Inspection robot and robot inspection system

Abstract

The embodiment of the present application provides a patrol robot and a robot patrol system. The patrol robot can move back and forth along the extension direction of the guardrail, and the patrol robot includes: a robot body, which is used to arrange the patrol structure to obtain road traffic conditions; a clamping member, which is at least fixedly connected to the bottom of the robot body, and the clamping member is wound around the first side of the guardrail to the second side of the guardrail, and forms a mounting portion on the second side of the guardrail; a first rolling structure, which is rotatably connected to the mounting portion, and the first rolling structure can roll along the second side surface of the guardrail under driving, so as to drive the robot body to move back and forth along the guardrail, so as to obtain road traffic conditions in real time.

Description

Technical Field

[0001] The present application relates to the field of traffic supervision, and in particular to a patrol robot and a robot patrol system. Background Art

[0002] With the rapid growth of economic development and people's travel needs, the road transportation industry has developed rapidly. The number of motor vehicles, the number of drivers, and the road mileage have continued to grow, the level of urban motorization has further improved, and road traffic safety has become increasingly complex.

[0003] At present, road traffic conditions are mainly obtained by traffic authorities and driving terminal equipment, and the efficiency of obtaining road safety conditions and abnormal events is extremely low. Summary of the invention

[0004] The embodiments of the present application provide a patrol robot and a robot patrol system that can move back and forth along the guardrails of a road to obtain road traffic conditions in real time.

[0005] In order to solve the above technical problems, the embodiments of the present application disclose the following technical solutions:

[0006] The present application embodiment discloses a patrol robot capable of reciprocating along the extension direction of a guardrail, the patrol robot comprising:

[0007] The robot body is used to deploy inspection structures to obtain road traffic conditions;

[0008] A clamping member is fixedly connected to at least the bottom of the robot body, and the clamping member is wound around the first side of the guardrail to the second side of the guardrail, and forms a mounting portion on the second side of the guardrail;

[0009] The first rolling structure is rotatably connected to the mounting portion. The first rolling structure can roll along the second side surface of the guardrail under driving to drive the robot body to move back and forth along the guardrail.

[0010] In some embodiments, the mounting portion has two opposite bending segments, the first rolling structure is located in a space defined by the two bending segments, and there is a gap between the first rolling structure and inner surfaces of the bending segments.

[0011] In some embodiments, the rotation radius of the first rolling structure is configured to be positively correlated with the load size of the inspection structure.

[0012] In some embodiments, the inspection robot further includes a second rolling structure, the second rolling structure is located on the first side of the guardrail, the second rolling structure is rotatably connected to the clamping member, and the second rolling structure can roll along the first side surface of the guardrail.

[0013] In some embodiments, the guardrail includes at least two guardrails arranged at an angle along the extension direction, and the inspection robot includes two second rolling structures;

[0014] The two second rolling structures are respectively rotatably connected to the clamping member, and the two second rolling structures can respectively roll along the first side surfaces of the two guardrails.

[0015] In some embodiments, the inspection robot further comprises a tri-fold plate, the tri-fold plate comprising a first plate, a middle plate and a second plate connected at an angle, the first plate and the second plate being connected at an angle to opposite ends of the middle plate and being located on the same side of the middle plate;

[0016] The middle plate is fixedly connected to the clamping member;

[0017] One of the two second rolling structures is rotationally connected to the first plate; the other of the two second rolling structures is rotationally connected to the second plate.

[0018] In some embodiments, the extension direction of the first plate is perpendicular to the extension direction of the first fence, wherein the first fence is a set of fences corresponding to the second rolling structure;

[0019] The extension direction of the second plate is perpendicular to the extension direction of the second guardrail, wherein the second guardrail is a guardrail corresponding to another group of second rolling structures.

[0020] In some embodiments, the inspection robot further includes a first driving member, which is transmission-connected to the first rolling structure to drive the first rolling structure to roll along the second side of the guardrail; and / or

[0021] The inspection robot also includes a second driving member, which is transmission-connected to one of the two second rolling structures to drive the two second rolling structures to roll along the first side of the guardrail together; wherein the first driving member and the second driving member are configured to: drive the first rolling structure and the second rolling structure to roll synchronously along the guardrail.

[0022] In some embodiments, the rotation radius of the first rolling structure is configured to be greater than the rotation radius of the second rolling structure.

[0023] In some embodiments, the robot body is located on the clamping member, and the center of gravity of the robot body is configured to be located on the second side of the guardrail.

[0024] In some embodiments, the ends of the guardrail in the height direction, the robot body and the clamping member form an accommodating space, and the accommodating space is used to accommodate the indicator signs on the guardrail or on the side of the road.

[0025] In some embodiments, the clamping member includes a first part and a second part that are connected, the robot body is located on the first part and the robot body is fixedly connected to the first part, the first part is configured to have an avoidance distance from the indicator sign along the width direction of the guardrail, and the indicator sign is located on the side of the road; the second part is used to go around the first side of the guardrail to the second side of the guardrail.

[0026] In some embodiments, the first rolling structure and / or the second rolling structure is configured as a belt drive structure, the belt drive structure includes a belt and a plurality of pulleys, and the plurality of pulleys are connected by belt drive;

[0027] The plurality of pulleys are respectively recessed inwardly along their own circumference to form transmission grooves, and the belts are located in the transmission grooves.

[0028] In some embodiments, the belt is configured as a flat belt, and a gap is provided between the side wall of the transmission groove and the flat belt.

[0029] An embodiment of the present application also discloses a robot inspection system, including a charging device and the aforementioned inspection robot, wherein the charging device is arranged next to a guardrail, and the charging device is used to supply power to the inspection robot.

[0030] In the inspection robot and robot inspection system of the present application, the clamping member goes around the first side of the guardrail to the second side of the guardrail and forms a mounting portion on the second side of the guardrail. The first rolling structure is rotatably connected to the mounting portion and can roll along the second side surface of the guardrail under drive. The clamping member is subjected to the gravity of the robot body in the vertical direction. The first rolling structure is rollingly connected to the second side of the guardrail. The first rolling structure can apply a force to the guardrail that points from the second side of the guardrail to the first side of the guardrail. The gravity cooperates with the force to ensure that the inspection robot is stably located on the guardrail. The first rolling structure drives the robot body to move back and forth along the guardrail, thereby reducing the size of the blind spot of the inspection structure and improving the efficiency of obtaining road traffic conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of a patrol robot in a usage scenario provided in an embodiment of the present application Figure 1 ;

[0032] Figure 2 A schematic diagram of a patrol robot in a usage scenario provided in an embodiment of the present application Figure 2 ;

[0033] Figure 3 for Figure 1 The structural schematic diagram of the inspection robot shown;

[0034] Figure 4 for Figure 3 Schematic diagram of the exploded structure of the inspection robot shown;

[0035] Figure 5 for Figure 1 The schematic diagram of the coordination structure between the inspection robot and the guardrail is shown;

[0036] Figure 6 for Figure 5 The local enlarged structure diagram at A in the middle;

[0037] Figure 7 for Figure 3 A schematic diagram of the structure of the first rolling structure and the second rolling structure in the inspection robot shown;

[0038] Figure 8 for Figure 7 A schematic structural diagram of the first rolling structure and the second rolling structure at another angle;

[0039] Fig. 9 for Figure 7 A schematic structural diagram of the first rolling structure and the second rolling structure at another viewing angle;

[0040] Fig.10 for Figure 7 An exploded structural schematic diagram of the first rolling structure and the second rolling structure shown;

[0041] Fig.11 for Figure 7 A schematic structural diagram of the first rolling structure and the second rolling structure at another viewing angle;

[0042] Fig.12 for Fig.11 The cross-sectional structure diagram of the first rolling structure and the second rolling structure at another viewing angle is shown.

[0043] Description of reference numerals:

[0044] 100-inspection robot; 200-robot body; 300-clamping piece; 400-guardrail; 500-first rolling structure; 700-charging device; 600-second rolling structure; 450-mileage sign;

[0045] 220-inspection structure; 410-fixed frame; 310-installation part; 401-first guardrail; 402-second guardrail; 601-first sub-rolling structure; 602-second sub-rolling structure; 610-trifold plate; 611-first plate; 612-second plate; 613-middle plate; 511-pulley; 512-belt; 513-transmission groove; 514-positioning plate; 515-nut; 516-gasket; a1-first side; a2-second side; H-height direction; T1-extension direction; T2-width direction; F-normal direction; G-gravity direction; f1-first resistance; f2-second resistance; m-force; d-plate width. DETAILED DESCRIPTION

[0046] 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.

[0047] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated by the terms "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of 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 embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0048] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0049] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples, and features of different embodiments or examples described in this specification, without contradiction.

[0050] With the rapid growth of economic development and people's travel needs, the road transportation industry has developed rapidly. The number of motor vehicles, the number of drivers, and the road mileage continue to grow, the level of urban motorization has further improved, and road traffic safety has become increasingly complex. At present, road traffic conditions are mainly obtained by transportation authorities and driving terminal equipment, and the efficiency of obtaining road safety conditions and abnormal events is extremely low.

[0051] In view of the above problems, an embodiment of the present application provides a patrol robot that can move back and forth along the guardrails of the road to obtain road traffic conditions in real time.

[0052] Figure 1 A schematic diagram of a patrol robot in a usage scenario provided in an embodiment of the present application Figure 1 ; Figure 2 A schematic diagram of a patrol robot in a usage scenario provided in an embodiment of the present application Figure 2 .like Figure 1 and Figure 2 As shown, the inspection robot 100 can move back and forth along the guardrail 400 of the road to inspect the road traffic conditions and obtain the road traffic conditions in real time.

[0053] In some examples, guardrail 400 is installed on both sides of a highway or a city road.

[0054] In some examples, the guardrail 400 is installed on the ground via a fixing frame 410 , and the fixing frame 410 is located on a side of the guardrail 400 facing away from the road.

[0055] In some examples, guardrail 400 is installed on both sides of a highway.

[0056] In some examples, guardrail 400 is used to ensure the safety of drivers and vehicles and to prevent the vehicle from losing control and running off the road.

[0057] In some examples, the guardrail 400 has a reflective mark, which provides a clear warning to the driver at night or in bad weather, thereby enhancing road safety. It can be seen that the role of the guardrail 400 in road traffic is particularly obvious.

[0058] In some examples, road traffic conditions may include abnormal accident information, such as traffic accidents, vehicle congestion, abnormal parking, etc.

[0059] In some examples, road traffic conditions may also include road surface condition information, such as whether there are cracks, potholes, or other damage to the road surface. Furthermore, the length, width, and depth of the cracks or potholes may be obtained.

[0060] In some examples, the road traffic conditions may also include the status of traffic facilities, such as missing guardrails 400, damaged markings, missing manhole covers, etc.

[0061] It should be noted that the aforementioned abnormal accident information, road condition information and traffic facility status are all examples of road traffic conditions. The content of the road traffic conditions can be determined based on the actual situation of the road where the inspection robot 100 is deployed. The embodiments of the present application do not limit the content of the road traffic conditions.

[0062] In the related art, in order to obtain the road traffic conditions, a robot is set on the guardrail 400, and the road traffic conditions are supervised by the monitoring equipment and alarm equipment configured on the robot. However, the robot occupies a large area of ​​the guardrail 400, resulting in the reflective signs being unable to serve as a warning at night or in bad weather. In addition, due to the large load of the robot, it will shake during operation, causing obvious structural damage to the guardrail 400, reducing the service life of the guardrail 400, resulting in the appearance of the robot not only being detrimental to traffic supervision, but also damaging the original traffic environment.

[0063] In view of this, in the embodiment of the present application, the inspection robot 100 also includes a robot body 200 for deploying an inspection structure 220 to obtain road traffic conditions.

[0064] In some embodiments, the inspection structure 220 may include, but is not limited to, one or more of a camera, a red and blue light, a speaker, a flash light, and a display screen.

[0065] In some examples, the robot body 200 may be a shell structure.

[0066] Figure 3 for Figure 1 The structural schematic diagram of the inspection robot 100 shown; Figure 4 for Figure 3 The exploded structural diagram of the inspection robot 100 is shown; Figure 5 for Figure 1 A schematic diagram of the coordination structure of the inspection robot 100 and the guardrail 400 is shown; Figure 6 for Figure 5 The local enlarged structure diagram of A in the figure. Figures 3 to 6 As shown, in some embodiments, the inspection robot 100 further includes a clamp 300 , and the clamp 300 is at least fixedly connected to the bottom of the robot body 200 .

[0067] There are a first side a1 of the guardrail 400 and a second side a2 of the guardrail 400 along the extending direction T1 of the guardrail 400 .

[0068] In some embodiments, the clamp 300 is constructed as a plate structure, which is conducive to the clamp 300 and the robot body 200 being fixedly connected after being attached at the bottom, and improving the support force of the clamp 300 on the inspection structure 220. In addition, the clamp 300 is constructed as a plate structure, which is convenient for selecting a target position on the clamp 300 to set other structures, and is easy to locate and manufacture.

[0069] In some embodiments, the clamping member 300 can be constructed as a frame structure, which is beneficial to reduce the shielding area of ​​the guardrail 400, reduce the impact on the warning function of the guardrail 400, and save materials.

[0070] In some other embodiments, the clamping member 300 is fixedly connected to the guardrail 400 and supports the robot body 200 , so that the inspection robot 100 is located on the guardrail 400 to obtain road traffic conditions through the inspection structure 220 .

[0071] Exemplarily, the inspection structure 220 can obtain road traffic conditions by collecting external images and audio and processing them. Since the inspection robot 100 is fixed on the guardrail 400, the road traffic conditions in the blind spot of the inspection robot 100 cannot be obtained, which affects the efficiency of obtaining road traffic conditions.

[0072] In some embodiments, the clamping member 300 goes around the first side a1 of the guardrail 400 to the second side a2 of the guardrail 400, and forms a mounting portion 310 on the second side a2 of the guardrail 400. The mounting portion 310 is used to configure the clamping member 300 to be movable along the guardrail 400, so as to enable the inspection robot 100 to move along the guardrail 400, thereby reducing the blind spot size of the inspection structure 220 and improving the efficiency of obtaining road traffic conditions.

[0073] Mileage signs, contour signs and other indicator signs may be provided on the guardrail 400, the fixing frame 410 or the side of the road. In order to prevent the inspection robot 100 from interfering with the indicator signs during its movement along the guardrail 400, thereby preventing the inspection robot 100 from interfering with the indicator signs and causing the inspection robot 100 to be obstructed from working or damaged, in some embodiments, the robot body 200, the clamping member 300 and the end of the guardrail 400 form a receiving space, and the indicator signs can be located in the receiving space, thereby preventing the inspection robot 100 from interfering with the indicator signs and ensuring the safe operation of the inspection robot 100. The end of the guardrail 400 is used to refer to the edge of the guardrail 400 along the height direction H.

[0074] In some examples, the clamp 300 includes a first part and a second part that are connected, the first part is located on the end side of the guardrail 400 and is fixedly connected to the robot body 200, and the second part is used to go around the first side a1 of the guardrail 400 to the second side a2 of the guardrail 400; the first part and the end of the guardrail 400 are configured to have a first distance along the height direction H, and accordingly, the robot body 200, the clamp 300 and the guardrail 400 form an accommodating space corresponding to the first distance.

[0075] In some examples, a mileage sign or a contour mark is provided at the upper end of the guardrail 400 or the fixed frame 410. Based on the accommodation space formed by the robot body 200, the clamping member 300 and the guardrail 400 corresponding to the first distance, when the inspection robot 100 moves along the guardrail 400, the mileage sign or the contour mark is accommodated in the accommodation space and can pass through it along the extension direction T1, thereby preventing interference between the inspection robot 100 and the mileage sign or the contour mark.

[0076] For example, a mileage sign may include information showing a highway number, hundred meters, or kilometers, e.g. Figure 2 Mileage plate 450 shown.

[0077] As another example, the delineator can actively or passively reflect light to display the road contour, thereby guiding vehicle travel.

[0078] In some embodiments, warning signs and other indicator signs are set on the side of the road. In order to prevent the inspection robot 100 from interfering with warning signs and other indicator signs while moving along the guardrail 400, the robot body 200 is located on the first part, and the first part is configured to have an avoidance distance with the indicator signs along the width direction T2 to prevent the inspection robot 100 from interfering with the indicator signs and ensure the safe operation of the inspection robot 100.

[0079] In some embodiments, the first side a1 is closer to the road than the second side a2. In order to prevent the inspection robot 100 from falling onto the road when encountering a vehicle accident, the center of gravity of the robot body 200 is configured to be located on the second side a2 of the guardrail 400, and the first part is away from the edge of the road along the width direction T2 and has an avoidance distance from the indicator sign to prevent the inspection robot 100 from interfering with the indicator sign.

[0080] In some other implementations, the positional relationship between the robot body 200 and the first part in the width direction T2 is different, and the avoidance distance should be determined based on the positional relationship between the robot body 200 and the first part in the width direction T2.

[0081] In some examples, the robot body 200 exceeds the first portion by an excess dimension along the width direction T2 at the second side a2 , and therefore, the avoidance distance may be configured to be greater than the excess dimension.

[0082] Exemplarily, the sign includes information such as direction, vehicle route or speed limit.

[0083] In some other embodiments, the second side a2 is closer to the road than the first side a1.

[0084] In some examples, the inspection robot 100 also includes a linear drive member and a moving member, the moving member is fixed to the mounting portion 310 and abuts against the second side a2 of the guardrail 400; the linear drive member is transmission-connected to the moving member, and the linear drive member is used to drive the moving member to move along the extension direction T1 of the guardrail 400, thereby realizing the movement of the inspection robot 100 along the extension direction T1 of the guardrail 400.

[0085] Figure 7 for Figure 3 A schematic structural diagram of a first rolling structure 500 and a second rolling structure 600 in the inspection robot 100 is shown; Figure 8for Figure 7 The schematic diagram of the structure of the first rolling structure 500 and the second rolling structure 600 at another angle; Fig. 9 for Figure 7 The structure schematic diagram of the first rolling structure 500 and the second rolling structure 600 at another viewing angle; Fig.10 for Figure 7 An exploded structural diagram of the first rolling structure 500 and the second rolling structure 600 is shown; Fig.11 for Figure 7 The schematic diagram of the structure of the first rolling structure 500 and the second rolling structure 600 at another viewing angle; Fig.12 for Fig.11 FIG. 5 is a schematic cross-sectional view of the first rolling structure 500 and the second rolling structure 600 at another viewing angle. Figures 7 to 12 As shown, in some embodiments, the inspection robot 100 also includes a first rolling structure 500, which is rotatably connected to the mounting portion 310 and can roll along the second side a2 surface of the guardrail 400 when driven, so as to drive the robot body 200 to move back and forth along the guardrail 400, thereby reducing the blind spot range of the inspection structure 220 and improving the efficiency of the inspection robot 100 in obtaining road traffic conditions.

[0086] In some examples, the mounting portion 310 may be configured such that the clamping member 300 is bent from a position corresponding to the bottom of the guardrail 400 toward the top of the guardrail 400 at the second side a2 of the guardrail 400 .

[0087] Through the above scheme, the clamping member 300 is subjected to the gravity of the robot body 200 in the vertical direction, and the first rolling structure 500 is rollingly connected to the second side a2 of the guardrail 400. The first rolling structure 500 can apply a force m to the guardrail 400 that points from the second side a2 of the guardrail 400 to the first side a1 of the guardrail 400. The gravity cooperates with the force m to enable the inspection robot 100 to be stably located on the guardrail 400 and to be able to move along the guardrail 400.

[0088] In some embodiments, the mounting portion 310 has two opposing bending sections (not marked in the figure), and the first rolling structure 500 is located in the space defined by the two bending sections, which helps to reduce the passage of external debris, such as gravel or branches, into the first rolling structure 500, thereby preventing the possibility of failure of the first rolling structure 500 during use and increasing the cost of subsequent maintenance of the inspection robot 100.

[0089] In order to prevent structural interference between the mounting portion 310 and the first rolling structure 500 , in some examples, a gap is provided between the first rolling structure 500 and the inner surface of the bending section to ensure smooth operation of the first rolling structure 500 .

[0090] It should be noted that, in the case of different traffic inspection requirements, the inspection structure 220 will include different devices, and the loads of different devices are different. Accordingly, the loads that the first rolling structure 500 and the clamping member 300 need to bear are also different. In order to enable the inspection robot 100 with inspection structures 220 of different load sizes to move along the extension direction T1 of the guardrail 400, based on the fact that the larger the rotation radius of the rolling structure, the larger the force arm formed between the rotation axis and the rolling surface, and the greater the support force provided, in some embodiments, the rotation radius of the first rolling structure 500 is configured to be positively correlated with the load size of the inspection structure 220. That is, the larger the load of the inspection structure 220, the larger the rotation radius of the first rolling structure 500. In this way, the rotation radius of the first rolling structure 500 can be determined based on the load size of the inspection structure 220, thereby improving the applicability of the inspection robot 100 installed on the guardrail 400.

[0091] Exemplarily, when the load of the inspection structure 220 is large, the rotation radius of the first rolling structure 500 is configured to be larger, so as to provide a larger supporting force to support the robot body 200 .

[0092] As another example, when the load of the inspection structure 220 is relatively small, the rotation radius of the first rolling structure 500 is configured to be relatively small, so as to reduce energy consumption while supporting the robot body 200 .

[0093] In some embodiments, in order to improve the stability of the inspection robot 100 on the guardrail 400, the inspection robot 100 also includes a second rolling structure 600, which is located on the first side a1 of the guardrail 400, and the second rolling structure 600 is rotatably connected to the clamping member 300, and the second rolling structure 600 can roll along the surface of the first side a1 of the guardrail 400.

[0094] In some examples, the second rolling structure 600 is located between the clamp 300 and the first side a1 of the guardrail 400. In this way, when the clamp 300 is constructed as a plate, in the width direction T2 of the road, the clamp 300 can protect the second rolling structure 600 to a certain extent, reduce the passage of foreign debris, such as gravel or branches, etc., into the second rolling structure 600, prevent the possibility of failure of the second rolling structure 600 during use, and increase the cost of later maintenance of the inspection robot 100. It can be understood that the degree of protection of the second rolling structure 600 by the clamp 300 is positively correlated with the size of the clamp 300 in the extension direction T1 of the guardrail 400.

[0095] Through the above scheme, the second rolling structure 600 is rollingly connected to the first side a1 of the guardrail 400, and the second rolling structure 600 can apply resistance (including the first resistance f1 and the second resistance f2 hereinafter) to the guardrail 400 from the first side a1 of the guardrail 400 to the second side a2 of the guardrail 400. This resistance is used to counteract the gravity of the inspection robot 100 that tends to cause it to topple, thereby improving the stability of the inspection robot 100 on the guardrail 400.

[0096] When a vehicle travels along the road, it needs to use the road space in the road height direction H. Road space is particularly important in road traffic. Any blind spots or obstructions may cause traffic accidents. Guardrails 400 are generally arranged on both sides of the road. In order to reduce the impact of the inspection robot 100 on the road space, in some examples, the inspection robot 100 is located on the side of the guardrail 400 facing away from the road, thereby increasing the degree to which the center of gravity of the inspection robot 100 deviates from the guardrail 400.

[0097] Here, the height direction H of the road is consistent with the height direction H of the guardrail 400 .

[0098] In some embodiments, the guardrail 400 includes at least two railings arranged at an angle along the extension direction T1. When the load of the inspection robot 100 is large, in order to prevent the inspection robot 100 from falling off the guardrail 400, the number of the second rolling structures 600 in the inspection robot 100 is two, and the two second rolling structures 600 are respectively rotatably connected to the clamping member 300, and the two second rolling structures 600 can respectively roll along the first sides a1 of the two railings.

[0099] In order to explain the functional principles of the two second rolling structures 600 and the two guardrails, the two second rolling structures 600 are respectively referred to as the first sub-rolling structure 601 and the second sub-rolling structure 602, and the two guardrails are respectively referred to as the first guardrail 401 and the second guardrail 402.

[0100] In the above scheme, the first sub-rolling structure 601 is rotationally connected to the clamping member 300 and is rollingly connected to the first guardrail 401. Accordingly, the first sub-rolling structure 601 applies a first resistance f1 from the first side a1 of the guardrail 400 to the second side a2 of the guardrail 400 along the normal direction F of the first guardrail 401; the second sub-rolling structure 602 is rotationally connected to the clamping member 300 and is rollingly connected to the second guardrail 402. Accordingly, the second sub-rolling structure 602 applies a second resistance f2 from the first side a1 of the guardrail 400 to the second side a2 of the guardrail 400 along the normal direction F of the second guardrail 402. Both the first resistance f1 and the second resistance f2 are used to counteract the gravity of the inspection robot 100 that tends to cause it to topple, thereby improving the stability of the inspection robot 100 on the guardrail 400.

[0101] In some other embodiments, the number of the second rolling structures 600 in the inspection robot 100 may be three, four or other numbers, and correspondingly, the number of railings of the guardrail 400 may be three, four or other numbers, which is not limited in the embodiments of the present application.

[0102] Exemplarily, the inspection robot 100 includes four second rolling structures 600, which are rotatably connected to the trifold plate 610 in pairs, and the trifold plate 610 is fixedly connected to the clamping member 300, thereby realizing the rotatable connection between the second rolling structure 600 and the clamping member 300, which is beneficial to improving the convenience of installing the second rolling structure 600 on the clamping member 300.

[0103] In some embodiments, the trifold plate 610 comprises a first plate 611, a middle plate 613 and a second plate 612 connected at an angle, the first plate 611 and the second plate 612 are connected at an angle to opposite ends of the middle plate 613 and are located on the same side of the middle plate 613; the middle plate 613 is fixedly connected to the clamp 300; one of the two second rolling structures 600 is rotatably connected to the first plate 611; and the other of the two second rolling structures 600 is rotatably connected to the second plate 612. In this way, the middle plate 613 is parallel to the clamp 300 along its own extension direction and is fixedly connected to the clamp 300, and the angle between the first plate 611 and the middle plate 613, as well as the angle between the second plate 612 and the middle plate 613 are relatively convenient to adjust, and the clamp 300 can be applied to the guardrail 400 with different guardrail angles after being matched with the first rolling structure 500 through the trifold plate 610, thereby improving the applicability of the inspection robot 100.

[0104] In order to maximize the resistance applied by the second rolling structure 600 to the guardrail 400, the tangent of the rolling surface of the second rolling structure 600 is adjusted to be parallel to the extension surface of the guardrail, thereby preventing the resistance loss caused by the angle between the rolling surface and the extension surface of the guardrail. In some embodiments, the extension direction of the first plate 611 is perpendicular to the extension surface of the first guardrail 401, wherein the first guardrail 401 is a guardrail corresponding to a group of second rolling structures 600, based on a group of second rolling structures 600, which are rotatably connected to the first plate 611 along the normal direction F of the first plate 611, so that the tangent of the rolling surface of the second rolling structure 600 is parallel to the extension surface of the guardrail, thereby maximizing the resistance.

[0105] Similarly, the extension surface of the second plate 612 is perpendicular to the extension surface of the second guardrail 402 , wherein the second guardrail 402 is a guardrail corresponding to another group of second rolling structures 600 .

[0106] In some embodiments, the inspection robot 100 further includes a first driving member (not shown), which is transmission-connected to the first rolling structure 500 to drive the first rolling structure 500 to roll along the second side a2 of the guardrail 400 .

[0107] In some examples, the first driving member may be configured as a driving structure such as a rotary motor, a motor equipped with a reducer, or a motor.

[0108] In some embodiments, the inspection robot 100 has a larger load, so the inspection robot 100 further includes a second driving member (not shown), which is transmission-connected to one of the two second rolling structures 600 to drive the two second rolling structures 600 to roll together along the first side a1 of the guardrail 400 .

[0109] Similarly, the technical solution of the second driving member can refer to the implementation of the first driving member.

[0110] In order to achieve the movement of the clamping member 300 as a whole along the extension direction T1 of the guardrail 400 , in some embodiments, the first driving member and the second driving member are configured to: drive the first rolling structure 500 and the second rolling structure 600 to roll synchronously along the guardrail 400 .

[0111] In some examples, the output rotation speeds of the first driving member and the second driving member are determined based on the rotation radius of the first rolling structure 500 and the rotation radius of the second rolling structure 600 , so that the first rolling structure 500 and the second rolling structure 600 roll synchronously along the guardrail 400 .

[0112] It can be understood that synchronous rotation means that the first rolling structure 500 and the second rolling structure 600 move the same distance along the extension direction T1 of the guardrail 400 within the same time.

[0113] Among them, the first rolling structure 500 is more used to stabilize the clamping member 300 and the robot body 200 on the guardrail 400 than the second rolling structure 600. Therefore, in some embodiments, the rotation radius of the first rolling structure 500 is configured to be larger than the rotation radius of the second rolling structure 600, so that the distance between the rotation center of the first rolling structure 500 and the first side a1 surface of the guardrail 400 is larger, so as to obtain a longer force arm, thereby increasing the torque applied to the guardrail 400 by the first rolling structure 500 to counteract the robot body 200's own gravity that attempts to cause it to fall from the guardrail 400.

[0114] In order to prevent the robot body 200 from tipping over from the first side a1 of the guardrail 400, the robot body 200 is located on the clamping member 300, and the center of gravity of the robot body 200 is configured to be located on the second side a2 of the guardrail 400, so as to form a structure in which the robot body 200 and the first rolling structure 500 are located on the second side a2 of the guardrail 400, similar to the robot body 200, the clamping member 300 and the first rolling structure 500 hooking the guardrail 400, thereby increasing the stability of the robot body 200 on the guardrail 400.

[0115] In some embodiments, the first rolling structure 500 and / or the second rolling structure 600 are configured as belt drive structures.

[0116] In some embodiments, the belt transmission structure includes a belt 512 and a plurality of pulleys 511 , and the plurality of pulleys 511 are connected in transmission via the belt 512 .

[0117] At this time, the rotation radius of the first rolling structure 500 or the second rolling structure 600 is the radius of the pulley 511 .

[0118] In some embodiments, the pulley 511 includes a driving wheel, and the driving member is in transmission connection with the driving wheel to drive the driving wheel to rotate.

[0119] In some embodiments, the pulley 511 further includes a driven wheel, and the driving wheel drives the driven wheel to roll along the guardrail 400 through the belt 512 .

[0120] In some embodiments, the plurality of pulleys 511 are respectively recessed inward along their own circumference to form a transmission groove 513, and the belt 512 is located in the transmission groove 513. At this time, the hub surface of the pulley 511 not corresponding to the transmission groove 513 is in rolling connection with the first side a1 of the guardrail 400. In this way, the belt 512 is located in the transmission groove 513, which is convenient for positioning the belt 512 and is also conducive to preventing the belt 512 from moving during the movement of the inspection robot 100, thereby improving the stability of the inspection robot 100 moving along the guardrail 400.

[0121] In some embodiments, the belt 512 is constructed as a flat belt, and there is a gap between the side wall of the transmission groove 513 and the flat belt, that is, the width of the transmission groove 513 is larger than the width of the flat belt, so as to prevent the flat belt from escaping from the transmission groove 513 due to temperature or external force, thereby enhancing the transmission stability of the first rolling structure 500 or the second rolling structure 600.

[0122] In some examples, the belt drive structure includes eight pulleys 511, which are arranged at intervals along the extension direction T1 of the guardrail 400 and are connected by belts 512. The eight pulleys 511 include at least one driving wheel, and the driving member is used to drive the driving wheel to rotate. The driving wheel drives the other driven wheels to rotate together through the belt 512, so as to realize the rolling of the belt drive structure along the first side a1 or the second side a2 of the guardrail 400.

[0123] In some embodiments, the belt transmission structure includes a plurality of rotating shafts, each of which is disposed through the pulley 511 and is rotationally connected to the pulley 511. It is understood that in order to achieve the transmission connection between the pulley 511 and the rotating shaft, the pulley 511 is formed with a through hole at the center along its axial direction for rotationally connecting with the rotating shaft.

[0124] Exemplarily, the pulley 511 and the rotating shaft may be rotatably connected via a key.

[0125] In some embodiments, the belt transmission structure further includes two positioning plates 514 , which are spaced apart on the plurality of rotating shafts so that the plurality of pulleys 511 are located between the two positioning plates 514 , thereby positioning the pulleys 511 along their own axial direction.

[0126] In some other embodiments, the connection method between the pulley 511 (including the driving pulley and the driven pulley) and the positioning plate 514 can be that the two ends of the rotating shaft corresponding to the pulley 511 are respectively embedded in the grooves of the two positioning plates 514 facing each other, and the rotating shaft is rotatably connected to the groove to realize the positioning of the rotating shaft along its own axial direction.

[0127] In some examples, the number of grooves on each positioning plate 514 is equal to the number of pulleys 511 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 rotating shaft.

[0128] In some embodiments, a plate width dimension d of the positioning plate 514 is smaller than a radial dimension of the pulley 511 to prevent interference between the positioning plate 514 and the guardrail 400 .

[0129] In some embodiments, the belt transmission structure further includes a nut 515, and the rotating shaft passes through the positioning plate 514 and is exposed from the positioning plate 514; the nut 515 is sleeved on the rotating shaft exposed from the positioning plate 514 to achieve the positioning of the rotating shaft along its own axial direction.

[0130] In some embodiments, the belt transmission structure further includes a gasket 516, which is sleeved on the rotating shaft and located between the positioning plate 514 and the nut 515, and is used to reduce the damage to the positioning plate 514 caused by the relative friction of the nut 515 during the rolling process.

[0131] In some examples, the end surface of the positioning plate 514 of the two positioning plates 514 close to the tri-fold plate 610 can be aligned with the end surface of the first plate 611 or the second plate 612 of the tri-fold plate 610, that is, the extension surface of the positioning plate 514 is in the same plane as the extension surface of the first plate 611 or the second plate 612. At this time, the gasket 516 is sleeved on the rotating shaft and is located between the nut 515 and the first plate 611 or the second plate 612.

[0132] Based on the same concept, an embodiment of the present application also provides a robot inspection system, which includes a charging device 700 and the aforementioned inspection robot 100 , wherein the charging device 700 is disposed next to the guardrail 400 , and the charging device 700 is used to supply power to the inspection robot 100 .

[0133] In some examples, the technical solution of the inspection robot 100 can refer to the aforementioned implementation scheme of the inspection robot 100.

[0134] It should be noted that the robot inspection system and the aforementioned inspection robot 100 are of the same concept, and therefore, the robot inspection system and the inspection robot 100 have the same or similar technical effects, which will not be elaborated herein.

[0135] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on the several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0136] 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 capable of reciprocating along the extension direction of a guardrail, characterized in that: The inspection robot comprises: The robot body is used to deploy inspection structures to obtain road traffic conditions; A clamping member, at least fixedly connected to the bottom of the robot body, and the clamping member goes around the first side of the guardrail to the second side of the guardrail and forms a mounting portion on the second side of the guardrail; The first rolling structure is rotatably connected to the mounting portion. The first rolling structure can be driven to roll along the second side surface of the guardrail to drive the robot body to move back and forth along the guardrail.

2. The inspection robot according to claim 1, characterized in that: The mounting portion has two opposite bending sections, the first rolling structure is located in a space defined by the two bending sections, and there is a gap between the first rolling structure and inner surfaces of the bending sections.

3. The inspection robot according to claim 1, characterized in that: The rotation radius of the first rolling structure is configured to be positively correlated with the load size of the inspection structure.

4. The inspection robot according to claim 1, characterized in that: The inspection robot also includes a second rolling structure, which is located on the first side of the guardrail, the second rolling structure is rotatably connected to the clamping member, and the second rolling structure can roll along the first side surface of the guardrail.

5. The inspection robot according to claim 4, characterized in that: The guardrail comprises at least two guardrails arranged at an angle along the extension direction, and the inspection robot comprises two of the second rolling structures; The two second rolling structures are respectively rotatably connected to the clamping member, and the two second rolling structures can respectively roll along the first side surfaces of the two guardrails.

6. The inspection robot according to claim 5, characterized in that: The inspection robot further comprises a trifold plate, the trifold plate comprising a first plate, a middle plate and a second plate connected at an angle, the first plate and the second plate being connected at an angle to opposite ends of the middle plate and being located on the same side of the middle plate; The intermediate plate is fixedly connected to the clamping member; One of the two second rolling structures is rotatably connected to the first plate; and the other of the two second rolling structures is rotatably connected to the second plate.

7. The inspection robot according to claim 6, characterized in that: The extension direction of the first plate is perpendicular to the extension direction of the first clapboard, wherein the first clapboard is a clapboard corresponding to the one second rolling structure; The extension direction of the second plate is perpendicular to the extension direction of the second baffle, wherein the second baffle is the baffle corresponding to the other second rolling structure.

8. The inspection robot according to claim 4, characterized in that: The inspection robot further includes a first driving member, which is transmission-connected to the first rolling structure to drive the first rolling structure to roll along the second side of the guardrail; and / or The inspection robot also includes a second driving member, which is transmission-connected to one of the two second rolling structures to drive the two second rolling structures to roll together along the first side of the guardrail; wherein the first driving member and the second driving member are configured to: drive the first rolling structure and the second rolling structure to roll synchronously along the guardrail.

9. The inspection robot according to claim 4, characterized in that: The rotation radius of the first rolling structure is configured to be greater than the rotation radius of the second rolling structure.

10. The inspection robot according to any one of claims 1 to 9, characterized in that: The robot body is located on the clamping member, and the center of gravity of the robot body is configured to be located on the second side of the guardrail.

11. The inspection robot according to any one of claims 1 to 9, wherein the end of the guardrail in the height direction, the robot body and the clamping member form an accommodating space, and the accommodating space is used to accommodate the indicator signs on the guardrail or on the side of the road.

12. According to the inspection robot according to any one of claims 1 to 9, the clamping member includes a first part and a second part that are connected, the robot body is located on the first part and the robot body is fixedly connected to the first part, the first part is configured to have an avoidance distance from an indicator sign along the width direction of the guardrail, and the indicator sign is located on the side of the road; the second part is used to go around the first side of the guardrail to the second side of the guardrail.

13. The inspection robot according to any one of claims 4 to 9, characterized in that: The first rolling structure and / or the second rolling structure is configured as a belt transmission structure, wherein the belt transmission structure comprises a belt and a plurality of pulleys, and the plurality of pulleys are connected by the belt transmission; The plurality of pulleys are respectively recessed inwardly along their own circumference to form transmission grooves, and the belts are located in the transmission grooves.

14. The inspection robot according to claim 13, characterized in that: The belt is configured as a flat belt, and a gap is provided between the side wall of the transmission groove and the flat belt.

15. A robot inspection system, characterized in that: It comprises a charging device and the inspection robot according to any one of claims 1 to 14, wherein the charging device is arranged beside the guardrail, and the charging device is used to supply power to the inspection robot.

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