Inspection robot and inspection system

Abstract

The invention discloses an inspection robot and an inspection system, the inspection robot comprises a base, the two sides of the base of the base are both provided with walking wheels matched with a track, the walking wheels are driven by a driving assembly, and the positions, located on the two sides of each walking wheel, of the base are both provided with guiding assemblies matched with the track; a first visual collection piece fixing plate is mounted on one side of the guide assembly on the two sides of the rail, and a first visual collection piece for conducting visual collection on the side face of the rail is mounted on the first visual collection piece fixing plate; the bottom of one end of the base is provided with a brush plate for cleaning the track, the other end of the base is provided with a mounting plate, and the mounting plate is provided with a second visual collection piece for conducting visual collection on the surface of the track. According to the rail detection device, the surface of the rail is cleaned through the brush plate, the surface and the side face of the rail are detected through the first visual collection part, the laser camera and the second visual collection part, comprehensive detection of the rail is achieved, detection is relatively comprehensive, and the effect is good.

Description

Technical Field

[0001] The present invention relates to the technical field of track inspection, in particular to an inspection robot and an inspection system. Background Art

[0002] The rail inspection robot is a robot that can perform special inspections and customized inspection tasks in special environments. It can realize autonomous positioning and navigation, and is equipped with specific cameras, such as panoramic cameras or dual-light pan-tilt cameras and a variety of environmental monitoring module sensors. It can capture and sense the surrounding environment in real time, and realize remote online monitoring and data analysis.

[0003] The track inspection robot disclosed in the existing publication number CN114454196B relates to the field of robot technology; it includes a robot body, the robot body includes a driving system, a detection component and a power supply for supplying energy to the robot body; a monitoring center, the monitoring center includes a monitoring device arranged on the robot body, and an adjustment component for adjusting the position of the monitoring device; an obstacle removal component, the obstacle removal component includes a support frame installed in the forward direction and / or backward direction of the robot body; a plurality of support plates are rotatably arranged in the support frame, and the plurality of support plates are coaxially assembled on a rotating shaft; a power component A is connected to one end of the rotating shaft; wherein a plurality of accommodating grooves for accommodating obstacles are provided on the support plate; through the functions of the monitoring device, the adjustment component and the obstacle removal component, the problem that the existing track inspection robot is prone to deviate from the track when continuing to travel when encountering an obstacle, and even causes damage to the robot, is solved.

[0004] The existing technology has a small monitoring range and cannot perform multi-directional detection of the track, resulting in relatively one-sided detection results. For this reason, we propose a patrol robot and patrol system. Summary of the invention

[0005] The purpose of the present invention is to provide an inspection robot and an inspection system to solve the problems in the prior art.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an inspection robot, comprising a base, both sides of the base are provided with running wheels matching with the track, the running wheels are driven by a driving assembly, and both sides of each running wheel of the base are provided with guide assemblies matching with the track; one side of the guide assemblies on both sides of the track is provided with a first visual acquisition component fixing plate, and the first visual acquisition component fixing plate is provided with a first visual acquisition component for visually acquiring the side surface of the track;

[0007] A brush plate for cleaning the track is installed at the bottom of one end of the base, and a mounting plate is installed at the other end of the base, and a second visual acquisition member for visually acquiring the track surface is installed on the mounting plate;

[0008] A first shell and a second shell are installed on the top of the base, a controller is installed in the second shell of the base, and a laser camera is installed on the top of the first shell.

[0009] Preferably, a sliding adjustment frame is installed on the top of the base, and two supporting seats are slidably installed on the sliding adjustment frame. The two supporting seats are installed with driving components for driving corresponding walking wheels, and the driving components are connected to the walking wheels through a driving shaft.

[0010] Preferably, the sliding adjustment frame includes two side plates arranged in parallel, two sliding rods are installed between the two side plates, and a bidirectional screw rod for driving the two support seats to move is installed between the two side plates.

[0011] Preferably, the support seat includes a first fixed rod and a second fixed rod, a second spring is arranged between the first fixed rod and the second fixed rod, the first fixed rod and the second fixed rod are both slidably mounted on the sliding rod, and the first fixed rod and the second fixed rod have a nut installed thereon that cooperates with the bidirectional screw rod.

[0012] Preferably, the guide assembly includes a fixed plate, the fixed plate is equipped with side guide rollers that cooperate with the top side of the track, the fixed plate is equipped with an upper guide wheel that cooperates with the top of the track, the fixed plate is equipped with a bracket, a sliding frame is slidably mounted on the bracket, a first spring for pressing the sliding frame downward is installed between the top of the sliding frame and the bracket, and the sliding frame is equipped with a lower guide wheel that cooperates with the bottom of the track.

[0013] A patrol robot inspection system, using the patrol robot, comprises:

[0014] An image acquisition module, used to acquire images of the side and top of the track;

[0015] The preprocessing module is used to preprocess the collected images, including removing noise, enhancing contrast, and standardizing size;

[0016] Feature extraction module, used to extract key features from preprocessed images;

[0017] An analysis module, used for analyzing defects in the image;

[0018] Central processing unit, used for system control.

[0019] It also includes a training model module, which trains a model based on a large amount of data to predict the type and severity of defects in new input images;

[0020] The optimization module is used to optimize the training model.

[0021] Preferably, the image acquisition module includes a first visual acquisition component, a laser camera and a second visual acquisition component.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The track surface is cleaned by a brush plate, and the track surface and side are inspected by the first visual acquisition component, the laser camera and the second visual acquisition component, so that a comprehensive inspection of the track can be achieved, and the inspection is relatively comprehensive and the effect is good.

[0024] 2. By rotating the bidirectional screw, the distance between the two support seats can be adjusted, thereby adjusting the distance between the two walking wheels, so that the walking wheels and the track can cooperate closely to realize the walking of the robot.

[0025] 3. The lower guide wheel can be tightly fitted to the lower part of the track through the first spring, and the side guide rollers, upper guide wheels and lower guide wheels can be fully matched with the track, thereby achieving comprehensive limiting, so that the robot has better stability when walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0027] Figure 1 It is a schematic diagram of the structure of the present invention;

[0028] Figure 2 It is a structural schematic diagram of the support seat and the driving assembly of the present invention;

[0029] Figure 3 The present invention Figure 2 Schematic diagram of the structure when the track is removed;

[0030] Figure 4 It is a structural schematic diagram of the base, the support base and the sliding adjustment frame of the present invention;

[0031] Figure 5 It is a structural schematic diagram of the support seat and the sliding adjustment frame of the present invention;

[0032] Figure 6 It is a structural schematic diagram of the guide assembly of the present invention.

[0033] In the figure: 1. guide assembly; 2. base; 3. walking wheel; 4. first visual acquisition component; 5. brush plate; 6. first shell; 7. second shell; 8. laser camera; 9. mounting plate; 10. second visual acquisition component; 11. support seat; 12. drive assembly; 13. sliding adjustment frame; 101. fixed plate; 102. side guide roller; 103. upper guide wheel; 104. sliding frame; 105. lower guide wheel; 106. first spring; 107. bracket; 111. first fixed rod; 112. second spring; 113. second fixed rod; 131. side plate; 132. slide rod; 133. bidirectional screw rod. DETAILED DESCRIPTION

[0034] 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. 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. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention.

[0035] See also Figure 1-6 In an embodiment of the present invention, a patrol robot includes a base 2, both sides of the base 2 are provided with running wheels 3 that match the track, the running wheels 3 are driven by a driving assembly 12, and both sides of each running wheel 3 of the base 2 are provided with guide assemblies 1 that match the track; one side of the guide assembly 1 on both sides of the track is provided with a first visual acquisition component fixing plate, and the first visual acquisition component fixing plate is provided with a first visual acquisition component 4 that performs visual acquisition of the side of the track;

[0036] A brush plate 5 for cleaning the track is installed at the bottom of one end of the base 2, and a mounting plate 9 is installed at the other end of the base 2, and a second visual acquisition component 10 for visually acquiring the track surface is installed on the mounting plate 9; a first shell 6 and a second shell 7 are installed on the top of the base 2, and a controller is installed in the second shell 7 of the base 2, and a laser camera 8 is installed on the top of the first shell 6; the track surface is cleaned by the brush plate 5, and the track surface and side are inspected by the first visual acquisition component 4, the laser camera 8 and the second visual acquisition component 10, so that a comprehensive inspection of the track can be achieved, and the inspection is relatively comprehensive and the effect is good.

[0037] A sliding adjustment frame 13 is installed at the top of the base 2, and two support seats 11 are slidably installed on the sliding adjustment frame 13. The two support seats 11 are installed with a driving assembly 12 for driving the corresponding walking wheels 3, and the driving assembly 12 is connected to the walking wheels 3 through a driving shaft; the sliding adjustment frame 13 includes two parallel side plates 131, two sliding rods 132 are installed between the two side plates 131, and a bidirectional screw rod 133 for driving the two support seats 11 to move is installed between the two side plates 131; the support seat 11 includes a first fixed rod 111 and a second fixed rod 113, a second spring 112 is arranged between the first fixed rod 111 and the second fixed rod 113, the first fixed rod 111 and the second fixed rod 113 are both slidably installed on the slide rod 132, the first fixed rod 111 and the second fixed rod 113 have a nut equipped with the bidirectional screw rod 133, and the distance between the two support seats 11 can be adjusted by rotating the bidirectional screw rod 133, thereby adjusting the distance between the two walking wheels 3, so that the walking wheels 3 are closely matched with the track to realize the walking of the robot.

[0038] The guide assembly 1 includes a fixed plate 101, on which a side guide roller 102 is installed to cooperate with the top side of the track, on which an upper guide wheel 103 is installed to cooperate with the top of the track, and on which a bracket 107 is installed. A sliding frame 104 is slidably installed on the bracket 107, and a first spring 106 for pressing the sliding frame 104 downward is installed between the top of the sliding frame 104 and the bracket 107, and on which a lower guide wheel 105 is installed to cooperate with the bottom of the track; the lower guide wheel 105 can be tightly fitted to the lower part of the track by the first spring 106, and full cooperation with the track can be achieved by the side guide rollers 102, the upper guide wheel 103 and the lower guide wheel 105, thereby achieving full limitation, so that the robot has better stability when walking.

[0039] A patrol robot inspection system, using the patrol robot, comprises:

[0040] An image acquisition module, used to acquire images of the side and top of the track;

[0041] The preprocessing module is used to preprocess the collected images, including removing noise, enhancing contrast, and standardizing size;

[0042] Feature extraction module, used to extract key features from preprocessed images;

[0043] An analysis module, used for analyzing defects in the image;

[0044] Central processing unit, used for system control;

[0045] The training model module trains a model based on a large amount of data to predict the type and severity of defects in new input images;

[0046] The optimization module is used to optimize the training model.

[0047] The image acquisition module includes a first visual acquisition component 4 , a laser camera 8 and a second visual acquisition component 10 .

[0048] The working principle of the present invention is: the track surface is cleaned by the brush plate 5, and the track surface and side are detected by the first visual acquisition component 4, the laser camera 8 and the second visual acquisition component 10, so that a comprehensive detection of the track can be achieved, and the detection is relatively comprehensive and the effect is good.

[0049] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. 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.

Claims

1. A patrol robot, comprising a base (2), characterized in that: Both sides of the base of the pedestal (2) are provided with running wheels (3) that cooperate with the track, and the running wheels (3) are driven by a driving assembly (12), and both sides of each running wheel (3) of the pedestal (2) are provided with guide assemblies (1) that cooperate with the track; one side of the guide assemblies (1) on both sides of the track is provided with a first visual acquisition component fixing plate, and the first visual acquisition component fixing plate is provided with a first visual acquisition component (4) that performs visual acquisition of the side surface of the track; A brush plate (5) for cleaning the track is installed at the bottom of one end of the base (2), and a mounting plate (9) is installed at the other end of the base (2), and a second visual acquisition member (10) for visually acquiring the track surface is installed on the mounting plate (9); A first shell (6) and a second shell (7) are installed on the top of the base (2); a controller is installed in the second shell (7) of the base (2); and a laser camera (8) is installed on the top of the first shell (6).

2. The inspection robot according to claim 1, characterized in that: A sliding adjustment frame (13) is installed at the top of the base (2), and two support seats (11) are slidably installed on the sliding adjustment frame (13). The two support seats (11) are installed with a driving assembly (12) for driving the corresponding running wheels (3), and the driving assembly (12) is connected to the running wheels (3) via a driving shaft.

3. The inspection robot according to claim 2, characterized in that: The sliding adjustment frame (13) comprises two side plates (131) arranged in parallel, two sliding rods (132) are installed between the two side plates (131), and a bidirectional screw rod (133) for driving the two support seats (11) to move is installed between the two side plates (131).

4. The inspection robot according to claim 3, characterized in that: The support seat (11) comprises a first fixing rod (111) and a second fixing rod (113), a second spring (112) is arranged between the first fixing rod (111) and the second fixing rod (113), the first fixing rod (111) and the second fixing rod (113) are both slidably mounted on a sliding rod (132), and the first fixing rod (111) and the second fixing rod (113) are provided with a nut matched with a bidirectional screw rod (133).

5. The inspection robot according to claim 1, characterized in that: The guide assembly (1) comprises a fixed plate (101), the fixed plate (101) being provided with a side guide roller (102) cooperating with the side edge of the top of the track, the fixed plate (101) being provided with an upper guide wheel (103) cooperating with the top of the track, the fixed plate (101) being provided with a bracket (107), a sliding frame (104) being slidably mounted on the bracket (107), a first spring (106) for pressing the sliding frame (104) downward being mounted between the top of the sliding frame (104) and the bracket (107), and the sliding frame (104) being provided with a lower guide wheel (105) cooperating with the bottom of the track.

6. A patrol robot inspection system, characterized in that: A patrol robot according to any one of claims 1 to 5 is used, comprising: An image acquisition module, used to acquire images of the side and top of the track; The preprocessing module is used to preprocess the collected images, including removing noise, enhancing contrast, and standardizing size; Feature extraction module, used to extract key features from preprocessed images; An analysis module, used for analyzing defects in the image; Central processing unit, used for system control.

7. The inspection system of the inspection robot according to claim 6, characterized in that: It also includes a training model module, which trains a model based on a large amount of data to predict the type and severity of defects in new input images; The optimization module is used to optimize the training model.

8. The inspection system of an inspection robot according to claim 6 or 7, characterized in that: The image acquisition module comprises a first visual acquisition component (4), a laser camera (8) and a second visual acquisition component (10).

Images