Walking control system and method and tracked inspection robot

Abstract

The invention provides a walking control system and method and a rail inspection robot, the walking control system is deployed on the rail inspection robot, the walking control system comprises a first control unit, a driving unit and an information acquisition unit, and the first control unit is connected with the driving unit and the information acquisition unit; the information acquisition unit is used for positioning the current position of the tracked inspection robot and transmitting the current position to the first control unit; and when the inspection instruction is executed, the first control unit is used for sending a corresponding target control instruction to the driving unit according to a target speed corresponding to the current position, so that the driving unit drives the tracked inspection robot to move according to the target speed. The driving speed is flexibly adjusted based on the current sub-path where the tracked inspection robot is located, the safety and reliability of the inspection task executed by the robot can be guaranteed, and efficient completion of the inspection task is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a walking control system and method and a track inspection robot. Background Art

[0002] With the development of social economy, the railway industry has developed rapidly. As a result, the railways are getting longer and longer, and the workload of railway track inspection is also increasing. In order to eliminate potential faults in a timely manner, it is necessary to conduct safety inspections on the infrastructure of the rail transit system regularly. At present, such inspection tasks are mainly manual static inspections. Although the method is simple and easy, it has problems such as slow inspection speed, long line occupancy time, and low work efficiency. It is also necessary to reserve a corresponding window period for rail transit operation, which affects the efficiency of rail transit operation.

[0003] In order to free up manpower and reduce the cost of manual inspection, inspection robots can be used to conduct track inspections. However, how to ensure the safe operation of inspection robots has become a difficult problem that technicians in this field are concerned about. Summary of the invention

[0004] The object of the present invention is to provide a walking control system and method and a track inspection robot to at least partially improve the above-mentioned problems.

[0005] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows: In a first aspect, an embodiment of the present invention provides a walking control system, which is deployed on a rail inspection robot, and includes a first control unit, a drive unit, and an information collection unit, wherein the first control unit is connected to the drive unit and the information collection unit respectively; The information acquisition unit is used to locate the current position of the rail inspection robot and transmit the current position to the first control unit; When executing the inspection instruction, the first control unit is used to send a corresponding target control instruction to the driving unit according to the target speed corresponding to the current position, so that the driving unit drives the rail inspection robot to move according to the target speed; Among them, the inspection instruction includes an inspection path, the inspection path includes multiple sub-paths, the standard driving speeds corresponding to two adjacent sub-paths are different, the target speed is the standard driving speed corresponding to the current sub-path, and the current sub-path is the sub-path to which the current position belongs.

[0006] Optionally, the information collection unit includes an odometer and a non-volatile memory, and the first control unit is connected to the odometer and the non-volatile memory respectively; The odometer is used to record the mileage information, wherein the mileage information represents the mileage information corresponding to the movement of the rail inspection robot from the starting point to the current position; The first control unit is used to write the traveled mileage information in the odometer into the non-volatile memory at a preset time interval.

[0007] Optionally, the information collection unit is further used to collect obstacle information on the inspection path and transmit the obstacle information to the first control unit, wherein the obstacle information includes distance information from the obstacle in front of the rail inspection robot to the rail inspection robot; When executing the inspection instruction, the first control unit is used to send a corresponding safety control instruction to the driving unit when it is determined that there is an obstacle at the first preset distance, so that the driving unit drives the rail inspection robot to move at a safe speed, wherein the safe speed is less than a standard driving speed corresponding to any sub-path; The first control unit is also used to send a corresponding stop movement instruction to the drive unit when it is determined that there is an obstacle at a second preset distance, so that the drive unit stops driving the track inspection robot to move, wherein the second preset distance is smaller than the first preset distance.

[0008] Optionally, the information collection unit includes a distance detector deployed on one side of the forward direction of the rail inspection robot, and the distance detector is used to collect distance information from an obstacle in front of the rail inspection robot to the rail inspection robot.

[0009] Optionally, the distance detector adopts any one of an ultrasonic detector, an infrared distance sensor and a ranging radar.

[0010] Optionally, the information acquisition unit further includes a posture sensor, and the posture sensor is connected to the first control unit; The posture sensor is used to collect posture information of the rail inspection robot and transmit the collected posture information to the first control unit; When executing the road condition modeling instruction, the first control unit is used to send a corresponding modeling control instruction to the driving unit, so that the driving unit drives the track inspection robot to move at a speed corresponding to the modeling control instruction; The first control unit is used to collect target mileage data and target posture data, wherein the target mileage data includes mileage information collected by the odometer during the process of the rail inspection robot moving at the speed corresponding to the modeling control instruction, and the target posture data includes posture information collected by the posture sensor during the process of the rail inspection robot moving at the speed corresponding to the modeling control instruction; The first control unit is used to model the driving track of the track inspection robot according to the target mileage data and the target posture data to determine a track road condition model, wherein the track road condition model includes the track type of each sub-path, and the track type is any one of a curve, an uphill road, a downhill road, and a straight road.

[0011] Optionally, the first control unit is used to determine the track type of each sub-path according to the target mileage data and the target posture, and then determine the track road condition model.

[0012] Optionally, the attitude sensor is a gyroscope.

[0013] In a second aspect, an embodiment of the present invention provides a walking control method, which is applied to a first control unit in the above-mentioned walking control system, and the method includes: When executing the inspection command, the target speed is determined according to the current position of the rail inspection robot; Sending a corresponding target control instruction to the driving unit according to the target speed, so that the driving unit drives the rail inspection robot to move according to the target speed; Among them, the inspection instruction includes an inspection path, the inspection path includes multiple sub-paths, the standard driving speeds corresponding to two adjacent sub-paths are different, the target speed is the standard driving speed corresponding to the current sub-path, and the current sub-path is the sub-path to which the current position belongs.

[0014] In a third aspect, an embodiment of the present invention provides a rail inspection robot, comprising the above-mentioned walking control system.

[0015] Compared with the prior art, the walking control system and method provided by the embodiment of the present invention and the rail inspection robot, the walking control system is deployed on the rail inspection robot, the walking control system includes a first control unit, a driving unit and an information collection unit, the first control unit is connected to the driving unit and the information collection unit respectively; the information collection unit is used to locate the current position of the rail inspection robot, and transmit the current position to the first control unit; when executing the inspection instruction, the first control unit is used to send the corresponding target control instruction to the driving unit according to the target speed corresponding to the current position, so that the driving unit drives the rail inspection robot to move at the target speed; wherein the inspection instruction includes an inspection path, the inspection path includes multiple sub-paths, the standard driving speeds corresponding to two adjacent sub-paths are different, the target speed is the standard driving speed corresponding to the current sub-path, and the current sub-path is the sub-path to which the current position belongs. Flexible adjustment of the driving speed based on the sub-path where the rail inspection robot is currently located can ensure the safety and reliability of the robot in performing the inspection task, which is conducive to the efficient completion of the inspection task.

[0016] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of the structure of a walking control system provided in an embodiment of the present invention.

[0019] Figure 2 A schematic diagram of the structure of an information collection unit provided in an embodiment of the present invention.

[0020] Figure 3 A schematic flow chart of a walking control method provided in an embodiment of the present invention.

[0021] In the figure: 10 - first control unit, 20 - driving unit; 30 - information acquisition unit; 31 - non-volatile memory; 32 - odometer; 33 - distance detector; 34 - posture sensor. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0025] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0026] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0027] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0029] The embodiment of the present invention provides a walking control system deployed on a rail inspection robot. Optionally, the rail inspection robot further includes a main control unit, a walking unit (a motor drive structure) and an inspection unit, the walking control system is connected to the main control unit and the walking unit respectively, and the main control unit is also connected to the inspection unit.

[0030] When the rail inspection robot moves to the inspection point on the track, the main control unit can control the inspection unit to perform the corresponding inspection task. The walking control system can control the walking unit to drive the rail inspection robot to move.

[0031] The main control unit can send instructions to the travel control system, including the road condition modeling instructions and inspection instructions described below.

[0032] Please refer to Figure 1 , Figure 1 The walking control system provided by the embodiment of the present invention is a schematic diagram of the structure of the walking control system. The walking control system includes a first control unit 10, a driving unit 20 and an information collection unit 30, and the first control unit 10 is connected to the driving unit 20 and the information collection unit 30 respectively.

[0033] The information acquisition unit 30 is used to locate the current position of the rail inspection robot and transmit the current position to the first control unit 10 .

[0034] When executing the inspection instruction, the first control unit 10 is used to send a corresponding target control instruction to the driving unit 20 according to the target speed corresponding to the current position, so that the driving unit 20 drives the rail inspection robot to move at the target speed.

[0035] Optionally, if there are no obstacles within the specified range, the track inspection robot can be driven to move at a target speed.

[0036] The inspection instruction includes an inspection path, which includes multiple sub-paths. Two adjacent sub-paths correspond to different standard driving speeds. The target speed is the standard driving speed corresponding to the current sub-path. The current sub-path is the sub-path to which the current position belongs.

[0037] The standard driving speed corresponding to the sub-path is related to the sub-path track type, which can be any of the following: curve, uphill, downhill, and straight. That is, different track types correspond to different standard driving speeds. For example, when entering a curve, the robot's running speed is limited to 0.2m / s to prevent impact caused by turning too fast; when going uphill, the robot's running speed is limited to 0.1m / s to obtain sufficient torque to climb the slope.

[0038] Optionally, the inspection instruction also includes various inspection points on the inspection path, and the first control unit 10 is further used to control the rail inspection robot to maintain a preset time length when the rail inspection robot moves to the inspection point to perform a corresponding inspection task.

[0039] In the walking control system provided in the embodiment of the present invention, the travel speed is flexibly adjusted based on the sub-path where the rail inspection robot is currently located, which can ensure the safety and reliability of the robot in performing the inspection task, and is conducive to the efficient completion of the inspection task.

[0040] exist Figure 1 Based on the structure of the information collection unit, the embodiment of the present invention also provides an optional implementation method, please refer to Figure 2 , Figure 2 The information collection unit 30 includes an odometer 32 and a non-volatile memory 31 , and the first control unit 10 is connected to the odometer 32 and the non-volatile memory 31 , respectively.

[0041] The non-volatile memory 31 may be, but is not limited to, a non-volatile ferroelectric memory, and the odometer 32 may be, but is not limited to, an orthogonal encoder.

[0042] The odometer 32 is used to record the mileage information, wherein the mileage information represents the mileage information corresponding to the movement of the rail inspection robot from the starting point to the current position.

[0043] It should be noted that when the starting point is fixed, the mileage information stored in the odometer 32 corresponds to the current position of the rail inspection robot, that is, the mileage information can represent the current position of the rail inspection robot.

[0044] The first control unit 10 can read the traveled mileage information recorded in the odometer 32 in real time to determine the current position of the rail inspection robot.

[0045] It should be noted that in the embodiment of the present invention, an odometer is used to obtain the current position and locate the rail inspection robot, which eliminates the requirement for GPS signal strength and avoids the situation where positioning failure occurs due to weak GPS signal. However, when the walking control system restarts abnormally, data in the odometer 32 may be lost, resulting in positioning failure. In order to overcome this problem, the embodiment of the present invention also provides an optional implementation method, please refer to the following.

[0046] The first control unit 10 is used to write the mileage information in the odometer 32 into the non-volatile memory 31 at a preset time interval. The preset time interval may be, but is not limited to, 10 ms.

[0047] By writing the mileage information in the odometer 32 into the non-volatile memory 31, data backup is performed to avoid abnormal restart causing data loss in the odometer 32, which causes the problem of being unable to locate. After restarting, the first control unit 10 reads the corresponding data from the non-volatile memory 31 and writes it into the odometer 32 to achieve the purpose of data recovery.

[0048] When the rail inspection robot is moving along the track, there may be obstacles in front of it. If the rail inspection robot directly hits the obstacle, it may be damaged. In order to avoid the above situation, the embodiment of the present invention also provides an optional implementation method, please refer to the following.

[0049] The information collection unit 30 is also used to collect obstacle information on the inspection path and transmit the obstacle information to the first control unit 10, wherein the obstacle information includes the distance information from the obstacle in front of the rail inspection robot to the rail inspection robot.

[0050] When executing the inspection instruction, the first control unit 10 is used to send a corresponding safety control instruction to the drive unit 20 when it is determined that there is an obstacle at the first preset distance, so that the drive unit 20 drives the rail inspection robot to move at a safe speed, wherein the safety speed is less than the standard driving speed corresponding to any sub-path, and the first preset distance can be but is not limited to 60cm.

[0051] When the obstacle disappears, that is, there is no obstacle at the first preset distance corresponding to the front of the rail inspection robot, the target speed corresponding to the current position is restored, and the corresponding target control instruction is sent to the drive unit 20, so that the drive unit 20 drives the rail inspection robot to move at the target speed.

[0052] The first control unit 10 is also used to send a corresponding stop movement instruction to the drive unit 20 when it is determined that there is an obstacle at the second preset distance, so that the drive unit 20 stops driving the rail inspection robot to move, wherein the second preset distance is smaller than the first preset distance, and the second preset distance can be but is not limited to 30 cm.

[0053] When there is no obstacle at the corresponding second preset distance from the front of the rail inspection robot, and there is an obstacle at the second preset distance to the first preset distance, a corresponding safety control instruction is sent to the drive unit 20 to drive the rail inspection robot to move at a safe speed.

[0054] Please continue to refer to Figure 2 The information collection unit 30 includes a distance detector 33 disposed on one side of the forward direction of the rail inspection robot. The distance detector 33 is used to collect distance information from the obstacle in front of the rail inspection robot to the rail inspection robot, that is, obstacle information. The distance detector 33 is used to transmit the obstacle information to the first control unit 10.

[0055] The distance detector 33 uses any one of an ultrasonic detector, an infrared distance sensor, and a ranging radar.

[0056] Please continue to refer to Figure 2 In an optional implementation, the information collection unit 30 further includes a posture sensor 34 , and the posture sensor 34 is connected to the first control unit 10 .

[0057] The posture sensor 34 is used to collect posture information of the rail inspection robot and transmit the collected posture information to the first control unit 10, wherein the posture information includes but is not limited to horizontal angle and vertical angle.

[0058] When executing the road condition modeling instruction, the first control unit 10 is used to send the corresponding modeling control instruction to the driving unit 20, so that the driving unit 20 drives the track inspection robot to move at a speed corresponding to the modeling control instruction.

[0059] The first control unit 10 is used to collect target mileage data and target posture data, wherein the target mileage data includes the mileage information collected by the odometer 32 during the process of the rail inspection robot moving at a speed corresponding to the modeling control instruction, and the target posture data includes the posture information collected by the posture sensor 34 during the process of the rail inspection robot moving at a speed corresponding to the modeling control instruction.

[0060] The first control unit 10 is used to model the driving track of the track inspection robot according to the target mileage data and the target posture data to determine the track road condition model, wherein the track road condition model includes the track type of each section of the sub-path, and the track type is any one of a curve, an uphill road, a downhill road and a straight road.

[0061] In an optional embodiment, the first control unit 10 can transmit the target mileage data and target posture data to the cloud or the main control unit, and the target mileage data and target posture data of the cloud or the main control unit are used to model the driving track of the track inspection robot to determine the track road condition model.

[0062] In an optional implementation, both the target mileage data and the target posture data carry corresponding timestamps.

[0063] Optionally, the first control unit 10 is used to determine the track type of each sub-path according to the target mileage data and the target posture, and then determine the track road condition model.

[0064] The attitude sensor 34 may be, but is not limited to, a gyroscope.

[0065] The embodiment of the present invention further provides a walking control method, which is applied to the first control unit in the walking control system. Figure 3 The walking control method includes: S101 and S102, which are described in detail as follows.

[0066] S101, when executing the inspection instruction, determining the target speed according to the current position of the rail inspection robot.

[0067] S102, sending a corresponding target control instruction to the driving unit according to the target speed, so that the driving unit drives the rail inspection robot to move according to the target speed.

[0068] The inspection instruction includes an inspection path, which includes multiple sub-paths. Two adjacent sub-paths correspond to different standard driving speeds. The target speed is the standard driving speed corresponding to the current sub-path. The current sub-path is the sub-path to which the current position belongs.

[0069] It should be noted that the walking control method provided in this embodiment can perform the functions and purposes shown in the above walking control system embodiment to achieve the corresponding technical effects. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiments.

[0070] An embodiment of the present invention further provides a track inspection robot, comprising the above-mentioned walking control system.

[0071] In summary, an embodiment of the present invention provides a walking control system and method and a rail inspection robot, wherein the walking control system is deployed on the rail inspection robot, and the walking control system includes a first control unit, a drive unit, and an information collection unit, wherein the first control unit is connected to the drive unit and the information collection unit, respectively; the information collection unit is used to locate the current position of the rail inspection robot and transmit the current position to the first control unit; when executing the inspection instruction, the first control unit is used to send a corresponding target control instruction to the drive unit according to the target speed corresponding to the current position, so that the drive unit drives the rail inspection robot to move at the target speed; wherein the inspection instruction includes an inspection path, and the inspection path includes multiple sub-paths, and the standard driving speeds corresponding to two adjacent sub-paths are different, the target speed is the standard driving speed corresponding to the current sub-path, and the current sub-path is the sub-path to which the current position belongs. Flexible adjustment of the driving speed based on the sub-path where the rail inspection robot is currently located can ensure the safety and reliability of the robot in performing the inspection task, and is conducive to the efficient completion of the inspection task.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0073] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A walking control system, characterized in that: The walking control system is deployed on the rail inspection robot, and the walking control system includes a first control unit, a driving unit and an information collection unit, and the first control unit is connected to the driving unit and the information collection unit respectively; The information acquisition unit is used to locate the current position of the rail inspection robot and transmit the current position to the first control unit; When executing the inspection instruction, the first control unit is used to send a corresponding target control instruction to the driving unit according to the target speed corresponding to the current position, so that the driving unit drives the rail inspection robot to move according to the target speed; Among them, the inspection instruction includes an inspection path, the inspection path includes multiple sub-paths, the standard driving speeds corresponding to two adjacent sub-paths are different, the target speed is the standard driving speed corresponding to the current sub-path, and the current sub-path is the sub-path to which the current position belongs.

2. The walking control system according to claim 1, characterized in that: The information collection unit includes an odometer and a non-volatile memory, and the first control unit is connected to the odometer and the non-volatile memory respectively; The odometer is used to record the mileage information, wherein the mileage information represents the mileage information corresponding to the movement of the rail inspection robot from the starting point to the current position; The first control unit is used to write the traveled mileage information in the odometer into the non-volatile memory at a preset time interval.

3. The walking control system according to claim 1, characterized in that: The information collection unit is also used to collect obstacle information on the inspection path and transmit the obstacle information to the first control unit, wherein the obstacle information includes distance information from the obstacle in front of the rail inspection robot to the rail inspection robot; When executing the inspection instruction, the first control unit is used to send a corresponding safety control instruction to the driving unit when it is determined that there is an obstacle at the first preset distance, so that the driving unit drives the rail inspection robot to move at a safe speed, wherein the safe speed is less than a standard driving speed corresponding to any sub-path; The first control unit is also used to send a corresponding stop movement instruction to the drive unit when it is determined that there is an obstacle at a second preset distance, so that the drive unit stops driving the track inspection robot to move, wherein the second preset distance is smaller than the first preset distance.

4. The walking control system according to claim 3, characterized in that: The information collection unit includes a distance detector deployed on one side of the forward direction of the rail inspection robot, and the distance detector is used to collect distance information from an obstacle in front of the rail inspection robot to the rail inspection robot.

5. The walking control system according to claim 4, characterized in that: The distance detector is any one of an ultrasonic detector, an infrared distance sensor and a ranging radar.

6. The walking control system according to claim 2, characterized in that: The information collection unit further includes a posture sensor, and the posture sensor is connected to the first control unit; The posture sensor is used to collect posture information of the rail inspection robot and transmit the collected posture information to the first control unit; When executing the road condition modeling instruction, the first control unit is used to send a corresponding modeling control instruction to the driving unit, so that the driving unit drives the track inspection robot to move at a speed corresponding to the modeling control instruction; The first control unit is used to collect target mileage data and target posture data, wherein the target mileage data includes mileage information collected by the odometer during the process of the rail inspection robot moving at the speed corresponding to the modeling control instruction, and the target posture data includes posture information collected by the posture sensor during the process of the rail inspection robot moving at the speed corresponding to the modeling control instruction; The first control unit is used to model the driving track of the track inspection robot according to the target mileage data and the target posture data to determine a track road condition model, wherein the track road condition model includes the track type of each sub-path, and the track type is any one of a curve, an uphill road, a downhill road, and a straight road.

7. The walking control system according to claim 6, characterized in that: The first control unit is used to determine the track type of each sub-path according to the target mileage data and the target posture, and then determine the track road condition model.

8. The walking control system according to claim 6, characterized in that: The attitude sensor adopts a gyroscope.

9. A walking control method, characterized in that: The method applied to the first control unit in the walking control system according to any one of claims 1 to 8 comprises: When executing the inspection command, the target speed is determined according to the current position of the rail inspection robot; Sending a corresponding target control instruction to the driving unit according to the target speed, so that the driving unit drives the rail inspection robot to move according to the target speed; Among them, the inspection instruction includes an inspection path, the inspection path includes multiple sub-paths, the standard driving speeds corresponding to two adjacent sub-paths are different, the target speed is the standard driving speed corresponding to the current sub-path, and the current sub-path is the sub-path to which the current position belongs.

10. A track inspection robot, characterized in that: The walking control system comprises the walking control system according to any one of claims 1 to 8.

Images