Inspection robot and inspection system

Abstract

The embodiment of the invention provides an inspection system and an inspection robot, and the system comprises a robot body which is configured to detect external environment information; the first walking mechanism is connected with the robot body, and the first walking mechanism is supported on a guide rail on one side of a highway guardrail and can walk on the guide rail; the second walking mechanism is connected with the robot body, and the second walking mechanism is supported on the guardrail and can walk along the guardrail; at least one of the first walking mechanism and the second walking mechanism is an active walking mechanism so as to drive the robot body to walk in the extending direction of the guardrail.

Description

Technical Field

[0001] The present application belongs to the technical field of highway maintenance equipment, and in particular, relates to an inspection robot and an inspection system. Background Art

[0002] The inspection robot is an intelligent device that integrates a variety of high-tech technologies and is used to assist or replace manual inspection work on highways.

[0003] Usually, in order to effectively support the inspection robot and guide the walking path, the inspection robot walks along the guardrail on the side of the road to detect the operation of the road and the vehicles on the road in real time. However, the inspection robot has poor stability when walking on the guardrail. Summary of the invention

[0004] The embodiments of the present application provide a patrol system and a patrol robot that can walk stably on a guardrail.

[0005] An embodiment of the present application provides an inspection robot, comprising:

[0006] The robot body is configured to detect external environment information;

[0007] A first walking mechanism is connected to the robot body, and the first walking mechanism is supported on a guide rail on one side of the highway guardrail and can walk on the guide rail;

[0008] The second walking mechanism is connected to the robot body, and the second walking mechanism is supported on the guardrail and can walk along the guardrail;

[0009] Wherein, at least one of the first walking mechanism and the second walking mechanism is an active walking mechanism to drive the robot body to walk along the extension direction of the guardrail.

[0010] In some implementations, the guide rail and the guardrail are arranged side by side along the width direction of the guardrail;

[0011] Among them, the width direction of the guardrail intersects with the length direction and height direction of the guardrail.

[0012] In some implementations, the first walking mechanism is an active walking mechanism, including:

[0013] A connecting component connected to the robot body;

[0014] A walking assembly is installed on the connecting assembly and can walk along the guide rail;

[0015] The guide rail includes a rail cavity and a rail opening, and the rail opening is communicated with the rail cavity;

[0016] The walking component is located in the track cavity and moves along the track cavity. At least part of the connecting component extends out of the track cavity through the track opening and is connected to the robot body.

[0017] In some implementations, the track opening faces upward, and a width dimension of the track opening is smaller than a width dimension of the traveling assembly so as to confine the traveling assembly within the track cavity.

[0018] In some implementations, the guide rail includes a bottom wall and two side walls;

[0019] Two side walls are arranged opposite to each other on both sides of the bottom wall, the two side walls and the bottom wall together enclose a track cavity, and a track opening is formed between ends of the two side walls away from the bottom wall;

[0020] The walking assembly moves along the bottom wall, and the two side walls are configured to stop the first walking mechanism on the bottom wall; a bending portion is formed inwardly at one end of the two side walls away from the bottom wall, and the gap between the two bending portions is configured as a track opening; the walking assembly is located between the bending portion and the bottom wall.

[0021] In some implementations, the walking assembly includes:

[0022] A driving member, disposed on the connecting assembly;

[0023] A transmission member connected to the driving member to move under the driving of the driving member;

[0024] The traveling wheel is connected to the transmission member so as to rotate under the drive of the transmission member, thereby traveling on the guide rail.

[0025] In some implementations, the transmission member includes:

[0026] A first gear, which is arranged on the output shaft of the driving member and can rotate under the driving of the driving member;

[0027] The second gear is meshed with the first gear to rotate under the drive of the first gear;

[0028] The rotating shaft is arranged on the connecting assembly and can rotate around its own axis. The second gear is fixedly sleeved on the rotating shaft to drive the rotating shaft to rotate;

[0029] The traveling wheel sleeve is arranged on the rotating shaft and can rotate under the driving of the rotating shaft.

[0030] In some implementations, there are at least two second gears, and correspondingly, there are at least two rotating shafts and walking wheels;

[0031] At least one of the second gears is located on one side of the first gear along the traveling direction, so as to drive one of the rotating shafts and one of the traveling wheels to rotate under the drive of the first gear;

[0032] At least another second gear is located on the other side of the first gear along the traveling direction, so as to drive another rotating shaft and another traveling wheel to rotate under the drive of the first gear.

[0033] In some implementations, on the same rotating shaft, the rolling surface of the traveling wheel is flush with or protrudes from the outer edge of the second gear;

[0034] The bottom of the first gear is higher than or flush with the bottom of the traveling wheel.

[0035] In some implementations, the connection assembly includes a first side and a second side disposed opposite to each other along a width direction of the guide rail;

[0036] The transmission member is connected with at least two running wheels along the width direction, at least one running wheel is located on the first side, and at least another running wheel is located on the second side.

[0037] In some implementations, the second walking mechanism includes:

[0038] A first clamping portion, the first clamping portion is connected to the robot body and abuts against the inner side surface of the guardrail;

[0039] The second clamping part is connected to the robot body and abuts against the outer side surface of the guardrail; wherein the first clamping part or the second clamping part is connected to the guardrail in a rolling manner, driving the robot body to move back and forth along the guardrail; the inner side surface and the outer side surface are located on the guardrail along the width direction of the guardrail.

[0040] In some implementations, the first clamping portion is configured as a first portion and a second portion connected at an angle, the robot body is located on the first portion, and the robot body is fixedly connected to the first portion, wherein the first portion is located on the outer side of the guardrail;

[0041] The second portion is located on the inner side of the guardrail to abut against the inner side of the guardrail;

[0042] The inner side of the guardrail is the side facing the road, and the outer side of the guardrail is the side facing away from the road.

[0043] In some implementations, the guardrail includes a first guardrail, the first guardrail extends along the extension direction of the guardrail, and the top of the first guardrail is inclined toward a side away from the road so that the inner side of the first guardrail is located above the outer side of the first guardrail;

[0044] The second part abuts against the inner side surface of the first railing; the second clamping part abuts against the outer side surface of the first railing.

[0045] In some implementations, the mating surface of the second portion for abutting against the first fence is configured to be in line contact with the first fence.

[0046] In some implementations, the second clamping portion is rollingly connected to the outer side of the guardrail, and the second clamping portion is configured as a belt transmission structure, and the pulley of the belt transmission structure is rotationally connected to the robot body along its own axis;

[0047] The pulley can roll along the outer side of the guardrail under driving.

[0048] In some implementations, the belt drive structure includes a plurality of pulleys, and the plurality of pulleys are connected by a belt drive;

[0049] A plurality of pulleys are recessed inwardly along their own circumference to form guide grooves, and the belts are located in the guide grooves.

[0050] Another aspect of the present application provides a patrol inspection system, including:

[0051] Inspection robots as above;

[0052] Guide rails, installed on the guardrail on one side of the highway;

[0053] The first walking mechanism of the inspection robot is supported on the guide rail and can walk on the guide rail; the second walking mechanism of the inspection robot is supported on the guardrail and can walk along the guardrail.

[0054] The embodiment of the present application provides a patrol inspection system and a patrol inspection robot. A guide rail is arranged on one side of the guardrail. The first walking mechanism of the patrol inspection robot is supported on the guide rail and walks along the guide rail. The second walking mechanism of the patrol inspection robot is supported on the guardrail and walks along the guardrail. The first walking mechanism and the second walking mechanism drive the patrol inspection robot to walk on one side of the road to detect environmental information at different positions of the road. On the one hand, the first walking mechanism is supported on the guide rail and the second walking mechanism is supported on the guardrail, which improves the stability of the patrol inspection robot on the guardrail and ensures that the patrol inspection robot can walk stably along the guardrail without deflection and tipping. On the other hand, part of the gravity of the patrol inspection robot is shared by the first walking mechanism to the guide rail, so that the wear of the guardrail by the second walking mechanism can be reduced, and the service life of the guardrail can be increased. In addition, when the guide rail is damaged, the guide rail can be directly removed from the guardrail for repair or replacement without replacing the guardrail, making the maintenance and replacement of the patrol inspection system more convenient and quick. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0056] Figure 1is a usage status diagram of the inspection system provided by an embodiment of the present application;

[0057] Figure 2 This is a structural diagram of one perspective of the inspection system provided by an embodiment of the present application;

[0058] Figure 3 It is a structural schematic diagram of the inspection system provided by an embodiment of the present application from another perspective;

[0059] Figure 4 is an exploded diagram of an inspection system provided by an embodiment of the present application;

[0060] Figure 5 This is a schematic diagram of the cooperation between the guide rail and the walking mechanism of the inspection system provided in one embodiment of the present application. Figure 1 ;

[0061] Figure 6 This is a schematic diagram of the cooperation between the guide rail and the walking mechanism of the inspection system provided in one embodiment of the present application. Figure 2 ;

[0062] Figure 7 This is a schematic diagram of the cooperation between the guide rail and the walking mechanism of the inspection system provided in one embodiment of the present application. Figure 3 ;

[0063] Figure 8 This is a schematic diagram of the structure of the walking mechanism of the inspection robot provided in an embodiment of the present application. Figure 1 ;

[0064] Fig. 9 It is an exploded schematic diagram of the walking mechanism and guide rail of the inspection system provided in one embodiment of the present application;

[0065] Fig.10 This is a schematic diagram of the structure of the walking mechanism of the inspection robot provided in an embodiment of the present application. Figure 2 ;

[0066] Fig.11 This is a schematic diagram of the structure of the walking mechanism of the inspection robot provided in an embodiment of the present application. Figure 3 ;

[0067] Fig.12 This is a schematic diagram of the structure of the walking mechanism of the inspection robot provided in an embodiment of the present application. Figure 4 ;

[0068] Fig.13 A schematic diagram of the coordination structure between the inspection robot and the guardrail provided in one embodiment of the present application;

[0069] Fig.14 for Fig.12 A partial enlarged view of point I in the middle;

[0070] Fig.15 A schematic diagram of a partial structure of an inspection robot provided in an embodiment of the present application Figure 1 ;

[0071] Fig.16 A schematic diagram of a partial structure of an inspection robot provided in an embodiment of the present application Figure 2 ;

[0072] Fig.17 A schematic diagram of a partial structure of an inspection robot provided in an embodiment of the present application Figure 3 ;

[0073] Fig.18 A schematic diagram of the structure of a second clamping portion in an inspection robot provided in an embodiment of the present application;

[0074] Fig.19 A schematic diagram of the exploded structure of the second clamping portion provided in one embodiment of the present application;

[0075] Fig. 20 A structural schematic diagram of a second clamping portion provided in another embodiment of the present application from another perspective;

[0076] Fig.21 A schematic diagram of the cross-sectional structure of a second clamping portion provided in one embodiment of the present application.

[0077] Description of reference numerals:

[0078] 100-Inspection robot;

[0079] 110- robot body; 111- housing; 112- base; 113- camera;

[0080] 120-first walking mechanism; 121-connecting assembly; 122-walking assembly; 1221-driving member; 1222-transmission member; 1223-walking wheel; 1222a-first gear; 1222b-second gear; 1222c-first rotating shaft; 123-connecting shaft;

[0081] 130-cleaning mechanism; 131-cleaning member;

[0082] 140-second walking mechanism; 141-first clamping part; 142-second clamping part;

[0083] 1411-first part; 1412-second part; 1412a-matching surface; 310-first fence; 1421-pulley; 1421a-first pulley; 1421b-second pulley; 1422-belt; 1423-guide groove; 1425-second rotating shaft; 1425a-nut; 1426-positioning plate; 1426a-first positioning plate; 1426b-second positioning plate; 1427-sleeve; 1428-washer; G-gravity; F1-first clamping force; F2-second clamping force;

[0084] 200-guide rail; 210-rail cavity; 220-rail opening; 230-bottom wall; 240-side wall; 241-bend portion;

[0085] 300-Guardrail;

[0086] 400-Charging pile. DETAILED DESCRIPTION

[0087] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0088] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific implementation methods disclosed below.

[0089] In the description of the present application, it should be understood that the terms "upper", "lower", "horizontal", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 the present application. In the present application, unless otherwise clearly specified and limited, a first feature being "upper" or "lower" than a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0090] In this application, unless otherwise clearly specified and limited, the terms "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. However, if it is indicated as a direct connection, it means that the two connected entities are not connected through an intermediate structure, but are only connected to form a whole through a connecting structure. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0091] In this application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0092] Figure 1 1 is a diagram showing the use status of the inspection system provided by an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides an inspection system, including an inspection robot 100, and the inspection robot 100 is configured to detect external environmental information.

[0093] For example, the inspection robot 100, such as the highway inspection robot 100, is usually equipped with high-definition cameras 113, sensors and other equipment, which can monitor and analyze the road conditions in real time. These robots can detect cracks, potholes, water accumulation and other problems on the road surface, and can also detect the conditions of passing vehicles such as traffic accidents, and promptly feedback information to relevant departments for repair and maintenance work.

[0094] The highway inspection robot 100 is also equipped with a variety of safety devices, such as sound and light alarms, mobile devices, etc. When an abnormal situation is found, it can remind passing vehicles to pay attention to safety through sound and light. At the same time, the robot can also be linked with the intelligence display board in the tunnel to display the nearest escape route, broadcast the situation in the tunnel in real time, command personnel to evacuate in time, and remind vehicles not to enter the tunnel.

[0095] The application of the highway inspection robot 100 can not only improve inspection efficiency and reduce labor costs, but also reduce errors and omissions caused by human factors, and improve the accuracy and reliability of highway maintenance.

[0096] In the related art, in order to effectively support the inspection robot 100 and guide the walking path, the inspection robot 100 usually walks along the guardrail 300 on the side of the road. For example, the guardrail 300 is a three-wave plate, and the inspection robot 100 walks along the corrugated protrusions on the three-wave plate to detect the operation of the road and the vehicles on the road in real time. In addition, a charging pile 400 is also provided on the walking path of the inspection robot 100. The inspection robot 100 can walk along the guardrail 300 until it reaches the charging pile 400, and the inspection robot 100 is charged by the charging pile 400 to ensure the normal operation of the inspection robot 100.

[0097] However, the stability of the inspection robot 100 on the guardrail 300 is relatively poor.

[0098] The embodiment of the present application provides a patrol system and a patrol robot 100, wherein a guide rail 200 is provided on one side of a guardrail 300, a first walking mechanism 120 of the patrol robot 100 is supported on the guide rail 200 and moves along the guide rail 200, and a second walking mechanism 140 of the patrol robot 100 is supported on the guardrail 300 and moves along the guardrail 300. The patrol robot 100 is driven by the first walking mechanism 120 and the second walking mechanism 140 to walk on one side of a highway to detect environmental information at different positions of the highway. On the one hand, the first walking mechanism 120 is supported on the guide rail 200 and the second walking mechanism 140 is supported on the guardrail 300, thereby improving the stability of the patrol robot 100 on the guardrail 300 and ensuring that the patrol robot 100 can walk stably along the guardrail 300 without deflection or tipping. On the other hand, part of the gravity of the inspection robot 100 is shared by the first walking mechanism 120 to the guide rail 200, so the wear of the second walking mechanism on the guardrail 300 can be reduced, and the service life of the guardrail 300 can be increased. In addition, when the guide rail 200 is damaged, the guide rail 200 can be directly removed from the guardrail 300 for repair or replacement without replacing the guardrail 300, making the maintenance and replacement of the inspection system more convenient and quick.

[0099] The specific structure of the inspection system and the inspection robot 100 provided in the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

[0100] Figure 2 This is a structural diagram of one perspective of the inspection system provided by an embodiment of the present application;

[0101] Figure 3 It is a structural schematic diagram of the inspection system provided by an embodiment of the present application from another perspective;

[0102] Figure 4 is an exploded diagram of an inspection system provided by an embodiment of the present application. Figures 1 to 4As shown, the inspection system provided in the embodiment of the present application includes an inspection robot 100 and a guide rail 200 , wherein the guide rail 200 is installed on one side of the guardrail 300 , and the extension direction of the guide rail 200 is consistent with the extension direction of the guardrail 300 .

[0103] The extension direction of the guardrail 300 and the extension direction of the guide rail 200, i.e., the length direction, can be referred to as Figure 1 Shown in the x direction.

[0104] In some examples, the guide rail 200 may be fixed to the guardrail 300 by fasteners such as screws, welding, bonding, etc. The embodiment of the present application does not limit the connection method between the guide rail 200 and the guardrail 300.

[0105] Exemplarily, the guide rail 200 can be connected to the guardrail 300 at different points spaced apart along the extension direction. For example, a first screw hole can be formed at different points along the extension direction of the guide rail 200, and correspondingly, a second screw hole is also provided at different positions along the length direction of the guardrail 300. The first screw hole and a second screw hole can be coaxially arranged, and fasteners such as screws are passed through the first screw hole and the second screw hole to fix the guide rail 200 and the guardrail 300.

[0106] In other examples, the guide rail 200 may be disposed on the ground.

[0107] In other examples, the guide rail 200 may be fixed on the ground and connected to the guardrail 300 to improve the stability of the guide rail 200 .

[0108] The embodiment of the present application does not limit the fixing method of the guide rail 200.

[0109] In some examples, the guide rail 200 may be disposed at any position of the guardrail 300 along the height direction. For example, the guide rail 200 may be disposed at the top, middle, or bottom of the guardrail 300 .

[0110] It should be noted that the height direction of the guardrail 300 refers to the direction perpendicular to the ground. Figure 1 Shown in the z direction.

[0111] In some examples, the guide rail 200 and the guardrail 300 are connected along the width direction of the guardrail 300 (see Figure 2 The guide rails 200 and the inspection robot 100 are arranged side by side (as shown in the y direction), wherein the width direction of the guardrail 300 intersects with the length direction and the height direction of the guardrail 300. In this way, the occupied size of the guide rail 200 in the height direction can be reduced, thereby lowering the height position of the inspection robot 100, ensuring that the camera or sensor on the inspection robot 100 can accurately obtain external environment information.

[0112] The height direction of the guardrail 300 refers to the direction perpendicular to the ground. Figure 2 Shown in the z direction.

[0113] For example, the guide rail 200 may be disposed on the inner side of the guardrail 300 (see Figure 1 A) or the outer side (refer to Figure 1 It should be noted that the inner side of the guardrail 300 refers to the side facing the road, and the outer side of the guardrail 300 refers to the side facing away from the road, that is, the guide rail 200 can be located on the side of the guardrail 300 away from the road.

[0114] For example, when the guide rail 200 can be arranged on the top of the guardrail 300, the guide rail 200 can be arranged on the top inner side or top outer side of the guardrail 300. The embodiment of the present application does not limit the position of the guide rail 200 on the guardrail 300, as long as the guide rail 200 is fixed on the guardrail 300.

[0115] Among them, the guide rail 200 is set on the outer side of the guardrail 300, and the inspection robot 100 runs at least along the guide rail 200, which can reduce the occupation of the inner space of the guardrail 300 by the inspection robot 100, thereby reducing the space occupied by the road and ensuring the smooth travel of vehicles on the road.

[0116] In some examples, the inspection robot 100 may include a robot body 110, a first walking mechanism 120, and a second walking mechanism 140. The robot body 110 is configured to detect external environmental information. For example, the robot body 110 is provided with a safety device and a camera, etc., which are mainly responsible for real-time detection of the operation of the highway and the vehicles on the highway.

[0117] The first walking mechanism 120 is connected to the robot body 110 , supported on a guide rail 200 disposed on the highway guardrail 300 , and can walk on the guide rail 200 .

[0118] For example, the first walking mechanism 120 can be detachably mounted on the guide rail 200 and walk along the guide rail 200 to drive the entire inspection robot 100 to walk along the guide rail 200 .

[0119] In some examples, the first walking mechanism 120 can be a wheel train structure such as a walking wheel 1223, which is connected to the robot body 110 and can rotate around its own axis. The walking wheel 1223 is supported on the guide rail 200 and rolls along the guide rail 200, thereby driving the robot body 110 to move.

[0120] The second walking mechanism 140 is connected to the robot body 110 . The second walking mechanism 140 is supported on the guardrail 300 and can walk along the guardrail 300 .

[0121] In some examples, the robot body 110 includes a housing 111, which is a component housing of the inspection robot 100 to protect the components in the inspection robot 100. For example, the controller, circuit board, power module, etc. of the inspection robot 100 are all arranged in the housing 111, so that the controller, circuit board and other components are assembled and protected by the housing 111.

[0122] In some examples, the housing 111 may be of any shape. For example, the housing 111 may be a rectangular parallelepiped structure, a cube structure, a triangular structure, etc. The shape of the housing 111 is limited here.

[0123] Exemplarily, a base 112 is provided at the bottom of the housing 111, and a circuit board, a drive structure, etc. may be provided in the base 112. The first walking mechanism 120 and the second walking mechanism 140 may be connected to the base 112. For example, the first walking mechanism 120 and the second walking mechanism 140 may be arranged side by side along the width direction of the guardrail 300, so that the first walking mechanism 120 is supported on the guide rail 200, and the second walking mechanism 140 is supported on the guardrail 300.

[0124] It can be understood that when the guide rail 200 is located outside the guardrail 300 , the first running mechanism 120 is located on the side of the second running mechanism 140 away from the road.

[0125] The inspection robot 100 is driven to walk on one side of the road by the first walking mechanism 120 and the second walking mechanism 140 to detect environmental information at different positions of the road. On the one hand, the first walking mechanism 120 is supported on the guide rail 200, and the second walking mechanism 140 is supported on the guardrail 300, which improves the stability of the inspection robot 100 on the guardrail 300 and ensures that the inspection robot 100 can walk stably along the guardrail 300 without deflection and tipping. On the other hand, part of the gravity of the inspection robot 100 is shared by the first walking mechanism 120 to the guide rail 200, so the wear of the guardrail 300 by the second walking mechanism can be reduced, and the service life of the guardrail 300 can be increased. In addition, when the guide rail 200 is damaged, the guide rail 200 can be directly removed from the guardrail 300 for repair or replacement without replacing the guardrail 300, making the maintenance and replacement of the inspection system more convenient and quick.

[0126] In addition, the coordinated arrangement of the guide rail 200 and the first traveling mechanism 120 can reduce the space size occupied by the second traveling mechanism 140 on the surface of the guardrail 300 , thereby reducing the wear on the guardrail 300 and increasing the service life of the guardrail 300 .

[0127] In some examples, at least one of the first walking mechanism 120 and the second walking mechanism 140 is an active walking mechanism to drive the robot body 110 to walk along the extension direction of the guardrail 300 .

[0128] The active walking mechanism is a walking structure with a driving structure such as a driving motor, that is, the active walking structure can walk autonomously. Correspondingly, the driven walking mechanism has no driving mechanism and is driven to walk by an external structure.

[0129] For example, the first walking mechanism 120 is an active walking mechanism, and the second walking mechanism 140 is a driven walking mechanism. When the first walking mechanism 120 walks along the guide rail 200 , it can drive the robot body 110 and the second walking mechanism 140 to move along the extension direction of the guardrail 300 .

[0130] For another example, the first walking mechanism 120 is a driven walking mechanism, and the second walking mechanism 140 is an active walking mechanism. When the second walking mechanism 140 walks along the guardrail 300 , it can drive the robot body 110 and the first walking mechanism 120 to move along the extension direction of the guide rail 200 .

[0131] For another example, the first walking mechanism 120 and the second walking mechanism 140 are both active walking mechanisms. The first walking mechanism 120 actively walks along the guide rail 200, and the second walking mechanism 140 actively walks along the guardrail 300. The first walking mechanism 120 and the second walking mechanism 140 jointly drive the robot body 110 to move along the extension direction of the guardrail 300.

[0132] Figure 5 This is a schematic diagram of the cooperation between the guide rail and the walking mechanism of the inspection system provided in one embodiment of the present application. Figure 1 , Figure 6 This is a schematic diagram of the cooperation between the guide rail and the walking mechanism of the inspection system provided in one embodiment of the present application. Figure 2 , Figure 7 This is a schematic diagram of the cooperation between the guide rail and the walking mechanism of the inspection system provided in one embodiment of the present application. Figure 3 . Reference Figures 5 to 7 As shown, in some examples, the first walking mechanism 120 may include a connecting component 121 and a walking component 122, wherein the connecting component 121 is connected to the robot body 110, and the walking component 122 is installed on the connecting component 121 and can walk along the guide rail 200.

[0133] It can be understood that the connecting component 121 realizes the connection between the walking component 122 and the robot body 110, which facilitates the walking component 122 to better extend into the guide rail 200 and walk along the guide rail 200. The setting of the connecting component 121 improves the connection strength between the walking component 122 and the robot body 110, and also facilitates the disassembly and assembly between the walking component 122 and the robot body 110.

[0134] In some examples, the guide rail 200 may be a plate-like member, and the travel component 122 may travel along the upper surface of the plate-like member to simplify the structure of the guide rail 200 and facilitate assembly and disassembly of the travel component 122 and the guide rail 200 .

[0135] In some examples, the guide rail 200 may include a track cavity 210 and a track opening 220, the track opening 220 is connected to the track cavity 210, the walking component 122 is located in the track cavity 210 and moves along the track cavity 210, and at least a portion of the connecting component 121 extends outside the track cavity 210 through the track opening 220 and is connected to the robot body 110.

[0136] It can be understood that the track cavity 210 is surrounded by side walls 240 of the guide rail 200 in different directions. Therefore, the track cavity 210 has a cavity wall. By assembling the walking component 122 in the track cavity 210 and moving along the track cavity 210, the cavity wall of the track cavity 210 can limit the walking component 122. For example, the cavity wall of the track cavity 210 can be set on opposite sides of the walking surface m of the guide rail 200 along the width direction, so as to limit the walking component 122 on the walking surface m of the guide rail 200, thereby ensuring that the walking component 122 does not deviate from the walking surface m of the guide rail 200, thereby improving the walking stability of the walking component 122 on the guide rail 200.

[0137] It should be noted that the width direction of the walking surface m of the guide rail 200 is perpendicular to the extension direction of the guide rail 200 (ie, the walking direction of the walking component 122 ).

[0138] In order to facilitate the connection between the walking component 122 and the robot body 110, a connecting component 121 is set between the walking component 122 and the robot body 110. A part of the connecting component 121 can be located in the track cavity 210 and connected to the walking component 122, and the other part can extend to the outside of the track cavity 210 through the track opening 220 and be connected to the robot body 110.

[0139] In some examples, the track opening 220 of the guide rail 200 may face upward, and the walking surface in the track cavity 210 may face the track opening 220, that is, it is arranged opposite to the track opening 220, and the track cavity 210 is arranged along the width direction of the walking surface (refer to Figure 5 and Figure 6 Side walls 240 may be formed on both side edges of the robot body 110 (shown in the y direction), and the walking component 122 extends into the track cavity 210 between the two side walls 240 and walks along the upward walking surface. The side walls 240 on both sides of the walking surface realize the stopping of the walking component 122, and the connecting component 121 can extend to the robot body 110 through the upward track opening 220 and be connected to the robot body 110.

[0140] It is understandable that the track opening 220 can guide the connection component 121 so that when the travel component 122 travels in the track cavity 210 , the connection component 121 can move along the track opening 220 .

[0141] Reference Figure 7 As shown, for example, the guide rail 200 includes a bottom wall 230 and two side walls 240, the two side walls 240 are relatively arranged on both sides of the bottom wall 230, the two side walls 240 and the bottom wall 230 together enclose a track cavity 210, and a track opening 220 is formed between the ends of the two side walls 240 away from the bottom wall 230, the walking component 122 walks along the bottom wall 230, and the two side walls 240 are configured to stop the first walking mechanism 120 on the bottom wall 230.

[0142] In some examples, the width of the track opening 220 is smaller than the width of the travel component 122 to confine the travel component 122 in the track cavity 210 and reduce the possibility of the travel component 122 escaping from the track cavity 210 when jumping up and down during walking.

[0143] The width direction of the walking component 122 refers to one of the directions perpendicular to the walking direction of the walking component 122. Figure 7 The height direction of the walking component 122 refers to another direction perpendicular to the walking direction of the walking component 122, as shown in the y direction. Figure 7 Correspondingly, the width direction of the track opening 220 of the guide rail 200 and the width direction of the track cavity 210 can be consistent with the width direction of the travel component 122, and can refer to the y direction.

[0144] In some examples, the width dimension of the traveling component 122 is less than or equal to the width dimension of the track cavity 210, and the width dimension of the track opening 220 is less than the width dimension of the traveling component 122. In other words, the width dimension of the track opening 220 is less than the width dimension of the track cavity 210. In other words, the track opening 220 is retracted relative to the track cavity 210, so that the inner wall, bottom wall 230 and two side walls 240 of the track opening 220 can jointly enclose the track cavity 210.

[0145] For example, a bending portion 241 is formed inwardly at one end of the two side walls 240 of the guide rail 200 away from the bottom wall 230 , and the gap between the two bending portions 241 is configured as a track opening 220 , and the travel component 122 is located between the bending portion 241 and the bottom wall 230 .

[0146] Exemplarily, a first bending portion 241 is formed on one end of the guide rail 200 (e.g., the first side wall 240) away from the bottom wall 230 toward the other side wall 240 (e.g., the second side wall 240), and a second bending portion 241 is formed on one end of the second side wall 240 away from the bottom wall 230 toward the first side wall 240. The first bending portion 241 and the second bending portion 241 are spaced apart to form a track opening 220 between the ends of the first bending portion 241 and the second bending portion 241.

[0147] By bending inward at one end of both side walls 240 to form a bending portion 241, the symmetry of the guide rail 200 is achieved, ensuring that when the walking component 122 moves along the guide rail 200, the guide rail 200 can be stabilized on the guardrail 300 after being subjected to the gravity of the inspection robot 100, thereby reducing the occurrence of the guide rail 200 deviating to the left or right and detaching from the guardrail 300.

[0148] In other examples, a bending portion 241 may be formed on one of the two side walls 240, and a track opening 220 may be formed between the bending portion 241 and the other side wall 240. For example, a bending portion 241 may be formed at one end of the first side wall 240 and bent toward the second side wall 240, and a track opening 220 may be formed between the bending portion 241 and the second side wall 240.

[0149] By retracting the track opening 220 relative to the track cavity 210, the connecting component 121 is inserted into the track opening 220, one end of which is connected to the walking component 122 in the track cavity 210, and the other end is connected to the robot body 110. The track opening 220 serves to guide the connecting component 121. For example, when the walking component 122 moves along the track cavity 210, when the left and right deviation occurs, the inner wall of the track opening 220, such as the bending portion 241, will stop the connecting component 121, thereby limiting the left and right deviation of the walking component 122, ensuring that the walking component 122 reduces the friction with the inner wall of the track cavity 210, such as the first side wall 240 or the second side wall 240, during the walking process, thereby improving the operating stability of the walking component 122.

[0150] In some examples, there may be a gap between the bending portion 241 and the side wall 240 of the connecting component 121 to provide suitable margin for the assembly and left-right direction of the connecting component 121 and to ensure that the connecting component 121 can move stably along the walking direction.

[0151] For example, the connecting component 121 has a first side opposite to the first side along the width direction (refer to Figure 7 C) and the second side (refer to Figure 7As shown in FIG. 2D , the first side faces the first bending portion 241 , and there is a gap between the first side and the first bending portion 241 ; the second side faces the second bending portion 241 , and there is a gap between the second side and the second bending portion 241 .

[0152] In some examples, the track opening 220 can be facing sideways, for example, the first side wall 240 and the second side wall 240 of the guide rail 200 are relatively arranged along the height direction of the guide rail 200, the bottom wall 230 is located between the first side wall 240 and the second side wall 240, and faces the track opening 220 to the side, the walking component 122 can move along the bottom wall 230, or it can move along the side wall 240 below the first side wall 240 and the second side wall 240, for example, the first side wall 240 is located above the second side wall 240, then the walking component 122 can move along the inner surface of the second side wall 240, and the connecting component 121 extends out of the track cavity 210 through the track opening 220 along the horizontal direction, i.e., the y direction.

[0153] Figure 8 Schematic diagram of the structure of the first walking mechanism 120 in the inspection robot 100 provided in one embodiment of the present application Figure 1 , Fig. 9 1 is an exploded schematic diagram of a first walking mechanism 120 and a guide rail 200 of an inspection system provided in an embodiment of the present application. Fig.10 Schematic diagram of the structure of the first walking mechanism 120 in the inspection robot 100 provided in one embodiment of the present application Figure 2 . Reference Figures 8 to 10 As shown, in some examples, the walking component 122 includes a driving member 1221 , and the driving member 1221 is disposed on the connecting component 121 .

[0154] For example, the driving member 1221 may include a driving motor, which is fixed to the connecting assembly 121, and a signal line for connecting the driving motor may extend through the connecting assembly 121 to a controller or a power supply device in the robot body 110. It can be understood that the power supply device, such as a battery, is used to power the driving motor, and the controller is used to control the driving motor to work, such as forward or reverse rotation, according to a control instruction.

[0155] In some examples, the travel assembly 122 further includes a travel wheel 1223 , and the travel wheel 1223 is connected to the output shaft of the driving motor to drive the travel wheel 1223 to rotate, thereby traveling along the guide rail 200 .

[0156] In other examples, in order to better control the speed of the driving motor on the walking wheel 1223, the walking component 122 may also include a transmission member 1222, the transmission member 1222 is connected to the driving member 1221, so as to move under the drive of the driving member 1221, and the walking wheel 1223 is connected to the transmission member 1222, so as to rotate under the drive of the transmission member 1222, thereby walking on the guide rail 200.

[0157] Through the setting of the transmission member 1222, the torque output by the drive motor is first transmitted to the transmission member 1222, and then transmitted to the walking wheel 1223 through the transmission member 1222. This can better control the torque output by the drive motor to the walking wheel 1223, improve the controllability of the rotation speed of the walking wheel 1223, and prevent the driving motor from being damaged by the walking wheel 1223 continuing to rotate for a short time when the driving motor suddenly stops working.

[0158] In some examples, the transmission member 1222 may include a first gear 1222a and a second gear 1222b, the first gear 1222a is disposed on the output shaft of the driving member 1221 and can rotate under the drive of the driving member 1221, and the second gear 1222b is engaged with the first gear 1222a to rotate under the drive of the first gear 1222a.

[0159] Illustratively, a key may be provided on the output shaft of the driving member 1221, and the first gear 1222a is sleeved on the key, so that when the driving member 1221 drives the key to rotate, the key can drive the first gear 1222a to rotate, thereby driving the second gear 1222b to rotate.

[0160] In some examples, the outer surface of the traveling wheel 1223 may be formed with external teeth, and the second gear 1222b may be engaged with the external teeth of the traveling wheel 1223, thereby driving the traveling wheel 1223 to roll.

[0161] In some examples, the transmission member 1222 may further include a first rotating shaft 1222c, which is disposed on the connection component 121 and can rotate around its own axis. For example, an axis hole may be provided on the connection component 121, and the first rotating shaft 1222c may be passed through the axis hole and may also rotate in the axis hole. For another example, a connection shaft 123 may be passed through the connection component 121, and the first rotating shaft 1222c may be fixedly sleeved on the connection shaft 123.

[0162] In some examples, the second gear 1222b is fixedly mounted on the first rotating shaft 1222c to drive the first rotating shaft 1222c to rotate, and the walking wheel 1223 is mounted on the first rotating shaft 1222c and can rotate driven by the first rotating shaft 1222c.

[0163] By fixing the running wheel 1223 and the second gear 1222b on the first rotating shaft 1222c and assembling the first rotating shaft 1222c on the connecting assembly 121, the assembly process of the transmission member 1222 can be simplified, and the second gear 1222b can effectively drive the running wheel 1223 to rotate through the first rotating shaft 1222c. In addition, the second gear 1222b and the running wheel 1223 are coaxially arranged, which can also reduce the space occupied by the second gear 1222b and the running wheel 1223 on one side of the connecting assembly 121 when they are arranged side by side up and down or left and right, thereby providing a suitable installation space for other gear train structures or the driving member 1221, and ensuring the miniaturization of the first running mechanism 120.

[0164] It should be noted that the up-down direction is the height direction of the first traveling mechanism 120 , and the left-right direction is the traveling direction of the first traveling mechanism 120 .

[0165] In some examples, the second gear 1222b may be one or more. For example, there are at least two second gears 1222b, and correspondingly, there are at least two first rotating shafts 1222c and two walking wheels 1223. Taking two walking wheels 1223 as an example, one of the second gears 1222b is located on one side of the first gear 1222a along the walking direction, so as to drive one of the first rotating shafts 1222c and one of the walking wheels 1223 to rotate under the drive of the first gear 1222a, and the other second gear 1222b is located on the other side of the first gear 1222a along the walking direction, so as to drive the other first rotating shaft 1222c and the other walking wheel 1223 to rotate under the drive of the first gear 1222a.

[0166] Exemplarily, the first gear 1222a has a front side and a rear side opposite to each other in the walking direction, wherein one second gear 1222b and a walking wheel 1223 are arranged on the front side of the first gear 1222a through the first rotating shaft 1222c, and the second gear 1222b is meshed with the front side teeth of the first gear 1222a to rotate under the drive of the first gear 1222a, thereby driving the front walking wheel 1223 to roll through the first rotating shaft 1222c, and another second gear 1222b and a walking wheel 1223 are arranged on the rear side of the first gear 1222a through the first rotating shaft 1222c, and the second gear 1222b is meshed with the rear side teeth of the first gear 1222a to rotate under the drive of the first gear 1222a, thereby driving the rear walking wheel 1223 to roll through the first rotating shaft 1222c.

[0167] By arranging a plurality of traveling wheels 1223 along the traveling direction, the contact area with the guide rail 200 can be increased, thereby improving the assembly stability and traveling stability of the first traveling mechanism 120 on the guide rail 200 .

[0168] In addition, by driving the multiple walking wheels 1223 to roll through a driving motor, power consumption can be reduced on the one hand, and the weight of the first walking mechanism 120 can be reduced on the other hand, thereby improving the operational reliability of the first walking mechanism 120 .

[0169] In some examples, three or more walking wheels 1223 may be provided along the walking direction of the first walking mechanism 120, each walking wheel 1223 may be assembled on the connecting assembly 121 through the first rotating shaft 1222c, and a second gear 1222b is provided on each first rotating shaft 1222c, and the second gear 1222b may be meshed with the first gear 1222a to rotate under the drive of the first gear 1222a, thereby driving the walking wheel 1223 on the corresponding first rotating shaft 1222c to roll. In some examples, the second gear 1222b may also be meshed with an adjacent second gear 1222b to rotate under the drive of the adjacent second gear 1222b.

[0170] For the convenience of description, the first rotating shaft 1222c and the second gear 1222b and the running wheel 1223 arranged thereon may be collectively referred to as a gear train structure.

[0171] For example, two sets of gear train structures may be provided at the rear side of the first gear 1222a, the first set of gear train structures being located beside the first gear 1222a, and the second gear 1222b being meshed with the first gear 1222a, so that the second gear 1222b is driven by the first gear 1222a to rotate, thereby driving the running wheel 1223 of the first set of gear train structures to roll. The second set of gear train structures is located at a side of the first set of gear train structures away from the first gear 1222a, and the second gear 1222b of the second set of gear train structures is meshed with the second gear 1222b of the first set of gear train structures, so that the second gear 1222b of the second set of gear train structures is driven by the second gear 1222b of the first set of gear train structures to rotate, thereby driving the running wheel 1223 of the second set of gear train structures to roll along the guide rail 200.

[0172] In some examples, on the same first rotating shaft 1222c, the rolling surface of the traveling wheel 1223 is flush with or protrudes from the outer edge of the second gear 1222b.

[0173] For example, the rolling surface of the walking wheel 1223 is flush with the outer edge of the second gear 1222b, so that the second gear 1222b and the walking wheel 1223 can both contact the walking surface of the guide rail 200 and roll along the walking surface.

[0174] For another example, the rolling surface of the walking wheel 1223 protrudes from the outer edge of the second gear 1222b, so that the second gear 1222b does not contact the walking surface of the guide rail 200. Only the rolling surface of the walking wheel 1223 contacts the walking surface of the guide rail 200 to move along the walking surface of the guide rail 200. In this way, the speed of the second gear 1222b driven by the first gear 1222a can be controlled, and the transmission force to the walking wheel 1223 will not be affected by ground friction and other reasons.

[0175] In some examples, the bottom of the first gear 1222a is higher than or flush with the bottom of the running wheel 1223. For example, the bottom of the first gear 1222a is higher than the bottom of the running wheel 1223. In other words, the distance between the bottom of the first gear 1222a and the running surface of the guide rail 200 is greater than the distance between the bottom of the running wheel 1223 and the running surface m of the guide rail 200. In this way, when the running wheel 1223 contacts the running surface, the first gear 1222a does not contact the ground, thereby ensuring that the first gear 1222a effectively transmits the torque output by the drive motor to the second gear 1222b, ensuring that the second gear 1222b and the running wheel 1223 thereon effectively rotate.

[0176] For another example, the bottom of the first gear 1222a is flush with the bottom of the walking wheel 1223, so that the walking wheel 1223 and the first gear 1222a can both rotate along the walking surface of the guide rail 200, and the first gear 1222a can support other components in the first walking mechanism 120, reduce the pressure of the robot body 110 on the walking wheel 1223, and improve the running stability of the walking wheel 1223.

[0177] Fig.11 Schematic diagram of the structure of the first walking mechanism 120 in the inspection robot 100 provided in one embodiment of the present application Figure 3 , Fig.12 Schematic diagram of the structure of the first walking mechanism 120 in the inspection robot 100 provided in one embodiment of the present application Figure 4 . Reference Fig.11 and Fig.12 As shown, in some examples, the connection assembly 121 may include a first side (see Fig.11 C) and the second side (refer to Fig.11 As shown in FIG. 2D , the transmission member 1222 is connected to at least two running wheels 1223 along the width direction of the guide rail 200 , at least one running wheel 1223 is located on the first side, and at least another running wheel 1223 is located on the second side.

[0178] For example, the first rotating shaft 1222c of the first gear train structure can pass through the connecting component 121, and a part of the first rotating shaft 1222c extends out of the first side of the connecting component 121, and the second gear 1222b and the walking wheel 1223 are fixedly sleeved on the part, the output shaft of the driving member 1221 and the first gear 1222a are located on the first side of the connecting component 121, and the other part of the first rotating shaft 1222c extends out of the second side of the connecting component 121, and the walking wheel 1223 is fixedly sleeved on the part, so that the second gear 1222b located on the first side can rotate driven by the first gear 1222a, thereby driving the first rotating shaft 1222c to rotate, and at least two walking wheels 1223 located at the two parts of the first rotating shaft 1222c can roll driven by the first rotating shaft 1222c, thereby driving the entire first walking mechanism 120 to move along the guide rail 200.

[0179] By providing running wheels 1223 on both sides of the connecting assembly 121 , the symmetry of the first running mechanism 120 can be improved, so that the first running mechanism 120 is stably supported on the guide rail 200 through the running wheels 1223 on both sides.

[0180] In some examples, the first set of wheel train structures includes two running wheels 1223, which are respectively located on both sides of the connecting component 121; the second set of wheel train structures includes two running wheels 1223, which are respectively arranged on both sides of the connecting component 121. The arrangement of four running wheels 1223 increases the contact area between the first walking mechanism 120 and the guide rail 200, thereby enabling the first walking mechanism 120 to stably run along the guide rail 200.

[0181] In addition, when one of the running wheels 1223 jumps up and down and detaches from the running surface due to uneven running surface of the guide rail 200, the other three running wheels 1223 can be in stable contact with the running surface, thereby ensuring the smooth operation of the first running mechanism 120 on the guide rail 200.

[0182] In some examples, the connection assembly 121 may be a connection plate, and two sides of the connection plate are respectively provided with walking wheels 1223. The connection plate extends out of the track opening 220 and is detachably connected to the robot body 110. For example, screw holes may be provided on both the connection plate and the robot body 110, and the connection between the connection plate and the robot body 110 is achieved by fasteners inserted into the screw holes.

[0183] In actual applications, since the guide rails 200 are located on both sides of an outdoor road, some debris such as dust and fallen leaves often accumulate on the guide rails 200 , for example, in the rail cavity 210 , and these debris may affect the normal movement of the first walking mechanism 120 .

[0184] In some examples, the inspection robot 100 of the embodiment of the present application further includes a cleaning mechanism 130 , which is located on the guide rail 200 and is configured to clean debris on the guide rail 200 .

[0185] For example, the cleaning mechanism 130 is connected to the robot body 110. Before the first walking mechanism 120 drives the robot body 110 to walk, the cleaning mechanism 130 can be used to clean the debris on the guide rail 200 on the target path. Exemplarily, the cleaning mechanism 130 can be a telescopic member, and a cleaning brush is provided at one end of the telescopic member. The telescopic member can be extended under the drive of a linear motor or a driving cylinder so that the cleaning brush cleans the debris on the guide rail 200. After cleaning, the telescopic member is retracted. Then the first walking mechanism 120 drives the robot body 110 to walk on the guide rail 200 to detect the target environment.

[0186] In some examples, the cleaning mechanism 130 is disposed on the first walking mechanism 120, and the cleaning mechanism 130 is configured to clean the debris on the guide rail 200 when the first walking mechanism 120 walks along the guide rail 200, so that the working efficiency of the inspection robot 100 can be saved. For example, when the first walking mechanism 120 moves in the forward direction along the x direction, the cleaning mechanism 130 cleans the debris on the path in front of the first walking mechanism 120. When the first walking mechanism 120 moves in the reverse direction along the x direction, the cleaning mechanism 130 cleans the debris on the path in front of the first walking mechanism 120.

[0187] Exemplarily, the cleaning mechanism 130 may include two cleaning members 131;

[0188] The first walking mechanism 120 includes a front side portion and a rear side portion which are arranged relatively along the walking direction, wherein one cleaning member 131 is arranged at the front side portion, and the other cleaning member 131 is arranged at the rear side portion. When the first walking mechanism 120 moves forward along the x direction, the cleaning member 131 located at the front side portion simultaneously cleans the debris in the front direction of the first walking mechanism 120, so as to increase the contact area between the walking wheel 1223 of the first walking mechanism 120 and the walking surface m of the guide rail 200, and ensure the normal and stable walking of the first walking mechanism 120 along the x direction. When the first walking mechanism 120 moves in the reverse direction along the x direction, the cleaning member 131 located at the rear side portion simultaneously cleans the debris in the rear direction of the first walking mechanism 120, so as to increase the contact area between the walking wheel 1223 of the first walking mechanism 120 and the walking surface m of the guide rail 200, and ensure the normal and stable walking of the first walking mechanism 120 in the reverse direction along the x direction.

[0189] In some examples, the cleaning member 131 can be connected to the connecting component 121 of the first walking mechanism 120. For example, one cleaning member 131 is connected to the front side of the connecting component 121, and the other cleaning member 131 is connected to the rear side of the connecting component 121. When the connecting component 121 moves along the extension direction of the guide rail 200 driven by the walking component 122, the cleaning member 131 is synchronously driven to clean the debris in the walking direction.

[0190] In some examples, the cleaning mechanism 130, such as the cleaning member 131, has a connecting end and a free end, and the connecting end and the free end are arranged relatively to each other along the cleaning direction of the cleaning mechanism 130. The connecting end is connected to the first walking mechanism 120, such as the connecting component 121, and the free end can push the debris in the walking direction to move forward or move to both sides deviating from the walking direction.

[0191] Exemplarily, the outer contour dimension of the cleaning mechanism 130 gradually decreases from the connecting end to the free end, so that the connecting end to the free end of the cleaning mechanism 130 gradually converges toward the center, so that the outer surface of the cleaning mechanism 130 forms an inclined guide surface, so that the cleaning mechanism 130 can more smoothly drill into the debris during the forward movement, thereby opening up a clean passage for the first walking mechanism 120 at the rear.

[0192] In some examples, the cleaning mechanism 130, such as the cleaning member 131, may be a cylindrical member whose outer diameter gradually decreases in the direction from the connecting end to the free end, so that the cylindrical member forms a structure with a small free end and a large connecting end.

[0193] Fig.13 This is a schematic diagram of the coordination structure between the inspection robot and the guardrail provided in one embodiment of the present application. Fig.14 for Fig.12 The local enlarged view of point I in the middle, Fig.15 A schematic diagram of a partial structure of an inspection robot provided in an embodiment of the present application Figure 1 , Fig.16 A schematic diagram of a partial structure of an inspection robot provided in an embodiment of the present application Figure 2 , Fig.17 A schematic diagram of a partial structure of an inspection robot provided in an embodiment of the present application Figure 3 , Fig.18 This is a schematic diagram of the structure of the second clamping part of the inspection robot provided in one embodiment of the present application. Fig.19 This is a schematic diagram of the exploded structure of the second clamping portion provided in one embodiment of the present application. Fig. 20 This is a structural schematic diagram of another perspective of the second clamping portion provided in one embodiment of the present application, Fig.21 This is a schematic cross-sectional structure diagram of a second clamping portion provided in an embodiment of the present application. Figures 13 to 21As shown, in some examples, the second walking mechanism 140 includes a first clamping portion 141 and a second clamping portion 142 .

[0194] In some embodiments, the first clamping portion 141 is connected to the robot body 110 so that the gravity of the robot body 110 is applied to the first clamping portion 141 .

[0195] In some examples, the first clamping portion 141 can be buckled onto the guardrail 300 from the top of the guardrail 300, so that the robot body 110 is supported on the guardrail 300, so that the inspection robot 100 can walk along the guardrail 300 to obtain road traffic conditions.

[0196] In some examples, the first clamping portion 141 abuts against the inner side surface A of the guardrail 300. Based on the gravity G from the robot body 110 applied to the first clamping portion 141, the first clamping portion 141 applies a first clamping force F1 to the guardrail 300 along the inner side surface A of the guardrail 300 toward the outer side surface B of the guardrail 300.

[0197] In some examples, the first clamping portion 141 may be configured as a plate.

[0198] In some examples, the first clamping portion 141 may be configured as a corrugated plate.

[0199] In some examples, a cross-sectional profile of the first clamping member along the height direction Z may be configured as an arc shape.

[0200] In order to enable the inspection robot 100 to move back and forth on the guardrail 300, thereby expanding the inspection area of ​​the inspection robot 100 and obtaining road traffic conditions in real time, in some embodiments, the first clamping portion 141 is rollingly connected to the inner side surface A of the guardrail 300 to drive the robot body 110 to move back and forth along the guardrail, thereby improving the efficiency of obtaining road traffic information.

[0201] In some examples, the second clamping portion 142 is connected to the robot body 110 and abuts against the outer side surface B of the guardrail 300 .

[0202] In some examples, the second clamping portion 142 is rollingly connected to the outer side surface B so that the second clamping portion 142 applies a second clamping force F2 to the guardrail 300 along the outer side surface B of the guardrail 300 and pointing to the inner side surface A of the guardrail 300. The first clamping force F and the second clamping force F2 cooperate to achieve the clamping of the robot body 110 on the guardrail 300.

[0203] In some embodiments, the second clamping part 142 drives the robot body 110 to move back and forth along the guardrail 300. The inner side surface A and the outer side surface B are opposite and are located on the guardrail 300 along the width direction y of the guardrail 300. In this way, the second clamping part 142 and the guardrail 300 are connected in a rolling manner at the outer side surface B, and the friction between the two is a rolling friction force. Based on the principle of small rolling friction, the damage to the guardrail 300 caused by the second clamping part 142 rolling along the outer side surface B is reduced. The width direction of the guardrail 300 is consistent with the width direction of the road, and both can be represented by the width direction y in the drawings of the specification.

[0204] In some examples, the second clamping portion 142 may be configured as a roller. In some examples, the second clamping portion 142 is rotatably connected to the robot body 110 along its axial direction, so that the second clamping portion 142 rolls along the outer side surface B.

[0205] It should be noted that the drawings in the specification of this application are only used to describe the coordination relationship between the various structures in the technical solution. For example, in order to illustrate the structure of the second clamping portion 142, Fig.12 There is a gap between the second clamping portion 142 and the guardrail 300. In actual application, the positional relationship between the second clamping portion 142 and the guardrail 300 is determined based on the text portion of the specification.

[0206] In some embodiments, the first clamping portion 141 is fixedly connected to the side wall of the robot body 110 close to the guardrail 300, and extends from the side wall to the inner side surface A of the guardrail 300 to abut against the inner side surface A of the guardrail 300, which is beneficial to reduce the material cost and processing cost of the first clamping portion 141.

[0207] like Figures 14 to 17 As shown, in some other embodiments, the first clamping portion 141 includes a first part 1411, the robot body 110 is located on the first part 1411, and the robot body 110 is fixedly connected to the first part 1411, so that the gravity of the robot body 110 acts on the first part 1411 along the normal direction of the first part 1411, thereby reducing the component force loss when there is an angle between the extension direction x of the first part 1411 and the gravity direction of the robot body 110, thereby increasing the gravity of the robot body 110 received by the first part 1411.

[0208] In some other embodiments, the first clamping portion 141 also includes a second part 1412, which is constructed to be connected to the second part 1412 at an angle, and the second part 1412 abuts against the inner side surface A of the guardrail 300. Based on the fact that the first part 1411 and the second part 1412 are constructed as an integral whole, the second part 1412 is subjected to the same gravity of the robot body 110 as the first part 1411, thereby increasing the first clamping force F1 applied to the guardrail 300.

[0209] In some examples, the first portion 1411 is located on the outer side B of the guardrail 300, and the second portion 1412 is located on the inner side A of the guardrail 300, so that the first clamping portion 141 is mounted on the top of the guardrail 300. In this way, the robot body 110 is located on the top of the guardrail 300, which is conducive to the robot obtaining a larger inspection range.

[0210] like Fig.17 As shown, in some examples, a first dimension d1 of the first portion 1411 along the extension direction x of the guardrail 300 is equal to a dimension of the bottom of the robot body 110 along the extension direction x of the guardrail 300 to prevent the robot body 110 from falling due to unstable center of gravity.

[0211] In some embodiments, the guardrail 300 includes a first railing 310, which extends along the extension direction x of the guardrail 300, and the inner side surface A of the first railing 310 is located above its own outer side surface B; the second part 1412 abuts against the inner side surface A of the first railing 310; the second clamping portion 142 abuts against the outer side surface B of the first railing 310, so that the inspection robot 100 is clamped on the guardrail 300 and moves along the guardrail 300 only by using the first railing 310 of the guardrail 300, thereby reducing the occupancy rate of the guardrail 300 area occupied by the inspection robot 100 deployed on the guardrail 300.

[0212] In some examples, the first guardrail 310 is configured as a plate. Then, the first guardrail 310 is configured as a vertical plate that is rotated counterclockwise along its horizontal edge at an acute angle.

[0213] In some examples, the guardrail 300 is a three-wave plate, and the first guardrail 310 is the topmost wave plate of the three-wave plate, that is, the wave plate farthest from the ground among the three-wave plates.

[0214] In some examples, when a vehicle travels along a road surface, it needs to utilize the road space in the road height direction z. Road space is particularly important in road traffic. Any blind spots or obstructions in the field of vision may cause traffic accidents. Guardrails 300 are generally arranged on both sides of the road. In order to reduce the impact of the deployment of the inspection robot 100 on the road space, in some embodiments, the inner side A of the guardrail 300 is closer to the road than the outer side B of the guardrail 300. Because the inspection robot 100 is located on the first part 1411, and the first part 1411 is located on the outer side B of the guardrail 300, the inspection robot 100 can be located on the side of the guardrail 300 facing away from the road, thereby preventing the inspection robot 100 from occupying road space.

[0215] In some embodiments, the mating surface 1412a of the second portion 1412 used to abut against the first guardrail 310 is configured to be in linear contact with the first guardrail 310 to reduce the contact area between the second portion 1412 and the first guardrail 310, thereby reducing the friction between the two, thereby preventing the inspection robot 100 from moving along the guardrail 300 and causing damage to the guardrail 300.

[0216] In some embodiments, the cross-sectional profile of the first railing 310 along its thickness direction is arc-shaped, and the second portion 1412 is configured as a plate, so that the plate is tangentially matched with the first railing 310 .

[0217] The thickness direction of the first guardrail 310 can be understood as the width direction y of the road when the guardrail 300 is set on both sides of the road.

[0218] In the case where the second portion 1412 is configured as a plate, the cross-section of the plate along the width direction y of the road is rectangular. In some examples, the top of the first guardrail 310 is provided with a rounded corner, so the plate can be tangent to the first guardrail 310 at the top rounded corner. In other examples, the bottom of the first guardrail 310 is provided with a rounded corner, so the plate can be tangent to the first guardrail 310 at the bottom rounded corner. As another example, if the first guardrail 310 is configured as an arc surface as a whole, the plate can have a tangent on the arc surface based on the production situation for abutting with the plate.

[0219] In some embodiments, the second portion 1412 is configured as a wave plate, which is attached to the first railing 310 along its own extension direction x to form multiple line contacts with the inner side surface A of the first railing 310, which is beneficial to increase the support points, thereby increasing the load capacity of the inspection robot 100. It can be understood that the wave plate presents a continuous undulating waveform along the extension direction x.

[0220] like Figures 19 to 21 As shown, in order to achieve a rolling connection between the second clamping portion 142 and the outer side surface B of the guardrail 300 and apply a second clamping force F2 to the guardrail 300, in some embodiments, the second clamping portion 142 is configured as a belt drive structure, and the pulley 1421 of the belt drive structure is rotatably connected to the robot body 110 along its own axis; the pulley 1421 can roll along the outer side surface B of the guardrail 300 under drive.

[0221] Among them, the pulleys 1421 of the belt transmission structure are arranged at intervals along the extension direction x of the guardrail 300, and the pulleys 1421 are connected by belts 1422, so that the load of the inspection robot 100 is evenly distributed on the multiple pulleys 1421 of the belt transmission structure, thereby achieving uniform load distribution and obtaining a buffering and shock-absorbing effect, so as to improve the stability of the inspection robot 100 moving along the guardrail 300.

[0222] In some embodiments, the pulley 1421 is rollingly connected to the middle portion of the outer side surface B of the guardrail 300 to form a larger space between the pulley 1421 and the robot body 110, which can be used to arrange a power device that provides power to the pulley 1421 to increase the spatial flexibility of arranging the power device.

[0223] In some other embodiments, the pulley 1421 is connected to the first fence 310 of the guardrail 300 in a rolling manner. At this time, the second part 1412 of the first clamping part 141 also abuts against the first fence 310 of the guardrail 300, so that the first clamping force F1 applied by the first clamping part 141 to the guardrail 300 and the second clamping force F2 applied by the pulley 1421 to the guardrail 300 are realized, forming a set of symmetrical clamping forces, thereby improving the stability of the inspection robot 100 clamped to the guardrail 300 and strengthening the stability of the overall structure. In addition, the robot body 110 is close to the first fence 310, which is conducive to reducing the rotation diameter of the pulley 1421 and making the structure more compact.

[0224] In some embodiments, the belt drive structure includes a plurality of pulleys 1421, and the plurality of pulleys 1421 are spaced apart and their overall dimension along the extension direction x of the guardrail 300 is slightly larger than the dimension of the bottom of the robot body 110 along the extension direction x of the guardrail 300, so as to increase the contact area between the belt drive structure and the guardrail 300, thereby being able to provide greater supporting force to support the inspection robot 100.

[0225] In some examples, the second walking mechanism 140 is a driven walking mechanism, that is, the pulley 1421 in the second walking mechanism 140 rolls along the guardrail 300 driven by the robot body 110. In some embodiments, the second walking mechanism 140 includes a driving structure, which is connected to at least one pulley 1421 in the belt transmission structure to drive the belt transmission structure to operate. The at least one pulley 1421 drives other pulleys 1421 to roll along the guardrail 300 through a belt 1422. In some examples, the driving structure is arranged in the base 112 of the robot body 110.

[0226] In some embodiments, the pulley 1421 includes a first pulley 1421a, which serves as a driving wheel of the belt transmission structure, and the driving member is connected to the driving wheel to drive the driving wheel to rotate. In some embodiments, the pulley 1421 also includes a second pulley 1421b, which serves as a driven wheel of the belt transmission structure, and the driving wheel drives the second pulley 1421b to roll along the guardrail 300 through the belt 1422.

[0227] In some embodiments, the pulley 1421 of the belt transmission structure is recessed inward along its own circumference to form a guide groove 1423, and the belt 1422 is located in the guide groove 1423, so that the hub surface of the pulley 1421 that does not correspond to the guide groove 1423 is in rolling connection with the inner side surface A of the guardrail 300. In addition, the belt 1422 is located in the guide groove 1423, which is convenient for positioning the belt 1422 and is also conducive to preventing the belt 1422 from moving during the movement of the inspection robot 100, thereby improving the stability of the inspection robot 100 moving along the guardrail 300.

[0228] In some embodiments, the belt transmission structure includes a plurality of second rotating shafts 1425, each of which is disposed through the pulley 1421 and is rotationally connected to the pulley 1421. It is understood that in order to achieve the transmission connection between the pulley 1421 and the second rotating shaft 1425, the pulley 1421 is formed with a through hole at the center along its axial direction for rotationally connecting with the second rotating shaft 1425. Exemplarily, the pulley 1421 and the second rotating shaft 1425 can be rotationally connected by a key.

[0229] In some embodiments, the belt transmission structure further includes two positioning plates 1426 , which are spaced apart on the second rotating shafts 1425 so that the pulleys 1421 are located between the two positioning plates 1426 , thereby positioning the pulleys 1421 along their own axes.

[0230] In some examples, a plurality of pulleys 1421 are arranged side by side along the moving direction of the inspection robot 100 (the extension direction x of the guardrail 300), and a plurality of second rotating shafts 1425 are respectively rotatably connected to the plurality of pulleys 1421; the plurality of second rotating shafts 1425 have first and second ends opposite to the pulleys 1421. One of the positioning plates 1426 is sleeved at intervals on the first ends of the plurality of second rotating shafts 1425; another positioning plate 1426 is sleeved at intervals on the second ends of the plurality of second rotating shafts 1425, so that the plurality of pulleys 1421 are located between the two positioning plates 1426, so as to achieve axial restriction of the pulleys 1421.

[0231] like Fig.21 As shown, in order to easily distinguish the two positioning plates 1426, the positioning plate 1426 closer to the power device is marked as the first positioning plate 1426a, and the other is marked as the second positioning plate 1426b.

[0232] In some embodiments, a mounting hole (not shown) is provided on the first positioning plate 1426a corresponding to the first pulley 1421a, and the mounting hole is coaxially connected to the sleeve 1427; the second rotating shaft 1425 rotatably connected to the first pulley 1421a extends into the sleeve 1427 to be transmission-connected to the driving member. In this way, the sleeve 1427 surrounds the second rotating shaft 1425 corresponding to the first pulley 1421a, and the transmission structure connected to the driving member, which is conducive to preventing flying sand and rocks from getting stuck in the transmission structure and causing mechanical failure, thereby ensuring the structural stability of the second clamping portion 142.

[0233] In some embodiments, the second clamping portion 142 also includes a nut 1425a, and a fixing hole (not shown) is opened on the first positioning plate 1426a corresponding to the second pulley 1421b, and the second rotating shaft 1425 corresponding to the second pulley 1421b is passed through the fixing hole and exposed on the first positioning plate 1426a; the nut 1425a is sleeved on the second rotating shaft 1425 exposed on the first positioning plate 1426a to realize the positioning of the second rotating shaft 1425 along its own axial direction.

[0234] In some embodiments, the second rotating shaft 1425 corresponding to the two outermost pulleys 1421 located at the belt transmission structure is embedded in a groove on the first positioning plate 1426a facing the second positioning plate 1426b, and is rotatably connected to the groove to achieve positioning of the second rotating shaft 1425 along its own axial direction.

[0235] In some other embodiments, the connection method between the pulley 1421 (including the first pulley 1421a and the second pulley 1421b) and the second positioning plate 1426b can be that the second rotating shaft 1425 corresponding to the pulley 1421 is embedded in a groove of the second positioning plate 1426b facing the first positioning plate 1426a, and the second rotating shaft 1425 is rotatably connected to the groove to achieve the positioning of the second rotating shaft 1425 along its own axial direction.

[0236] In some examples, the number of grooves on the second positioning plate 1426 b is equal to the number of pulleys 1421 in the belt transmission structure, and the opening shape of the groove is circular, and the opening size of the groove matches the cross-sectional size of the second rotating shaft 1425 .

[0237] In some embodiments, the second dimension d2 of the positioning plate 1426 along the width direction y is smaller than the radial dimension of the pulley 1421 to prevent interference between the positioning plate 1426 and the guardrail 300 .

[0238] In some embodiments, the second clamping portion 142 further includes a gasket, which is sleeved on the second rotating shaft 1425 and located between the positioning plate 1426 and the nut 1425a, for reducing damage to the positioning plate 1426 caused by relative friction of the nut 1425a during rolling.

[0239] In some examples, the belt transmission structure includes eight pulleys 1421, and the eight pulleys 1421 are arranged side by side along the extension direction x of the guardrail 300, wherein the third pulley 1421 and the sixth pulley 1421 are the first pulley 1421a, and the remaining pulleys 1421 are driven pulleys. The driving member is connected to the third pulley 1421 and the sixth pulley 1421 by transmission, and the other pulleys 1421 are connected to the third pulley 1421 and the sixth pulley 1421 by transmission through the belt 1422, and the driving member drives the third pulley 1421 and / or the sixth pulley 1421 to rotate, thereby realizing the rolling of the belt transmission structure along the extension direction x of the guardrail 300. In this way, when the third pulley 1421 or the sixth pulley 1421 fails, the driving member can be adjusted to drive the other one of the third pulley 1421 or the sixth pulley 1421 to rotate to prevent the inspection robot 100 from being unable to continue working as a whole due to the failure of one pulley 1421.

[0240] It should be noted that the above-mentioned belt transmission structure including eight pulleys 1421 is an example of a belt transmission structure, and the embodiment of the present application does not limit the structure of the pulleys 1421 in the belt transmission structure.

[0241] It should be noted that the third pulley 1421 and the sixth pulley 1421 among the above-mentioned eight pulleys 1421 are the first pulley 1421a as an example, and the embodiment of the present application does not limit the number and position of the first pulley 1421a in the belt transmission structure.

[0242] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A patrol robot, characterized in that: include: The robot body is configured to detect external environment information; A first walking mechanism, connected to the robot body, the first walking mechanism is supported on a guide rail on one side of the highway guardrail and can walk on the guide rail; The second walking mechanism is connected to the robot body, and the second walking mechanism is supported on the guardrail and can walk along the guardrail; wherein at least one of the first walking mechanism and the second walking mechanism is an active walking mechanism to drive the robot body to walk along the extension direction of the guardrail.

2. The inspection robot according to claim 1, characterized in that: The guide rail and the guardrail are arranged side by side along the width direction of the guardrail; Wherein, the width direction of the guardrail intersects with the length direction and the height direction of the guardrail.

3. The inspection robot according to claim 1, characterized in that: The first walking mechanism is the active walking mechanism, comprising: A connecting component connected to the robot body; A walking assembly, mounted on the connecting assembly and capable of walking along the guide rail; The guide rail comprises a rail cavity and a rail opening, wherein the rail opening is in communication with the rail cavity; The walking component is located in the track cavity and walks along the track cavity. At least a portion of the connecting component extends out of the track cavity through the track opening and is connected to the robot body.

4. The inspection robot according to claim 3, characterized in that: The track opening faces upward, and a width dimension of the track opening is smaller than a width dimension of the traveling component, so as to restrict the traveling component within the track cavity.

5. The inspection robot according to claim 3, characterized in that: The guide rail comprises a bottom wall and two side walls; The two side walls are arranged opposite to each other on both sides of the bottom wall, the two side walls and the bottom wall together enclose the track cavity, and the track opening is formed between the ends of the two side walls away from the bottom wall; The walking assembly moves along the bottom wall, and the two side walls are configured to stop the first walking mechanism on the bottom wall; a bending portion is formed inwardly at one end of the two side walls away from the bottom wall, and a gap between the two bending portions is configured as the track opening; the walking assembly is located between the bending portion and the bottom wall.

6. The inspection robot according to claim 3, characterized in that: The walking assembly comprises: A driving member, disposed on the connecting assembly; A transmission member connected to the driving member to move under the driving of the driving member; The walking wheel is connected with the transmission member so as to rotate under the driving of the transmission member, thereby walking on the guide rail.

7. The inspection robot according to claim 6, characterized in that: The transmission member comprises: A first gear, which is arranged on the output shaft of the driving member and can rotate under the driving of the driving member; a second gear meshing with the first gear to rotate under the drive of the first gear; A rotating shaft is arranged on the connecting assembly and can rotate around its own axis, and the second gear is fixedly sleeved on the rotating shaft to drive the rotating shaft to rotate; The traveling wheel is sleeved on the rotating shaft and can rotate driven by the rotating shaft.

8. The inspection robot according to claim 7, characterized in that: There are at least two second gears, and correspondingly, there are at least two rotating shafts and walking wheels; At least one of the second gears is located on one side of the first gear along the traveling direction, so as to drive one of the rotating shafts and one of the traveling wheels to rotate under the drive of the first gear; At least another second gear is located on the other side of the first gear along the traveling direction, so as to drive another rotating shaft and another traveling wheel to rotate under the drive of the first gear.

9. The inspection robot according to claim 7, characterized in that: On the same rotating shaft, the rolling surface of the traveling wheel is flush with or protrudes from the outer edge of the second gear; The bottom of the first gear is higher than or flush with the bottom of the traveling wheel.

10. The inspection robot according to claim 6, characterized in that: The connecting assembly includes a first side and a second side disposed opposite to each other along a width direction of the guide rail; The transmission member is connected to at least two of the running wheels along the width direction, at least one of the running wheels is located on the first side, and at least another of the running wheels is located on the second side.

11. The inspection robot according to any one of claims 1 to 10, characterized in that: The second walking mechanism comprises: A first clamping portion, the first clamping portion is connected to the robot body and abuts against an inner side surface of the guardrail; A second clamping portion, the second clamping portion is connected to the robot body and abuts against the outer side surface of the guardrail; wherein the first clamping portion or the second clamping portion is rollingly connected to the guardrail, driving the robot body to move back and forth along the guardrail; the inner side surface and the outer side surface are located on the guardrail along the width direction of the guardrail.

12. The inspection robot according to claim 11, characterized in that: The first clamping portion is configured as a first portion and a second portion connected at an angle, the robot body is located on the first portion, and the robot body is fixedly connected to the first portion, wherein the first portion is located on the outer side of the guardrail; The second portion is located on the inner side of the guardrail to abut against the inner side of the guardrail; The inner side of the guardrail is the side facing the road, and the outer side of the guardrail is the side facing away from the road.

13. The inspection robot according to claim 12, characterized in that: The guardrail comprises a first guardrail, the first guardrail extends along the extension direction of the guardrail, and the top of the first guardrail is inclined toward a side away from the road so that the inner side of the first guardrail is located above its outer side; The second portion abuts against the inner side surface of the first railing; the second clamping portion abuts against the outer side surface of the first railing.

14. The inspection robot according to claim 13, characterized in that: The mating surface of the second portion for abutting against the first fence is configured to be in line contact with the first fence.

15. The inspection robot according to claim 11, characterized in that: The second clamping portion is rollingly connected to the outer side surface of the guardrail, and the second clamping portion is configured as a belt transmission structure, and the pulley of the belt transmission structure is rotationally connected to the robot body along its own axis; The belt wheel can roll along the outer side surface of the guardrail when driven.

16. The inspection robot according to claim 15, characterized in that: The belt transmission structure includes a plurality of pulleys, and the plurality of pulleys are connected by belt transmission; The plurality of pulleys are recessed inwardly along their own circumference to form guide grooves, and the belts are located in the guide grooves.

17. A patrol inspection system, characterized in that: include: The inspection robot according to any one of claims 1 to 16; Guide rails, installed on the guardrail on one side of the highway; The first walking mechanism of the inspection robot is supported on the guide rail and can walk on the guide rail; the second walking mechanism of the inspection robot is supported on the guardrail and can walk along the guardrail.

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