Inspection robot and inspection system

Abstract

The embodiment of the invention provides an inspection robot and an inspection system, and the inspection robot comprises a robot body which is configured to detect external environment information; the walking mechanism is connected with the robot body; the walking mechanism is supported on a guide rail arranged on a road guardrail and can walk on the guide rail so as to drive the robot body to walk along the guide rail. Wherein the extending direction of the guide rail is consistent with the length direction of the guardrail. The inspection robot can walk along the guide rail, damage to the guardrail can be reduced, and the service life of the guardrail is prolonged.

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 its walking path, the inspection robot walks along the guardrail on the side of the highway. For example, if the guardrail is a three-wave plate, the inspection robot walks along the corrugated protrusions on the three-wave plate to detect the operation of the highway and the vehicles on the highway in real time.

[0004] However, if the inspection robot walks along the guardrail for a long time, it will cause damage to the guardrail. Summary of the invention

[0005] An embodiment of the present application provides a patrol robot and a patrol system, which can reduce damage to guardrails and extend the service life of guardrails.

[0006] An embodiment of the present application provides an inspection robot, comprising:

[0007] The robot body is configured to detect external environment information;

[0008] A walking mechanism connected to the robot body;

[0009] The walking mechanism is supported on a guide rail arranged on the highway guardrail, and can walk on the guide rail to drive the robot body to walk along the guide rail;

[0010] The extension direction of the guide rail is consistent with the length direction of the guardrail.

[0011] In some implementations, the walking mechanism includes:

[0012] A connecting component connected to the robot body;

[0013] The walking assembly is installed on the connecting assembly and can walk along the guide rail.

[0014] In some implementations, the guide rail includes a rail cavity and a rail opening, the rail opening being in communication with the rail cavity;

[0015] 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.

[0016] 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.

[0017] In some implementations, the rail includes a bottom wall and two side walls;

[0018] 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;

[0019] The walking assembly walks along the bottom wall, and the two side walls are configured to stop the walking mechanism on the bottom wall.

[0020] In some implementations, a bent portion is formed inwardly at one end of the two side walls away from the bottom wall, and a gap between the two bent portions is configured as a track opening;

[0021] The walking assembly is located between the bending portion and the bottom wall.

[0022] In some implementations, the walking assembly includes:

[0023] A driving member, disposed on the connecting assembly;

[0024] A transmission member connected to the driving member to move under the driving of the driving member;

[0025] 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.

[0026] In some implementations, the transmission member includes:

[0027] A first gear, which is arranged on the output shaft of the driving member and can rotate under the driving of the driving member;

[0028] The second gear is meshed with the first gear to rotate under the drive of the first gear;

[0029] 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;

[0030] The traveling wheel sleeve is arranged on the rotating shaft and can rotate under the driving of the rotating shaft.

[0031] In some implementations, there are at least two second gears, and correspondingly, there are at least two rotating shafts and walking wheels;

[0032] 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;

[0033] 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.

[0034] 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;

[0035] The bottom of the first gear is higher than or flush with the bottom of the traveling wheel.

[0036] 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;

[0037] 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.

[0038] In some implementations, a cleaning mechanism is also included, which is located on the guide rail and is configured to clean debris on the guide rail.

[0039] In some implementations, the cleaning mechanism is disposed on the traveling mechanism; the cleaning mechanism is configured to clean debris on the guide rail when the traveling mechanism travels along the guide rail.

[0040] In some implementations, the cleaning mechanism includes two cleaning members;

[0041] The walking mechanism comprises a front side portion and a rear side portion which are arranged opposite to each other along the walking direction, wherein one cleaning member is arranged on the front side portion, and the other cleaning member is arranged on the rear side portion.

[0042] In some implementations, the cleaning mechanism has a connecting end and a free end, the connecting end and the free end are arranged opposite to each other along a cleaning direction of the cleaning mechanism, and the connecting end is connected to the walking mechanism;

[0043] The outer contour size of the cleaning mechanism gradually decreases from the connecting end to the free end.

[0044] Another aspect of the present application provides a patrol inspection system, including:

[0045] An inspection robot as described above;

[0046] The guide rail is installed on the guardrail on one side of the highway, and the extension direction of the guide rail is consistent with the length direction of the guardrail;

[0047] The walking mechanism of the inspection robot is supported on the guide rail, and the inspection robot can walk on the guide rail to detect external environment information.

[0048] The embodiment of the present application provides a patrol inspection system and a patrol inspection robot. By setting a guide rail on the guardrail, the patrol inspection robot walks along the guide rail to detect environmental information at different positions of the highway, thereby reducing wear on the guardrail and increasing the service life of the guardrail. 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

[0049] 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.

[0050] Figure 1 is a usage status diagram of the inspection system provided by an embodiment of the present application;

[0051] Figure 2 This is a structural diagram of one perspective of the inspection system provided by an embodiment of the present application;

[0052] Figure 3 It is a structural schematic diagram of the inspection system provided by an embodiment of the present application from another perspective;

[0053] Figure 4 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 ;

[0054] 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 2 ;

[0055] 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 3 ;

[0056] Figure 7 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 ;

[0057] Figure 8 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;

[0058] Fig. 9 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 ;

[0059] 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 3 ;

[0060] 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 4 .

[0061] Description of reference numerals:

[0062] 100-Inspection robot;

[0063] 110- robot body;

[0064] 120-walking mechanism; 121-connecting assembly; 122-walking assembly; 1221-driving member; 1222-transmission member; 1223-walking wheel; 1222a-first gear; 1222b-second gear; 1222c-rotating shaft; 123-connecting shaft;

[0065] 130-cleaning mechanism; 131-cleaning member;

[0066] 200-guide rail; 210-rail cavity; 220-rail opening; 230-bottom wall; 240-side wall; 241-bend portion;

[0067] 300-Guardrail;

[0068] 400-Charging station. DETAILED DESCRIPTION

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] For example, the inspection robot 100, such as the highway inspection robot 100, is usually equipped with high-definition cameras, 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] However, the inspection robot 100 walks along the guardrail 300 for a long time, which may cause wear and tear on the guardrail 300 and affect the stability of the guardrail 300 .

[0080] The embodiment of the present application provides an inspection system and an inspection robot 100, wherein a guide rail 200 is arranged on a guardrail 300, and the inspection robot 100 walks along the guide rail 200 to detect environmental information at different positions of the highway, thereby reducing wear on the guardrail 300 and increasing the service life of the guardrail 300. 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.

[0081] 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.

[0082] Figure 2 is a structural diagram of one perspective of the inspection system provided by an embodiment of the present application, Figure 3 is a structural diagram of an inspection system provided by an embodiment of the present application from another perspective, Figure 4 This is a schematic diagram of the cooperation between the guide rail 200 and the walking mechanism 120 of the inspection system provided in one embodiment of the present application. Figure 1 , Figure 5 This is a schematic diagram of the cooperation between the guide rail 200 and the walking mechanism 120 of the inspection system provided in one embodiment of the present application. Figure 2 , Figure 6 This is a schematic diagram of the cooperation between the guide rail 200 and the walking mechanism 120 of the inspection system provided in one embodiment of the present application. Figure 3 . Reference Figures 2 to 6 As 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 a guardrail 300 on one side of the highway, and the extension direction of the guide rail 200 is consistent with the length direction of the guardrail 300 .

[0083] The length 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 1Shown in the x direction.

[0084] 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.

[0085] 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.

[0086] 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 .

[0087] 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.

[0088] In some examples, the guide rail 200 can be disposed on the top end surface, inner side surface (see Figure 1 A) or the outer side (refer to Figure 1 It should be noted that the top end surface of the guardrail 300 refers to the end of the guide rail 200 facing away from the ground, the inner side surface of the guardrail 300 refers to the side facing the road, and the outer side surface of the guardrail 300 refers to the side facing away from the road.

[0089] For example, when the guide rail 200 can be set on the top of the guardrail 300, the guide rail 200 can be set on the top end surface, the top inner side surface or the top outer side surface 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.

[0090] Among them, the guide rail 200 is set on the top end face or outer side face of the guardrail 300, and the inspection robot 100 runs 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 highway and ensuring the smooth travel of vehicles on the highway.

[0091] In some examples, the inspection robot 100 may include a robot body 110 and a walking mechanism 120. The robot body 110 is configured to detect external environmental information. For example, the robot body 110 is provided with safety devices and cameras, etc., which are mainly responsible for real-time detection of the operation status of roads and vehicles on the roads.

[0092] The walking mechanism 120 is connected to the robot body 110 , and the walking mechanism 120 is configured to drive the robot body 110 to move.

[0093] In some examples, the walking mechanism 120 is supported on a guide rail 200 provided on the highway guardrail 300 , and can walk on the guide rail 200 to drive the robot body 110 to walk along the guide rail 200 .

[0094] For example, the 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 .

[0095] In some examples, the 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.

[0096] Reference Figure 6 As shown, in some examples, the 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.

[0097] 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.

[0098] 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 .

[0099] 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.

[0100] 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.

[0101] 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 ).

[0102] 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.

[0103] 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.

[0104] 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 .

[0105] Reference Figure 6As 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 assembly 122 walks along the bottom wall 230, and the two side walls 240 are configured to stop the walking mechanism 120 on the bottom wall 230.

[0106] 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.

[0107] 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 6 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 6 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.

[0108] 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.

[0109] 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 .

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] For example, the connecting component 121 has a first side opposite to the first side along the width direction (refer to Figure 6 C) and the second side (refer to Figure 6 As 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 .

[0116] 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.

[0117] Figure 7 The structure of the walking mechanism 120 in the inspection robot 100 provided in one embodiment of the present application is shown in FIG. Figure 1 , Figure 8 1 is an exploded schematic diagram of a walking mechanism 120 and a guide rail 200 of an inspection system provided in an embodiment of the present application. Fig. 9 The structure of the walking mechanism 120 in the inspection robot 100 provided in one embodiment of the present application is shown in FIG. Figure 2 . Reference Figures 7 to 9 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 .

[0118] 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.

[0119] 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 .

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] In some examples, the transmission member 1222 may further include a 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 rotating shaft 1222c may be passed through the axis hole and may also rotate in the axis hole. For another example, a connecting shaft 123 may be passed through the connection component 121, and the rotating shaft 1222c may be fixedly sleeved on the connecting shaft 123.

[0126] In some examples, the second gear 1222b is fixedly mounted on the rotating shaft 1222c to drive the rotating shaft 1222c to rotate, and the walking wheel 1223 is mounted on the rotating shaft 1222c and can rotate driven by the rotating shaft 1222c.

[0127] By fixing the running wheel 1223 and the second gear 1222b on the rotating shaft 1222c and assembling the connecting assembly 121 through the rotating shaft 1222c, 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 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 side by side 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 running mechanism 120.

[0128] It should be noted that the up-down direction is the height direction of the traveling mechanism 120 , and the left-right direction is the traveling direction of the traveling mechanism 120 .

[0129] 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 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 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 rotating shaft 1222c and the other walking wheel 1223 to rotate under the drive of the first gear 1222a.

[0130] 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 a 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 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 a 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 rotating shaft 1222c.

[0131] 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 traveling mechanism 120 on the guide rail 200 .

[0132] In addition, by driving multiple traveling wheels 1223 to roll through a driving motor, power consumption can be reduced on the one hand, and the weight of the traveling mechanism 120 can be reduced on the other hand, thereby improving the operational reliability of the traveling mechanism 120 .

[0133] In some examples, three or more walking wheels 1223 may be provided along the walking direction of the walking mechanism 120, each walking wheel 1223 may be assembled on the connecting assembly 121 through a rotating shaft 1222c, and a second gear 1222b is provided on each 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 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.

[0134] For the convenience of description, the rotating shaft 1222c and the second gear 1222b and the running wheel 1223 arranged thereon can be collectively referred to as a gear train structure.

[0135] 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.

[0136] In some examples, on the same 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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 play a role in supporting other components in the walking mechanism 120, reducing the pressure of the robot body 110 on the walking wheel 1223, and improving the running stability of the walking wheel 1223.

[0141] Fig.10 The structure of the walking mechanism 120 in the inspection robot 100 provided in one embodiment of the present application is shown in FIG. Figure 3 , Fig.11 The structure of the walking mechanism 120 in the inspection robot 100 provided in one embodiment of the present application is shown in FIG. Figure 4 . Reference Fig.10 and Fig.11 As shown, in some examples, the connection assembly 121 may include a first side (see Fig.10 C) and the second side (refer to Fig.10 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.

[0142] For example, the rotating shaft 1222c of the first gear train structure can pass through the connecting component 121, and a part of the 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 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 rotating shaft 1222c to rotate, and at least two walking wheels 1223 located at the two parts of the rotating shaft 1222c can roll driven by the rotating shaft 1222c, thereby driving the entire walking mechanism 120 to move along the guide rail 200.

[0143] By providing running wheels 1223 on both sides of the connecting assembly 121 , the symmetry of the running mechanism 120 can be improved, so that the running mechanism 120 is stably supported on the guide rail 200 through the running wheels 1223 on both sides.

[0144] 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 walking mechanism 120 and the guide rail 200, thereby enabling the walking mechanism 120 to stably run along the guide rail 200.

[0145] 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 running mechanism 120 on the guide rail 200.

[0146] 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.

[0147] In actual applications, since the guide rails 200 are located on both sides of an outdoor highway, 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 walking mechanism 120 .

[0148] 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 .

[0149] For example, the cleaning mechanism 130 is connected to the robot body 110. Before the 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 walking mechanism 120 drives the robot body 110 to walk on the guide rail 200 to detect the target environment.

[0150] In some examples, the cleaning mechanism 130 is disposed on the walking mechanism 120, and the cleaning mechanism 130 is configured to clean the debris on the guide rail 200 when the walking mechanism 120 moves along the guide rail 200, so that the working efficiency of the inspection robot 100 can be reduced. For example, when the 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 walking mechanism 120. When the 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 walking mechanism 120.

[0151] Exemplarily, the cleaning mechanism 130 may include two cleaning members 131;

[0152] The 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 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 walking mechanism 120, so as to increase the contact area between the walking wheel 1223 of the walking mechanism 120 and the walking surface m of the guide rail 200, and ensure the normal and stable walking of the walking mechanism 120 along the x direction. When the 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 walking mechanism 120, so as to increase the contact area between the walking wheel 1223 of the walking mechanism 120 and the walking surface m of the guide rail 200, and ensure the normal and stable walking of the walking mechanism 120 in the reverse direction along the x direction.

[0153] In some examples, the cleaning member 131 can be connected to the connecting component 121 of the 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.

[0154] In some examples, the cleaning mechanism 130, such as the cleaning member 131, has a connecting end and a free end. 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 walking mechanism 120, such as the connecting component 121. The free end can push the debris in the walking direction to move forward or move to both sides deviating from the walking direction.

[0155] 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, and open up a clean passage for the walking mechanism 120 at the rear.

[0156] 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.

[0157] 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 walking mechanism connected to the robot body; The walking mechanism is supported on a guide rail provided on a highway guardrail, and can walk on the guide rail to drive the robot body to walk along the guide rail; Wherein, the extension direction of the guide rail is consistent with the length direction of the guardrail.

2. The inspection robot according to claim 1, characterized in that: The walking mechanism comprises: A connecting component connected to the robot body; The walking assembly is installed on the connecting assembly and can walk along the guide rail.

3. The inspection robot according to claim 2, characterized in that: 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 walks along the bottom wall, and the two side walls are configured to stop the walking mechanism on the bottom wall.

6. The inspection robot according to claim 5, characterized in that: 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.

7. The inspection robot according to any one of claims 2 to 6, 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.

8. The inspection robot according to claim 7, 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.

9. The inspection robot according to claim 8, 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.

10. The inspection robot according to claim 8, 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.

11. The inspection robot according to claim 7, 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.

12. The inspection robot according to any one of claims 1 to 6, characterized in that: It also includes a cleaning mechanism, which is located on the guide rail and is configured to clean debris on the guide rail.

13. The inspection robot according to claim 12, characterized in that: The cleaning mechanism is arranged on the traveling mechanism; the cleaning mechanism is configured to clean the debris on the guide rail when the traveling mechanism travels along the guide rail.

14. The inspection robot according to claim 13, characterized in that: The cleaning mechanism includes two cleaning members; The walking mechanism comprises a front side portion and a rear side portion which are arranged opposite to each other along the walking direction, wherein one of the cleaning members is arranged at the front side portion, and the other of the cleaning members is arranged at the rear side portion.

15. The inspection robot according to claim 13, characterized in that: The cleaning mechanism has a connecting end and a free end, the connecting end and the free end are arranged opposite to each other along the cleaning direction of the cleaning mechanism, and the connecting end is connected to the walking mechanism; The outer contour size of the cleaning mechanism gradually decreases from the connecting end to the free end.

16. A patrol inspection system, characterized in that: include: The inspection robot according to any one of claims 1 to 15; A guide rail is installed on the guardrail on one side of the highway, and the extension direction of the guide rail is consistent with the length direction of the guardrail; The walking mechanism of the inspection robot is supported on the guide rail, and the inspection robot can walk on the guide rail to detect external environment information.

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