Orbital transfer device of orbital robot, orbital transfer track and orbital transfer and control method of orbital transfer track

Abstract

The invention discloses an orbital transfer device of an orbital robot, an orbital transfer track and an orbital transfer and control method thereof, and relates to the field of orbital transfer devices.The orbital transfer device comprises an orbital transfer frame, an orbital transfer driving device and an orbital transfer controller, the orbital transfer driving device and the orbital transfer controller are fixed to a fixing plate, and the fixing plate can be fixed to the orbital transfer frame; the orbital transfer frame is connected with the output end of the orbital transfer driving device, so that the orbital transfer driving device can drive the orbital transfer frame to rotate; a plurality of laser sensors used for sensing the inspection robot are arranged on the track transfer frame, the laser sensors are in signal connection with the signal input end of the track transfer controller, and the signal output end of the track transfer controller is connected with the track transfer driving device. The orbital transfer track is provided with an orbital transfer device. According to the invention, the accuracy and precision of the rail transfer butt joint position and the safety during rail transfer can be ensured.

Description

Technical Field

[0001] The present invention relates to the field of track changing devices, in particular to a track changing device of a track type robot, a track changing track and a track changing and control method thereof. Background Art

[0002] In recent years, my country's hydropower industry has developed rapidly, and ensuring the safety of hydropower stations is the primary issue. The complex corridor environment of hydropower stations, the large number of lines, the crisscrossing corridors, and the time-consuming inspections have greatly increased the inspection risks of operation and maintenance personnel, so inspection robots have been created. Currently, inspection robots generally use pre-laid tracks to implement inspections. The intersections of the corridors are in a "cross" or "T" shape, and the tracks at the intersections are difficult to arrange. At the same time, the narrow space and dense cable racks also increase the difficulty of track laying. Therefore, a set of track change devices is needed to solve the problem of track switching in the inspection system here, and realize two-way inspection of equipment.

[0003] At present, track change devices are widely used in the corridors of hydropower stations. For example, the track change device disclosed in the paper "WANG Bo, ZHAO Yuan, LIU Xiquan, et al. Application of intelligent inspection robot in damcorridor operation and maintenance[J]. 2022, (07)(53): 227-231." has been demonstrated in some hydropower plants, but the track change device has poor reliability and does not have the corresponding sealing treatment for the humid environment of the hydropower station. In addition, the paper "Hu Eryi, Lv Donghan, Wang Chuntao, et al. Design of intelligent and safe charging system for coal mine robots[J]. Coal Science and Technology, 2020, 48(02): 171-175." proposed an underground intelligent track switch device, but the device has low integration and poor accuracy, and secondly, it is not suitable for the special environment of "cross" or "T" in the corridor.

[0004] Therefore, the current mainstream track change scheme has some undesirable factors such as low positioning accuracy and lack of safety protection during the track change process; a new track change device and method are needed. Summary of the invention

[0005] The purpose of the present invention is to provide a track-changing device, a track-changing track, and a track-changing and control method for a track-type robot in response to the above-mentioned problems, which can effectively solve the defects mentioned in the background technology.

[0006] The technical solution adopted by the present invention is as follows: a track changing device of a track-type robot comprises a track changing frame, a track changing drive device and a track changing controller, wherein the track changing drive device and the track changing controller are fixed on a fixed plate, and the fixed plate can be fixed on the track frame; the track changing frame is connected to the output end of the track changing drive device so that the track changing drive device can drive the track changing frame to rotate; a plurality of laser sensors for sensing the inspection robot are arranged on the track changing frame, and the laser sensor is signal-connected to the signal input end of the track changing controller, and the signal output end of the track changing controller is connected to the track changing drive device.

[0007] Furthermore, the track change drive device is a rotating motor with a driving wheel, the top of the track change frame is provided with a connecting steel plate, a driven wheel is provided between the connecting steel plate and the fixed plate, one end of the driven wheel is fixedly connected to the connecting steel plate, the other end of the driven wheel is connected to the fixed plate for rotation around its own axis, and the driving wheel and the driven wheel are mechanically connected.

[0008] Furthermore, the axis of the driven wheel is on a mid-plane in the length direction of the track change frame.

[0009] Furthermore, the number of laser sensors is at least 2, and there are two laser sensors located at two ends of the track change frame respectively.

[0010] Furthermore, the track changing device also includes a plurality of micro switches and two detection plates. The micro switches are installed at the docking end of the track. The two detection plates are respectively installed at the two ends of the track changing frame. After the two ends of the track changing frame are aligned with the docking end of the track, the positions of the detection plates and the micro switches are matched to enable the detection plates to act on the micro switches. The micro switches are connected to the track changing controller.

[0011] Furthermore, both ends of the track changing frame are provided with track connectors for connecting with the butt ends of the track.

[0012] Furthermore, the track changing device also includes two baffles and multiple levers; the two baffles are respectively hinged to the two ends of the track changing frame, and the rotation direction of the baffles is perpendicular to the length direction of the track changing frame; the multiple levers are evenly distributed on the docking end of each track, and there is interference between the levers and the baffles in spatial position.

[0013] A track-changing track comprises an even number of at least four tracks mounted on a track frame and a track-changing device of a track-type robot, wherein all tracks are arranged in a circumferential array around the rotation axis of the track-changing frame, and the track-changing device is located between all tracks; the ends of all tracks are butt ends, and the butt ends have track overlap pieces that match track connectors.

[0014] A track changing method for a track changing track, using the track changing track to change a track changing frame from docking with a first track to docking with a second track, comprising the following steps: S1: When the inspection robot enters the track change frame, it blocks the laser sensor, which generates a blocked signal and transmits the signal to the track change controller; S2: The inspection robot continues to enter the track change frame until all laser sensors are blocked by the inspection robot and the inspection robot stops moving; the track change controller obtains the signal that all laser sensors have been blocked and controls the track change drive device to work; S3: the track change driving device rotates the track change frame; the process of the track change frame rotating includes steps S31 to S32; S31: As the track changing frame rotates, the track changing frame gradually leaves the first track, the baffle leaves the lever on the first track, and the baffle sags under its own gravity to form a block for both ends of the track changing frame; S32: As the track changing frame rotates, the track changing frame gradually enters the second track, and the baffle plate contacts the lever; as the track changing frame continues to rotate, the baffle plate rotates under the restriction of the lever, and no longer blocks the two ends of the track changing frame; S4: The track connector cooperates with the track connector of the second track, and at the same time, the detection plate triggers the micro switch on the track to be docked. The micro switch generates a signal and transmits the signal to the controller. The controller controls the track change drive device to stop working; the track change frame is transformed from docking with the first track to docking with the second track.

[0015] A track change control method for a track change track uses the track change track and adopts an angle-speed dual closed-loop control method to perform track change control.

[0016] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. The present invention uses multiple laser sensors to cooperate with the inspection robot to sense and ensure that the inspection robot is completely in the track change frame before changing tracks, thereby ensuring safety during track change; 2. The present invention ensures the accuracy of the docking position after track change through the cooperation of the micro switch and the detection plate; 3. The present invention can constrain the inspection robot in the track change frame during the track change process through the cooperation of the baffle and the lever, and will not affect the inspection robot from entering the track after the track change is completed; 4. The angle-speed dual closed-loop control method adopted by the present invention has the advantages of faster response, shorter adjustment time and stronger disturbance resistance compared with the current single speed closed-loop control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will now be described by way of example with reference to the accompanying drawings, in which: Figure 1 It is a front view structural schematic diagram of the track changing device disclosed in the present invention; Figure 2It is a schematic structural diagram of an oblique side view of the track changing device disclosed in the present invention; Figure 3 It is a structural schematic diagram of the track change track disclosed in the present invention; Figure 4 This is a structural diagram of the track change control disclosed in the present invention; Markings in the figure: 1-track changing device; 11-rotating motor; 111-driving wheel; 12-track changing controller; 13-driven wheel; 14-fixed plate; 15-track changing frame; 151-connecting steel plate; 152-track connecting piece; 16-laser sensor; 17-detection board; 18-micro switch; 19-baffle; 2-first track; 3-second track; 4-track lap piece. DETAILED DESCRIPTION

[0018] In the description of this specification, it should be noted that if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship in which the product of this specification is usually placed when used. It is only for the convenience of describing this specification and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this specification.

[0019] In addition, if the terms "horizontal" or "vertical" appear in the description of this specification, it does not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0020] In the description of this specification, it should also be noted that, unless otherwise clearly stipulated and limited, the terms "set", "installed", "connected" and "connected" should be understood in a broad sense. For example, the connection 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 an indirect connection through an intermediate medium, and it can be a connection between the internal parts of two elements.

[0021] Example 1 like Figure 1-Figure 2 As shown, the track-changing device 1 of the track-type robot includes a track-changing frame 15, a track-changing drive device and a track-changing controller 12; the specific structure and connection are as follows.

[0022] The track changing frame 15 is composed of two parallel track changing rods and multiple C-shaped frames. The two parallel track changing rods are respectively fixed at both ends of the C-shaped frames. After the inspection robot enters the track changing frame 15, it is supported by the two parallel track changing rods. The existence of the C-shaped frame improves the supporting strength and supporting capacity of the inspection robot supporting the track changing rods.

[0023] The fixed plate 14 can be fixedly mounted on the track frame, which is a steel frame for mounting the track; the track change drive device and the track change controller 12 are fixed on the fixed plate 14 .

[0024] In this embodiment, the track changing frame 15 is connected to the output end of the track changing drive device, and the track changing drive device provides power for the rotation of the track changing frame 15, so that the track changing drive device can drive the track changing frame 15 to rotate, thereby realizing the transformation of the track changing frame 15 from docking with one track to docking with another track.

[0025] In this embodiment, a plurality of laser sensors 16 for sensing the inspection robot are arranged on the track changing frame 15. The laser sensor 16 has a laser emitter and a photoreceptor. The laser emitter and the photoreceptor are respectively arranged on two track changing rods of the track changing frame 15. After the inspection robot enters the track changing frame 15, the photoreceptor will be blocked, so that the photoreceptor cannot sense the laser emitted by the laser emitter, thereby causing a change, which is called a signal. The laser sensor 16 is connected to the signal input end of the track changing controller 12, that is, the photoreceptor in the laser sensor 16 sends the signal to the track changing controller 12; if all the laser sensors 16 generate signals, the signal output end of the track changing controller 12 is connected to the track changing drive device, that is, the track changing controller 12 controls the track changing drive device to operate and perform the track changing operation.

[0026] In this embodiment, a plurality of laser sensors 16 cooperate with the inspection robot to sense and ensure that the inspection robot is completely within the track-changing frame 15 before changing tracks, thereby ensuring safety during the track change.

[0027] Example 2 Based on Example 1, a specific implementation method that can be implemented is further proposed.

[0028] A feasible implementation manner, the track change drive device is a rotating motor 11 with a driving wheel 111, and the rotating motor 11 is preferably a servo motor, which can self-compile a control program; the top of the track change frame 15 is provided with a connecting steel plate 151, and the connecting steel plate 151 is fixedly connected to all C-frames in the track change frame 15, so that all C-frames are formed into a whole, and the strength is further improved; on the other hand, the connecting steel plate 151 serves as a transition structure, that is, there is a driven wheel 13 between the connecting steel plate 151 and the fixed plate 14, one end of the driven wheel 13 is fixedly connected to the connecting steel plate 151, and the other end of the driven wheel 13 is connected to the fixed plate 14 around its own axis, and the driving wheel 111 is mechanically connected to the driven wheel 13; specifically, the rotating motor 11 starts to work under the control of the controller, the driving wheel 111 rotates to rotate with the driven wheel 13, and the driven wheel 13 rotates to rotate with the track change frame 15 with the connecting steel plate 151, thereby realizing the transformation of the track change frame 15 docking with one track to docking with another track.

[0029] Furthermore, the driving wheel 111 and the driven wheel 13 may be one or more of gears, sprockets or pulleys.

[0030] A feasible implementation method, as can be known from the above, the rotation axis of the track change frame 15 is the axis of the driven shaft, and the axis of the driven wheel 13 is on the mid-plane in the length direction of the track change frame 15, that is, the distance from both ends of the track change frame 15 to the driven shaft is consistent, so as to ensure that there will be no misalignment, overlap or insufficient distance when docking with the track, and ensure that both ends of the track change frame 15 can be accurately docked with the track.

[0031] In a feasible implementation manner, the number of laser sensors 16 is at least 2, preferably 3; there are two laser sensors 16 respectively located at the two ends of the track change frame 15, and the remaining laser sensors 16 are arranged in an array along the length direction of the track change frame 15. The laser sensors 16 at the two ends of the track change frame 15 respectively sense the two ends of the inspection robot to ensure that both ends of the inspection robot are in the track change frame 15, thereby determining that the entire inspection robot is located in the track change frame 15.

[0032] A feasible implementation manner, the two ends of the track change frame 15 are docked with the ends of the track, and the ends on the track used for docking are called docking ends; the track change device 1 also includes multiple micro switches 18 and two detection plates 17, the micro switches 18 are installed at the docking ends of the track, the two detection plates 17 are respectively installed at the two ends of the track change frame 15, and after the two ends of the track change frame 15 are aligned with the docking ends of the track, the positions of the detection plates 17 and the micro switches 18 are matched to enable the detection plates 17 to act on the micro switches 18; the micro switches 18 are connected to the track change controller 12; the specific working process is as follows.

[0033] When the two ends of the track changing frame 15 are docked with the docking ends of the corresponding tracks, the detection board 17 will trigger the micro switch 18, so that the micro switch 18 generates a signal and transmits the signal to the track changing controller 12. After the track changing controller 12 obtains the signal transmitted by the micro switch 18, it controls the track changing drive device to stop working, so that the track changing drive device no longer drives the track changing frame 15 to rotate, and completes the change of the track to which the track changing frame 15 is docked.

[0034] It can be known from the above contents that the cooperation between the micro switch 18 and the detection plate 17 ensures the accuracy of the docking position after the track change.

[0035] A feasible implementation manner is that both ends of the track change frame 15 are provided with track connectors 152 for connecting to the docking ends of the track. The track connector 152 can be a semi-cylinder, and the corresponding docking end also has a track connector 4 that matches the track connector 152. The track connector 4 is a semi-cylinder of the same size as the track connector 152. The track connector 4 supports the track connector 152 and together constitute a section of the track.

[0036] A feasible implementation method, the track changing device 1 also includes two baffles 19 and multiple levers; the two baffles 19 are respectively hinged to the two ends of the track changing frame 15, and the rotation direction of the baffles 19 is perpendicular to the length direction of the track changing frame 15; multiple levers are evenly distributed on the docking end of each track, and there is interference between the levers and the baffles 19 in spatial position; through the cooperation of the baffles 19 and the levers, the inspection robot can be constrained in the track changing frame 15 during the track changing process, and will not affect the inspection robot from entering the track after the track changing is completed. The details are as follows.

[0037] In the first embodiment, brackets extending outward along the length direction are installed at both ends of the track changing frame 15, one end of the bracket is fixedly connected to the track changing frame 15, and the other end of the bracket is hinged with a baffle 19, and the connection position between the bracket and the baffle 19 is located outside the track changing frame 15; the shift rod can be an inherent component on the track, such as a track frame, etc.; the rotation direction of the baffle 19 is perpendicular to the length direction of the track changing frame 15, and there is interference between the shift rod and the baffle 19 in spatial position.

[0038] The second implementation manner is different from the first implementation manner in that the shifting rod can be a rod-shaped body installed on the track frame.

[0039] The working principles of the above two embodiments are the same, and the example of the track changing frame 15 changing from docking with the first track 2 to docking with the second track 3 is used for explanation. As the track changing frame 15 rotates, the track changing frame 15 gradually leaves the first track 2, and the baffle 19 leaves the lever on the first track 2. The baffle 19 droops under the action of its own gravity, forming a block for both ends of the track changing frame 15; since the free direction of the baffle 19 is perpendicular to the length direction of the track changing frame 15, the baffle 19 will produce a block in the length direction of the track changing frame 15, effectively preventing the inspection robot in the track changing frame 15 from moving along the length direction of the track changing frame 15 during the track change, causing the inspection robot to leave the track changing frame 15; as the track changing frame 15 rotates, the track changing frame 15 gradually enters the second track 3, and since the lever and the baffle 19 interfere with each other in spatial position, the baffle 19 contacts the lever; as the track changing frame 15 continues to rotate, the baffle 19 rotates under the restriction of the lever, and no longer blocks both ends of the track changing frame 15, so that the inspection robot will not be affected from entering the track after the track change is completed.

[0040] Example 3 like Figure 1-Figure 3 As shown, a track change track includes an even number of at least 4 tracks mounted on a track frame and a track change device 1 of a track type robot as described in any one of the embodiments 1-2. All tracks are arranged in a circumferential array around the rotation axis of the track change frame 15, and the track change device 1 is located between all tracks; the ends of all tracks are butt ends, and the butt ends have track bridging members 4 that match the track connectors 152.

[0041] Specifically, in this embodiment, there are four tracks arranged in a cross shape, and the track-changing device 1 of the track-type robot is installed at the intersection of the cross. The tracks in the same direction are docked with both ends of the track-changing frame 15; the track-changing frame 15 changes the track from docking with the track in the original direction to docking with the track in other directions.

[0042] Example 4 like Figure 1-Figure 3 As shown, a track changing method of a track changing track, using the track changing track described in Example 3, changes the track changing frame 15 from docking with the first track 2 to docking with the second track 3, and the first track 2 and the second track 3 are no longer in the same direction; comprising the following steps: S1: The inspection robot enters the track change frame 15 and blocks the laser sensor 16. The laser sensor 16 generates a blocked signal and transmits the signal to the track change controller 12; S2: The inspection robot continues to enter the track change frame 15 until all the laser sensors 16 are blocked by the inspection robot and the inspection robot stops moving; the track change controller 12 obtains the signal that all the laser sensors 16 have been blocked and controls the track change drive device to work; S3: the track change driving device rotates the track change frame 15; the process of the track change frame 15 rotating includes steps S31 and S32; S31: As the track changing frame 15 rotates, the track changing frame 15 gradually leaves the first track 2, the baffle 19 leaves the lever on the first track 2, and the baffle 19 sags under its own gravity to form a block for both ends of the track changing frame 15; S32: As the track changing frame 15 rotates, the track changing frame 15 gradually enters the second track 3, and the baffle 19 contacts the lever; as the track changing frame 15 continues to rotate, the baffle 19 rotates under the restriction of the lever and no longer blocks the two ends of the track changing frame 15; S4: The track connector 152 cooperates with the track connector 4 of the second track 3, and at the same time, the detection plate 17 touches the micro switch 18 on the track to be docked, the micro switch 18 generates a signal and transmits the signal to the controller, and the controller controls the track change drive device to stop working; the track change frame 15 is completed from docking with the first track 2 to docking with the second track 3.

[0043] Example 5 like Figure 4 As shown, a track change control method for a track change track uses the track change track described in Example 3 and adopts an angle-speed dual closed-loop control method to perform track change control; compared with the current single speed closed-loop control method, the angle-speed dual closed-loop control method has the advantages of faster response, shorter adjustment time, and stronger ability to resist disturbances.

[0044] Specifically, the track change controller 12 includes a tracking differentiator, an extended state observer and other structural components; the desired rotation angle θd is input into the tracking differentiator (for example, in Example 3, the number of tracks is 4, arranged in a cross shape, and the desired rotation angle is 90°); the tracking differentiator obtains the desired rotation angle θd and then processes it to obtain the desired angle data v1 and the desired speed data v2; the extended state observer obtains the real-time rotation angle θ of the rotating motor 11 (the real-time rotation angle of the rotating motor 11 can be obtained through the encoder of the rotating motor 11), and the real-time rotation angle θ obtained by the extended state observer is processed. The current angle data z1, the current speed data z2 and the interference data z3 (voltage data) are formed; the expected angle data v1 and the expected speed data v2, the current angle data z1 and the current speed data z2 are adjusted to output the expected voltage u0 through the feedback adjustment method of the error feedback control law; the expected voltage u0 is combined with the interference data z3, and the controller gain b0 is used to obtain the expected rotation speed nd, that is, nd=u0-z3 / b0; and the track change controller 12 controls the rotation speed of the rotating motor 11 according to the expected rotation speed nd, so that the rotating motor 11 responds quickly, so that the track change frame 15 changes the track to the required rotation angle.

[0045] It is further explained that the expression of the expected voltage u0 output by the feedback regulation method of the error feedback control law is u0=k1*e1+k2*e2; where k1 is the linear self-disturbance rejection gain of the angle; e1=v1-z1; k2 is the linear self-disturbance rejection gain of the speed; e2=v2-z2.

[0046] The present invention is not limited to the above-mentioned specific embodiments, but extends to any new features or any new combination disclosed in this specification, as well as any new method or process steps or any new combination disclosed.

Claims

1. A track-changing device for a track-type robot, characterized in that: The invention comprises a track changing frame (15), a track changing drive device and a track changing controller (12), wherein the track changing drive device and the track changing controller (12) are fixed on a fixing plate (14), and the fixing plate (14) can be fixed on the track frame; the track changing frame (15) is connected to the output end of the track changing drive device, so that the track changing drive device can drive the track changing frame (15) to rotate; and a plurality of laser sensors (16) for sensing the inspection robot are arranged on the track changing frame (15), the laser sensors (16) are signal-connected to the signal input end of the track changing controller (12), and the signal output end of the track changing controller (12) is connected to the track changing drive device.

2. The track changing device according to claim 1, characterized in that: The track change driving device is a rotating motor (11) having a driving wheel (111); the top of the track change frame (15) is provided with a connecting steel plate (151); a driven wheel (13) is provided between the connecting steel plate (151) and a fixed plate (14); one end of the driven wheel (13) is fixedly connected to the connecting steel plate (151); the other end of the driven wheel (13) is connected to the fixed plate (14) for rotation around its own axis; and the driving wheel (111) is connected to the driven wheel (13) by mechanical transmission.

3. The track changing device according to claim 2, characterized in that: The axis of the driven wheel (13) is located on the mid-plane in the length direction of the track change frame (15).

4. The track changing device according to claim 1, characterized in that: The number of laser sensors (16) is at least two, and there are two laser sensors (16) respectively located at two ends of the track change frame (15).

5. The track changing device according to claim 1, characterized in that: The track change device (1) further comprises a plurality of micro switches (18) and two detection plates (17); the micro switches (18) are mounted at the butt ends of the track; the two detection plates (17) are respectively mounted at the two ends of the track change frame (15); and after the two ends of the track change frame (15) are aligned with the butt ends of the track, the positions of the detection plates (17) and the micro switches (18) are matched so that the detection plates (17) can act on the micro switches (18); and the micro switches (18) are connected to the track change controller (12).

6. The track changing device according to claim 5, characterized in that: Both ends of the track change frame (15) are provided with track connectors (152) for connecting to the butt ends of the track.

7. The track changing device according to claim 1, characterized in that: The track changing device (1) further comprises two baffles (19) and a plurality of shifting rods; the two baffles (19) are respectively hinged to two ends of the track changing frame (15), and the rotation direction of the baffles (19) is perpendicular to the length direction of the track changing frame (15); the plurality of shifting rods are evenly distributed on the butt end of each track, and there is interference between the shifting rods and the baffles (19) in terms of spatial position.

8. A track change track, characterized in that: The invention comprises an even number of at least 4 tracks mounted on a track frame and a track-changing device for a track-type robot as claimed in any one of claims 1 to 7, wherein all tracks are arranged in a circumferential array around the rotation axis of the track-changing frame (15), and the track-changing device (1) is located between all tracks; the ends of all tracks are butt ends, and the butt ends have track overlap members (4) matching with track connectors (152).

9. A track changing method for a track changing track, characterized in that: Using the track change track according to claim 8, the track change frame (15) is changed from docking with the first track (2) to docking with the second track (3), comprising the following steps: S1: The inspection robot enters the track change frame (15) and blocks the laser sensor (16), and the laser sensor (16) generates a blocked signal and transmits the signal to the track change controller (12); S2: The inspection robot continues to enter the track change frame (15) until all the laser sensors (16) are blocked by the inspection robot and the inspection robot stops moving; the track change controller (12) obtains a signal indicating that all the laser sensors (16) have been blocked and controls the track change drive device to operate; S3: the track change driving device rotates the track change frame (15); the process of the track change frame (15) rotating includes steps S31 to S32; S31: As the track changing frame (15) rotates, the track changing frame (15) gradually leaves the first track (2), the baffle (19) leaves the lever on the first track (2), and the baffle (19) sags under the action of its own gravity, thereby forming a block for both ends of the track changing frame (15); S32: As the track changing frame (15) rotates, the track changing frame (15) gradually enters the second track (3), and the baffle (19) contacts the lever; as the track changing frame (15) continues to rotate, the baffle (19) rotates under the restriction of the lever and no longer blocks the two ends of the track changing frame (15); S4: The track connector (152) cooperates with the track connector (4) of the second track (3), and at the same time, the detection plate (17) triggers the micro switch (18) on the track to be docked, the micro switch (18) generates a signal and transmits the signal to the controller, and the controller controls the track change drive device to stop working; the track change frame (15) is completed from docking with the first track (2) to docking with the second track (3).

10. A track change control method for a track change track, characterized in that: Using the track change track described in claim 8, an angle-speed dual closed-loop control method is adopted to perform track change control.

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