straight from the second position. When the left or right trigger component 5 at the front of the vehicle body 1 is triggered, the vehicle body 1 stops. Then move the vehicle body 1 backward in a straight line by a distance d5, where d5 = d3. Then turn the inspection robot to the right.

[0049] Step S30 includes the following steps:

[0050] Step S31: Adjust the position of the rear end of vehicle body 1 to obtain the third position. The distance between the right trigger component 5 of the rear end of vehicle body 1 in the third position and the right edge of the inspection road 200 is d6, where d6≥d2.

[0051] Step S32: Move the inspection robot forward straight from the third position. When the left or right trigger component 5 at the front of the vehicle body 1 is triggered, the vehicle body 1 stops. Then move the vehicle body 1 backward in a straight line by a distance d7, where d7 = d3. Then turn the inspection robot to the left.

[0052] By adjusting the position of the rear end of vehicle body 1, the distance between the trigger component 5 on the left side of the rear end of vehicle body 1 and the left side of the inspection road 200 is greater than d1. Sufficient space is reserved on the left side of the rear end of vehicle body 1 for the rear end of vehicle body 1 to turn. In this way, the rear end of the inspection robot will not fall off the left edge of the inspection road 200 during the right turn. By cooperating with the trigger component 5 and vehicle body 1, vehicle body 1 can be adjusted to the second position. Sufficient space is reserved on the left side of the front end of vehicle body 1 for the front end of vehicle body 1 to turn. In this way, the front end of the inspection robot will not fall off the left side of the inspection road 200 during the right turn. By adjusting the position of the rear end of vehicle body 1, the distance between the trigger component 5 on the right side of the rear end of vehicle body 1 and the right side of the inspection road 200 is greater than d2. Sufficient space is reserved on the right side of the rear end of vehicle body 1 for turning, preventing the rear end of the inspection robot from falling off the right edge of the inspection road 200 during left turns. Through the cooperation of the trigger component 5 and vehicle body 1, vehicle body 1 can be adjusted to a third position, leaving sufficient space on the right side of the front end of vehicle body 1 for turning. This prevents the front end of the inspection robot from falling off the right side of the inspection road 200 during left turns. This anti-fall method effectively prevents the inspection robot from falling off the left or right edge of the inspection road 200 when turning, thus preventing it from becoming stuck. This reduces the workload of on-duty personnel and improves the safety of the inspection robot.

[0053] It should be noted that, as mentioned in this manual, the left side of vehicle body 1 refers to the left side of vehicle body 1 in the direction of travel; the right side of vehicle body 1 refers to the right side of vehicle body 1 in the direction of travel; the left side of inspection road 200 mentioned in this manual refers to the left side of inspection road 200 in the direction of travel; and the right side of inspection road 200 mentioned in this manual refers to the right side of inspection road 200 in the direction of travel.

[0054] Before step S10, the rotation center point A of vehicle body 1 is determined; the distance d8 between the center of the front left wheel or the center of the front right wheel of vehicle body 1 and the rotation center point is obtained; the distance L1 between the left and right sets of trigger components 5 at the rear end of vehicle body 1 is obtained; the distance L2 between the left trigger component 5 at the front end of vehicle body 1 and the left trigger component 5 at the rear end of vehicle body 1 is obtained; and the distance d9 between the straight line containing the center of the front left wheel 3 and the center of the front right wheel 4 and the right trigger component 5 at the front end of vehicle body 1 is obtained. The rotation speed of the front left wheel 3 and the front right wheel 4 is set to v. In actual implementation, d1 and d2 are both greater than d8.

[0055] Step S21 includes the following specific steps: Step S211, rotate the vehicle body 1 around the rotation center point A along a first direction. In this embodiment, the first direction is the clockwise direction when viewed from above the forward direction of the vehicle body 1. When the left trigger component 5 at the rear end of the vehicle body 1 is triggered, the vehicle body 1 stops rotating, reaches the fourth position, and then returns the vehicle body 1 to the first position. Based on the time t1, d8, and v taken for the vehicle body 1 to rotate from the first position to the fourth position, the angle β1 rotated by the vehicle body 1 from the first position to the fourth position is calculated. In actual implementation, a main controller is also included, which is equipped with a calculation unit that can automatically calculate β1. Specifically, refer to Figure 1 The length of an arc can be calculated using the formula for the length of an arc. .

[0056] Step S212: Calculate the distance d between the rear end of vehicle body 1 at the first position and the rear end of vehicle body 1 at the fourth position based on β1, L1, and d9. x According to d1 and d x After calculating the distance ∆d1 that the rear end of vehicle 1 needs to move from the first position to the second position, adjust vehicle 1 from the first position to the second position according to ∆d1. (Refer to...) Figure 2 The left trigger component 5 at the rear end of vehicle body 1 and the right trigger component 5 at the rear end of vehicle body 1 are symmetrical about each other along the centerline 100 of the vehicle body. Figure 2 In the triangle ACE, the length of line segment AE is equal to the length of line segment AC, and the lengths of both line segments AE and AC are d. 10 , Since line segment WC is parallel to the centerline 100 of the vehicle body, and triangle ABC is an isosceles triangle, therefore, The length of line segment BC is d 11 , Based on the Pythagorean theorem for triangles, we can deduce... , The velocity component of vehicle body 1 in the direction of line segment CD is... Based on the relationship between displacement and velocity, the time it takes for vehicle body 1 to move from the first position to the second position can be calculated as follows: .

[0057] Step S31 includes the following steps: Step S31, rotate the vehicle body 1 around the rotation center point A along the second direction, where the first direction is opposite to the second direction. In this embodiment, the second direction is the counterclockwise direction when viewed from above in the forward direction of the vehicle body 1. When the right-side trigger component 5 at the rear end of the vehicle body 1 is triggered, the vehicle body 1 stops rotating, reaches the fifth position, and then returns to the first position. Based on the time t2, d8, and v taken for the vehicle body 1 to rotate from the first position to the fifth position, the angle α1 rotated by the vehicle body 1 from the first position to the fifth position is calculated. Specifically, .

[0058] Reference Figure 3 Step S312: Based on α1, L1, and d9, calculate the distance between the rear end of vehicle body 1 at the first position and the rear end of vehicle body 1 at the fifth position, and obtain d. y According to d2 and d y After calculating the distance ∆d2 that the rear end of vehicle 1 needs to move from the first position to the third position, adjust vehicle 1 from the first position to the third position according to ∆d2. (Refer to...) Figure 1 and Figure 2 The left trigger component 5 at the rear end of vehicle body 1 and the right trigger component 5 at the rear end of vehicle body 1 are symmetrical about the centerline. Since line segment PE is parallel to the centerline 100 of the vehicle body, and triangle AHE is an isosceles triangle, The length of line segment HE is Based on the Pythagorean theorem for triangles, we can deduce... , The velocity component of vehicle body 1 in the direction of line segment EF is: Based on the relationship between displacement and velocity, the time it takes for vehicle body 1 to move from the first position to the third position can be calculated as follows: .

[0059] Specifically, in step S22, when the left or right trigger component 5 at the front end of vehicle body 1 is triggered, vehicle body 1 stops, and then vehicle body 1 reverses in a straight line a distance d5. The time taken for vehicle body 1 to reverse d5 is t3. ,Right now In step S32, when the left or right trigger component 5 at the front end of vehicle body 1 is triggered, vehicle body 1 stops, and then vehicle body 1 reverses in a straight line a distance d7. The time taken for vehicle body 1 to reverse d7 is t4. ,Right now .

[0060] In step S22, the inspection robot turns right. Since the turning angle of the inspection road 200 is 90°, the vehicle body 1 needs to turn 90° to the right. Based on the relationship between the path and speed of the vehicle body 1 turning right, the time required for the vehicle body 1 to turn 90° to the right can be calculated as t5. ,Right now In step S32, the inspection robot turns left. Since the turning angle of the inspection road 200 is 90°, the vehicle body 1 needs to turn 90° to the left. Based on the relationship between the path and speed of the vehicle body 1 turning left, the time required for the vehicle body 1 to turn 90° to the left can be calculated as t5. ,Right now Once the inspection robot completes the turning maneuver, the turning automation program is deactivated, and the backend regains control of the inspection robot.

[0061] Among them, reference Figure 7 Each set of trigger components 5 includes a drive component, a first lifting component 51, and a second lifting component 52 located above the first lifting component 51. Both the first lifting component 51 and the second lifting component 52 can be raised and lowered. The first lifting component 51 is connected to the second lifting component 52 through a first elastic component 54. The first elastic component 54 always has the tendency to drive the first lifting component 51 to move downward. The bottom of the first lifting component 51 is connected to an abutment component 53. When the abutment component 53 is moved outside the inspection road 200, the first elastic component 54 drives the abutment component 53 to descend and abut against the ground on the lower side of the inspection road 200, thereby triggering the trigger component 5. When the trigger component 5 is triggered, the drive component drives the second lifting component 52 to rise, which in turn drives the abutment component 53 to rise and reset, so that the trigger component 5 changes from the triggered state to the non-triggered state. The trigger component 5 of this structure provides driving force to the first lifting component 51 through the first elastic element 54, so that the abutment component 53 always has a downward tendency. When the inspection robot is inside the inspection road 200, the abutment component 53 is pressed against the inspection road 200 and slides with the road surface of the inspection road 200 as the vehicle body 1 moves. When the inspection robot reaches the side edge of the inspection road 200, the abutment component 53 moves downward under the action of elastic force until it abuts against the ground on one side of the inspection road 200, so that the trigger component 5 is triggered. When the trigger component 5 is triggered, the driving component drives the second lifting component 52 to rise, and through the first elastic element 54 drives the first lifting component 51 and the abutment component 53 to rise, so that the abutment component 53 rises from the lower side of the inspection road 200 to the same height as the road surface of the inspection road 200, thereby enabling the inspection robot to automatically get out of trouble so that it can continue to be used normally. Due to the setting of the trigger component 5, this type of inspection robot, driven by the drive component, can make the abutment 53 rise from the lower side of the inspection road 200 to the surface of the inspection road 200. This can effectively prevent the inspection robot from falling off the inspection road 200, eliminating the need for on-duty personnel to go to the site to support the inspection robot. This effectively reduces the service life of the inspection robot and prevents it from being damaged by the equipment on both sides of the inspection road 200, thus helping to improve the service life of the inspection robot.

[0062] Specifically, the triggering component 5 also includes a controller, which includes a control unit and a resistance detection unit connected to the control unit. The control unit is used to control the operation of the drive component. The first lifting component 51 includes a conductive component 512 and a resistance rod 511 slidably connected to the conductive component 512. The conductive component 512 is disposed on one side of the resistance rod 511. The upper end of the resistance rod 511 and the conductive component 512 are electrically connected to the resistance detection unit, respectively. The abutment component 53 is connected to the lower end of the resistance rod 511. During the descent of the contact member 53, the resistance rod 511 descends. Since the height of the conductive member 512 remains fixed, the descent of the resistance rod 511 brings its upper end closer to the conductive member 512, reducing the distance between them and decreasing the resistance. When the resistance detected by the resistance detection unit exceeds a first set value, the control unit controls the drive to raise the second lifting member 52. During this rise, the second lifting member 52 raises both the resistance rod 511 and the contact member 53, increasing the resistance between the upper end of the resistance rod 511 and the conductive member 512. When the resistance reaches the second set value, the control unit controls the drive to stop the second lifting member 52. This type of trigger component 5 can automatically control its raising and lowering, enabling the inspection robot to automatically escape obstacles.

[0063] In this example, the conductive element 512 is connected to the resistance detection unit via the wire 10.

[0064] Since the contact part 53 is in direct contact with the road surface of the inspection road 200, the contact part 53 will rub against the inspection road 200 when the inspection robot moves on the inspection road 200. In order to reduce the wear on the bottom of the contact part 53, a roller 531 is provided on the bottom of the contact part 53, and the contact part 53 contacts the inspection road 200 through the roller 531.

[0065] In one embodiment, a first connecting block 513 is provided at the upper end of the resistor rod 511. The first connecting block 513 is a conductor. The end of the first elastic member 54 away from the second lifting member 52 and the upper end of the resistor rod 511 are both connected to the first connecting block 513. The first connecting block 513 is electrically connected to the resistance detection unit of the controller. The first connecting block 513 is mainly provided to facilitate the connection between the first elastic member 54 and the conductive member 512.

[0066] In this example, the conductive element 512 is connected to the resistance detection unit via the wire 10.

[0067] The second lifting member 52 includes a lifting rod 521 and a second connecting block 522. The lower end of the lifting rod 521 is connected to the second connecting block 522. The end of the first elastic member 54 away from the first lifting member 51 is connected to the second connecting block 522. The lifting rod 521 has a rack segment 5211 that extends along the length of the lifting rod 521. The driving member includes a drive motor and a drive gear 9 mounted on the output shaft of the drive motor. The drive gear 9 meshes with the rack segment 5211. The controller is electrically connected to the drive motor to control its operation. The second connecting block 522 provides space for the connection of the first elastic member 54. Because the rack segment 5211 meshes with the drive gear 9, the drive gear 9 rotates under the action of the drive motor, thereby raising and lowering the lifting rod 521.

[0068] In this embodiment, the triggering component 5 further includes a housing 55, inside which is a cavity 56. A first through hole is provided at the bottom of the cavity 56. The drive gear 9, the first elastic member 54, the first lifting member 51, and the second lifting member 52 are all disposed inside the cavity 56. The lower end of the abutment member 53 protrudes from the outside of the cavity 56 through the first through hole. The housing 55 provides protection for the first lifting member 51, the second lifting member 52, and the drive component.

[0069] In this embodiment, the first connecting block 513 and the second connecting block 522 are slidably connected to the inner wall of the cavity 56, so that the lifting and lowering of the lifting component can be guided by the connecting blocks.

[0070] Specifically, the first through hole is provided with a first guide sleeve 6, which is slidably connected to the abutment 53. The abutment 53 passes through the first guide sleeve 6, which can provide guidance for the movement of the abutment 53 and help prevent the abutment 53 from shifting.

[0071] The top of the housing 55 is provided with a second through hole that communicates with the inside of the cavity 56. The upper end of the lifting rod 521 extends out of the housing 55 through the second through hole. The second through hole provides space for the lifting of the second lifting member 52, which helps to reduce the overall size of the housing 55.

[0072] To prevent the lifting rod 521 from shifting during lifting, a second guide sleeve 7 is provided in the second through hole. The second guide sleeve 7 is slidably connected to the lifting rod 521, and the lifting rod 521 passes through the second guide sleeve 7.

[0073] In this embodiment, the conductive element 512 is connected to the inner wall of the cavity 56 through the second elastic element 11. The second elastic element 11 drives the conductive element 512 to move closer to the resistor rod 511, so that the conductive element 512 and the resistor rod 511 maintain good contact.

[0074] Preferably, the inner wall of the cavity 56 is provided with a third guide sleeve 8, which has openings at opposite ends. One of the openings of the third guide sleeve 8 faces the resistor rod 511. The conductive element 512 and the second elastic element 11 are both disposed inside the third guide sleeve 8, and the outer periphery of the conductive element 512 and the outer periphery of the second elastic element 54 are slidably connected to the inner wall of the third guide sleeve 8.

[0075] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings, and are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0076] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0077] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0078] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A method for preventing a patrol robot from falling when turning, characterized by The inspection robot comprises a vehicle body and four group triggering components, two of which are arranged on the left and right sides of the front end of the vehicle body respectively, and the other two are arranged on the left and right sides of the rear end of the vehicle body respectively. When the vehicle body reaches the edge of the inspection road, the triggering components can be triggered. The safety distance d1 between the triggering component on the left side of the rear end of the vehicle body and the left edge of the inspection road when the vehicle body turns right, the safety distance d2 between the triggering component on the right side of the rear end of the vehicle body and the right edge of the inspection road when the vehicle body turns left, and the right-turn safety position and the left-turn safety position drawn on the inspection road respectively are set, the distance between the right-turn safety position and the left edge of the inspection road and the distance between the left-turn safety position and the right edge of the inspection road are both d3, and the method comprises the following steps: Step S10: Before the vehicle body turns, the position information of the vehicle body is obtained to obtain the first position of the vehicle body, and the direction in which the inspection robot needs to turn is determined. If the inspection robot needs to turn right, step S20 is performed, and if the inspection robot needs to turn left, step S30 is performed. The step S20 comprises the following steps: Step S21: The position of the rear end of the vehicle body is adjusted to obtain a second position, and the distance between the triggering component on the left side of the rear end of the vehicle body and the left edge of the inspection road at the second position is d4, d4≥d1; Step S22: The inspection robot is straight ahead from the second position, and the vehicle body stops when the triggering component on the left or right side of the front end of the vehicle body is triggered. Then the vehicle body is straightly retreated by a distance d5, d5=d3, and the inspection robot is turned right. The step S30 comprises the following steps: Step S31: The position of the rear end of the vehicle body is adjusted to obtain a third position, and the distance between the triggering component on the right side of the rear end of the vehicle body and the right edge of the inspection road at the third position is d6, d6≥d2; Step S32: The inspection robot is straight ahead from the third position, and the vehicle body stops when the triggering component on the left or right side of the front end of the vehicle body is triggered. Then the vehicle body is straightly retreated by a distance d7, d7=d3, and the inspection robot is turned left.

2. The method of claim 1, wherein, Before the step S10, the center point of rotation of the vehicle body is determined, the distance d8 between the front left wheel center or the front right wheel center of the vehicle body and the center point of rotation is obtained, the distance L1 between the left and right triggering components at the rear end of the vehicle body is obtained, the distance L2 between the triggering component on the left side of the front end of the vehicle body and the triggering component on the left side of the rear end of the vehicle body is obtained, and the distance d9 between the straight line passing through the front left wheel center and the front right wheel center and the triggering component on the right side of the front end of the vehicle body is obtained. The speed of rotation of the front left wheel and the front right wheel is set to be v. The step S21 comprises the following steps: step S211, rotating the vehicle body along a first direction around the rotation center point, when the left trigger assembly at the rear end of the vehicle body is triggered, the vehicle body stops rotating to obtain a fourth position, then the vehicle body is returned to the first position, according to the time length t1, d8 and v used for rotating the vehicle body from the first position to the fourth position, the angle β1 of the vehicle body rotating from the first position to the fourth position is calculated. Step S212, according to β1, L1 and d9, calculate the distance d between the rear end of the vehicle body at the first position and the rear end of the vehicle body at the fourth position x , according to d1 and d x , calculate the distance ∆d1 that the rear end of the vehicle body needs to move from the first position to the second position, and then adjust the vehicle body from the first position to the second position according to ∆d1; The step S31 comprises the following steps: step S31, rotating the vehicle body along a second direction around the rotation center, the first direction is opposite to the second direction, when the right trigger assembly at the rear end of the vehicle body is triggered, the vehicle body stops rotating to obtain a fifth position, then the vehicle body is returned to the first position, according to the time length t2, d8 and v used for rotating the vehicle body from the first position to the fifth position, the angle α1 of the vehicle body rotating from the first position to the fifth position is calculated. Step S312, according to a1, L1 and d9, the first position on the car body rear end and the fifth position on the car body rear end between the interval, get d y , according to d2 and d y Calculate the distance ∆d2 that the rear end of the car body needs to move from the first position to the third position, and then adjust the car body from the first position to the third position according to ∆d2.

3. A patrol robot characterized by comprising: The turning anti-falling method of the inspection robot of any one of claims 1-2 is adopted for control, comprising a vehicle body and four trigger assemblies arranged on the vehicle body, two of the four trigger assemblies are arranged on the left and right sides of the front end of the vehicle body respectively, and the other two are arranged on the left and right sides of the rear end of the vehicle body respectively, each of the trigger assemblies comprises a driving member, a first lifting member and a second lifting member located above the first lifting member, the first lifting member and the second lifting member are both liftable, the first lifting member is connected with the second lifting member through a first elastic member, the first elastic member always has a tendency to drive the first lifting member to move downward, the bottom of the first lifting member is connected with an abutting member, when the abutting member is moved out of the outside of the inspection road, the first elastic member drives the abutting member to descend and abut on the lower side of the ground of the inspection road, so that the trigger assembly is triggered, when the trigger assembly is triggered, the driving member drives the second lifting member to ascend, drives the abutting member to ascend and reset, and makes the trigger assembly change from the triggered state to the non-triggered state.

4. The patrol robot according to claim 3, wherein, The trigger assembly further comprises a controller, the controller comprises a control unit and a resistance detection unit connected with the control unit, the control unit is used for controlling the operation of the driving member, the first lifting member comprises a conductive member and a resistance rod in sliding connection with the conductive member, the conductive member is arranged on one side of the resistance rod, the upper end of the resistance rod and the conductive member are respectively electrically connected with the resistance detection unit, and the abutting member is connected with the lower end of the resistance rod.

5. The patrol robot according to claim 4, wherein, The upper end of the resistance rod is provided with a first connecting block, the first connecting block is a conductive body, one end of the first elastic member away from the second lifting member and the upper end of the resistance rod are both connected with the first connecting block, and the first connecting block is electrically connected with the resistance detection unit of the controller.

6. The patrol robot according to claim 4, wherein, The second lifting piece comprises a lifting rod and a second connecting block, the lower end of the lifting rod is connected with the second connecting block, one end of the first elastic piece away from the first lifting piece is connected with the second connecting block, the lifting rod is provided with a rack section, the rack section extends along the length direction of the lifting rod, the driving piece comprises a driving motor and a driving gear provided on the output shaft of the driving motor, the driving gear is in meshing connection with the rack section, the controller is electrically connected with the driving motor to control the operation of the driving motor.

7. The patrol robot according to claim 6, characterized in that, The trigger assembly further comprises a shell, an inner portion of the shell is provided with a cavity, a first through hole is provided through the bottom of the cavity, the driving gear, the first elastic piece, the first lifting piece and the second lifting piece are all arranged in the cavity, and the lower end of the abutting piece protrudes outside the cavity through the first through hole.

8. The patrol robot according to claim 7, characterized in that, The first through hole is provided with a first guide sleeve, the first guide sleeve is in sliding connection with the abutting piece, and the abutting piece penetrates through the first guide sleeve.

9. The patrol robot according to claim 7, wherein, The top of the shell is provided with a second through hole in communication with the inner portion of the cavity, and the upper end of the lifting rod is movably arranged through the second through hole and extends to the outside of the shell.

10. The patrol robot according to claim 9, wherein, The second through hole is provided with a second guide sleeve, the second guide sleeve is in sliding connection with the lifting rod, and the lifting rod penetrates through the second guide sleeve.

Images