A magnetic encoding positioning method for a rail vehicle inspection robot

Abstract

The application discloses a kind of magnetic encoding positioning methods of track vehicle inspection robot, containing track vehicle inspection robot with magnetic encoding positioning mechanism, the robot contains guide rail, the inside of guide rail is equipped with mobile shell, the bottom of mobile shell is equipped with holder, the end of holder is equipped with high-definition camera and infrared camera respectively, the magnetic encoding positioning method of the track vehicle inspection robot, when magnetic encoding positioning, N pole, S pole of magnetic nail are encoded by binary, improve the accuracy of magnetic encoding positioning itself, and the device uses magnetic encoding positioning and label identification auxiliary mode, further improve the uploading accuracy of the position of fault point in the process of self-inspection, at the same time, the device reduces the vertical shaking between magnetic encoder and magnetic nail in the process of self-track inspection through transmission element, further improves the accuracy of magnetic encoding positioning, and the device can automatically clean the dust and other covering stains on the inspection camera part, improve the fault inspection accuracy itself.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, specifically a magnetic coding positioning method for a rail vehicle inspection robot. Background Technology

[0002] A track inspection robot is an intelligent device that runs along a fixed track, specifically designed for automated inspection of infrastructure such as railway tracks, cable tunnels, and power distribution rooms. It is typically equipped with sensors, cameras, and AI recognition systems, enabling it to move autonomously and monitor equipment status in real time, identify potential faults, and transmit data to a monitoring center via a wireless network. (Existing technology: Authorization Publication No. CN 222244787) U's patent discloses a track inspection robot, including a drive mechanism comprising a track and a sliding component. The sliding component is slidably connected to the track, and the drive component is connected below the sliding component, driving the sliding component. A sensing mechanism includes a camera with a gimbal above it and a servo motor. The gimbal is mounted on the drive component via the servo motor. The drive component, in conjunction with the sliding component, moves the sensing mechanism along the track. Inspection is performed using the camera and internal components. The gimbal, in conjunction with the servo motor, controls the camera's rotation to monitor the status of equipment, temperature, and abnormal gas concentrations in the working environment, increasing detection efficiency and accuracy. However, this device lacks positioning elements during the inspection process, preventing it from accurately uploading the location of faults. Furthermore, long-term operation may expose the camera lens to dust and other impurities, affecting its detection clarity and potentially reducing inspection accuracy. Therefore, we propose a magnetic coding positioning method for a track vehicle inspection robot. Summary of the Invention

[0003] The technical problem to be solved by this invention is to overcome the existing defects and provide a magnetic coding positioning method for a rail vehicle inspection robot. During magnetic coding positioning, the device uses the N and S poles of a magnetic nail to encode data in binary format, improving its own magnetic coding positioning accuracy. Furthermore, the device employs a magnetic coding positioning and tag recognition auxiliary method to further improve the accuracy of uploading the location of inspection fault points. Simultaneously, the device reduces vertical vibration between the magnetic encoder and the magnetic nail during track inspection through transmission components, further improving magnetic coding positioning accuracy. Moreover, the device can automatically clean dust and other dirt covering the inspection camera area, improving its fault inspection accuracy and effectively solving the problems in the background technology.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a magnetic coding positioning method for a rail vehicle inspection robot, comprising a rail vehicle inspection robot with a magnetic coding positioning mechanism, the robot comprising a guide rail, a movable shell installed inside the guide rail, a gimbal at the bottom of the movable shell, and a high-definition camera and an infrared camera respectively at the end of the gimbal, and further comprising a magnetic positioning mechanism, a self-cleaning mechanism and a bonding mechanism. Magnetic positioning mechanism: It includes grooves, magnetic nails, cover plates, magnetic encoders, calibration components, electro-hydraulic push rod II and guide rods. The grooves are evenly spaced on the lower side of the guide rail. Magnetic nails are provided inside each groove. Cover plates are provided at the bottom edge of each groove. The top wall of the movable shell is equipped with a magnetic encoder through the telescopic end of the electro-hydraulic push rod II. A guide rod is provided below the magnetic encoder. The guide rod is slidably connected to a sliding hole in the top wall of the movable shell. A calibration component is provided between the movable shell and the guide rail. Self-cleaning mechanism: It is located on the end housing of the gimbal; Fitting Mechanism: Installed on the upper end of the mobile shell, this device uses the N and S poles of the magnetic nail to encode in binary during magnetic coding positioning, thereby improving its own magnetic coding positioning accuracy. The device adopts a magnetic coding positioning and tag recognition auxiliary method to further improve its own inspection fault point location uploading accuracy. At the same time, the device reduces the vertical vibration between the magnetic encoder and the magnetic nail during its own track inspection through transmission components, further improving the magnetic coding positioning accuracy. In addition, the device can automatically clean the dust and other stains covering the inspection camera area, improving its own fault inspection accuracy.

[0005] Furthermore, the upper part of the interior of the movable shell is provided with a partition, the bottom of the movable shell is provided with a storage battery, and a microcontroller is provided on the upper side of the partition. The input terminal of the microcontroller is electrically connected to the output terminal of the storage battery, and the output terminal of the microcontroller is electrically connected to the input terminal of the pan-tilt unit. The magnetic encoder, high-definition camera and infrared camera are all bidirectionally electrically connected to the microcontroller, which facilitates the control of the electrical components in the device.

[0006] Furthermore, the calibration component includes QR code labels and a scanner. The QR code labels are evenly spaced on the lower side of the guide rail, and the scanner is located in the middle of the upper side of the movable shell. The scanner is bidirectionally electrically connected to the microcontroller, and its magnetic coding positioning accuracy is improved through label recognition assistance.

[0007] Furthermore, the self-cleaning mechanism includes a mounting shell, a rotating shaft, a rotating plate, a circular shell, a brake motor, a cleaning rubber brush, a rubber ring, a storage assembly, and an infusion assembly. The mounting shell is respectively located on the front and rear sides of the end of the gimbal. The left side of each mounting shell is rotatably connected to a rotating plate via a rotating shaft. The upper right side of each rotating plate is equipped with a circular shell. The left side of each circular shell is equipped with a brake motor. The input end of each brake motor is electrically connected to the output end of a microcontroller. The output shaft of each brake motor is equipped with a cleaning rubber brush. The right side of each circular shell is equipped with a rubber ring. A storage assembly is provided between each mounting shell and an adjacent rotating shaft. An infusion assembly is provided between each mounting shell and an adjacent circular shell, thus enabling self-cleaning of the camera part of the rail vehicle inspection robot.

[0008] Furthermore, the storage assembly includes a reducer, a second brake motor, and an angle sensor. The reducer is respectively disposed on the left wall of the mounting shell. The right side of each reducer is provided with a second brake motor. The input end of each second brake motor is electrically connected to the output end of the microcontroller. The output shaft of each second brake motor is fixedly connected to the input shaft of the adjacent reducer. The output shaft of each second reducer is fixedly connected to the right end of the adjacent rotating shaft. An angle sensor is provided on the left side of the mounting shell. The detection end of each angle sensor is fixedly connected to the adjacent rotating shaft. The angle sensor is bidirectionally electrically connected to the microcontroller. The cleaning element of the rail vehicle inspection robot is rotated and stored to avoid interference with the detection part of the camera element.

[0009] Furthermore, the infusion assembly includes an outlet tank, a supply pump, a first pipe, a hose, a connecting pipe, and a drain pipe. The outlet tanks are respectively located on the right end of the bottom wall of the mounting shell. The lower left wall of each outlet tank is connected to a first pipe via the supply pump. The input end of the supply pump is electrically connected to the output end of the microcontroller. The upper end of each first pipe passes through the top wall of the vertically adjacent mounting shell. A connecting pipe is installed through the left wall of each circular shell. A hose is installed between the left end of the connecting pipe and the vertically adjacent first pipe. A drain pipe is installed through the inner arc wall of each circular shell to supply cleaning fluid for the self-cleaning of the camera part of the rail vehicle inspection robot.

[0010] Furthermore, the upper side of the mobile shell is provided with four evenly distributed fixed seats. The inner sides of two longitudinally adjacent fixed seats are rotatably connected to bottom wheels through a rotating shaft two. The upper middle part of the mobile shell is rotatably connected to longitudinally symmetrically distributed power wheels through a rotating shaft three. The top wall of the mobile shell is provided with two brake motors three. The upper side of the partition is provided with a frequency converter. The input end of each brake motor three is electrically connected to the output end of the frequency converter. The input end of the frequency converter is electrically connected to the output end of the microcontroller. The output shaft of each brake motor three is fixedly connected to the lower end of the vertically adjacent rotating shaft three, so as to realize the inspection movement of the rail vehicle inspection robot along the guide rail.

[0011] Furthermore, the bonding mechanism includes a connecting frame, guide rods, lifting frames, top wheels, electro-hydraulic push rods, and pressure sensors. The connecting frames are respectively set between two horizontally adjacent fixed seats. Guide rods are slidably connected in two circular holes on the upper side of the fixed seats. Lifting frames are set between two horizontally adjacent guide rods. The inner sides of the two lifting frames are rotatably connected to horizontally symmetrically distributed top wheels via four rotating shafts. Electro-hydraulic push rods are set in the middle of the top wall of the connecting frame. The input end of each electro-hydraulic push rod is electrically connected to the output end of the microcontroller. Pressure sensors are set in the extension end of each electro-hydraulic push rod. Pressure sensors are bidirectionally electrically connected to the microcontroller. The detection end of each pressure sensor is in contact with the lower side of the vertically adjacent lifting frame, reducing the vertical vibration between the magnetic encoder and the magnetic nail during its own track inspection.

[0012] Furthermore, a wireless transmitter is provided on the upper side of the partition. The wireless transmitter is bidirectionally electrically connected to the microcontroller to remotely upload the location of the fault point detected by the rail vehicle inspection robot itself.

[0013] A magnetic coding positioning method for a rail vehicle inspection robot includes the following steps: S1): Using magnetic nails and magnetic encoders, the N and S poles of the magnetic nails in each group of magnetic nails are encoded using a binary method. During encoding and positioning, the unique position identifier represented by the binary sequence of the position is parsed according to the preset encoding rules. Based on the position identifier and the actual layout position of the magnetic nail encoding group on the track, the magnetic encoding of the rail vehicle inspection robot is accurately positioned. S2): The magnetic coding positioning accuracy of the rail vehicle inspection robot is further improved by using the calibration component to assist in the calibration of the magnetic coding positioning. S3): The bonding mechanism vertically supports the rail vehicle inspection robot during the inspection process, reducing vertical vibration between the two and avoiding signal errors caused by changes in the vertical spacing between the magnetic encoder and the magnetic nail due to vertical vibration, thereby affecting the magnetic coding positioning accuracy and improving the magnetic coding positioning accuracy of the device. S4): Fault inspection is carried out through pan-tilt-zoom (PTZ), high-definition camera and infrared camera, and fault inspection points are remotely uploaded through wireless transmitter; S5): The self-cleaning mechanism cleans dust and other dirt adhering to the surface of the detection parts of the high-definition camera and infrared camera, avoiding interference with the fault inspection of the rail vehicle inspection robot and improving the inspection accuracy of the rail vehicle inspection robot.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: The magnetic coding positioning method of the rail vehicle inspection robot has the following advantages: 1. During the inspection process of the rail vehicle inspection robot, when the device uses magnetic coding positioning, it uses the N and S poles of the magnetic nail to encode in binary, thereby improving its own magnetic coding positioning accuracy. The device adopts a magnetic coding positioning and tag recognition auxiliary method. Based on the magnetic coding positioning, the tag recognition is used to assist in calibrating its own magnetic coding positioning accuracy, further improving its own magnetic coding positioning accuracy, and facilitating the accurate remote uploading of the location of the inspection fault point.

[0015] 2. During the inspection process of the rail vehicle inspection robot, the device uses a bonding mechanism to vertically press its own moving wheels against the upper and lower walls of the guide rail, reducing the vertical vibration between the magnetic encoder and magnetic nail caused by the movement of the wheels during the inspection process. This avoids signal errors introduced by the magnetic encoder during magnetic coding positioning due to changes in the vertical spacing, and further improves the magnetic coding positioning accuracy of the device itself.

[0016] 3. During the inspection process of the rail vehicle inspection robot, the device can automatically clean the dust and other stains covering the inspection camera area through the self-cleaning mechanism, so as to avoid the decrease in fault detection accuracy of the high-definition camera and infrared camera of the rail vehicle inspection robot due to the adhesion of dust and other stains, thereby improving the fault inspection accuracy of the rail vehicle inspection robot. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the movable shell of the present invention; Figure 3 This is a schematic diagram of the rear structure of the movable shell of the present invention; Figure 4 This is a schematic diagram of the guide rail structure from a bottom view. Figure 5 This is a schematic diagram of the bonding mechanism of the present invention; Figure 6 This is an enlarged structural diagram of point A in the present invention; Figure 7 This is an enlarged structural diagram of section B of the present invention.

[0018] In the diagram: 1. Guide rail; 2. Moving shell; 3. Magnetic positioning mechanism; 31. Groove; 32. Magnetic nail; 33. Cover plate; 34. Magnetic encoder; 35. Calibration component; 351. QR code label; 352. Scanner; 36. Electro-hydraulic actuator II; 37. Guide rod; 4. Pan / tilt head; 5. Camera; 6. Infrared camera; 7. Self-cleaning mechanism; 71. Mounting shell; 72. Rotating shaft I; 73. Rotating plate; 74. Circular shell; 75. Brake motor I; 76. Cleaning rubber brush; 77. Rubber ring; 78. Storage component; 781. Reducer; 782. Brake motor II, 783 Angle sensor, 79 Infusion assembly, 791 Infusion tank, 792 Infusion pump, 793 Pipe I, 794 Hoses, 795 Connecting pipes, 796 Drain pipes, 8 Fixing base, 9 Fitting mechanism, 91 Connecting frame, 92 Guide rod, 93 Lifting frame, 94 Top wheel, 95 Electro-hydraulic push rod I, 96 Pressure sensor, 10 Bottom wheel, 11 Power wheel, 12 Brake motor III, 13 Partition plate, 14 Battery, 15 Microcontroller, 16 Frequency converter, 17 Wireless transmitter. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figure 1-7This embodiment provides a technical solution: a magnetic coding positioning method for a rail vehicle inspection robot, comprising a rail vehicle inspection robot with a magnetic coding positioning mechanism. The robot includes a guide rail 1, a movable shell 2 installed inside the guide rail 1, a gimbal 4 at the bottom of the movable shell 2, a high-definition camera 5 and an infrared camera 6 respectively at the end of the gimbal 4, a partition 13 at the upper part of the interior of the movable shell 2, a battery 14 at the bottom of the movable shell 2, a microcontroller 15 on the upper side of the partition 13, the input terminal of the microcontroller 15 being electrically connected to the output terminal of the battery 14, and the output terminal of the microcontroller 15 being electrically connected to the input terminal of the gimbal 4. Both the high-definition camera 5 and the infrared camera 6 are bidirectionally electrically connected to the microcontroller 15. The battery 14 provides power support for the operation of the microcontroller 15. During the inspection process of the mobile housing 2 along the guide rail 1, the microcontroller 15 activates the high-definition camera 5 to capture visible light images along the inspection path and transmits the captured images to the microcontroller 15 as electrical signals. The microcontroller 15 processes the uploaded images using computer vision and deep learning algorithms to identify the image content, thereby recognizing and acquiring the appearance of the equipment, indicator light status, and instrument readings along the inspection path, and communicating with its internally stored equipment operation data. The system compares normal indicator light status and instrument readings to perform routine inspections and troubleshooting. Simultaneously, the microcontroller 15 activates the infrared camera 6. The infrared camera 6 collects infrared radiation emitted by the detection equipment through an optical system detector. The detector converts the radiation signal into an electrical signal, processes it to generate a thermal image, and transmits the result to the microcontroller 15 as an electrical signal. The microcontroller 15 analyzes the temperature data within the thermal image using a temperature analysis algorithm, thus performing routine temperature checks on the equipment. During this process, the microcontroller 15 also activates the gimbal 4. The gimbal 4, based on sensor detection and a PID control algorithm, consists of three... The system consists of mutually perpendicular brake motor axes, namely pitch axis, roll axis and yaw axis, which are driven by a brushless brake motor to achieve multi-dimensional rotation. Sensors monitor attitude changes in real time, and the control system calculates the deviation and adjusts the speed of the brake motor to precisely adjust the position of the end of the gimbal 4. In this way, the inspection angle of the high-definition camera 5 and the infrared camera 6 can be adjusted. At the same time, the microcontroller 15 controls the rotation adjustment of the end of the gimbal 4 in each dimension to avoid exceeding 360 degrees, thereby avoiding the wire tangling phenomenon of the electrical components on the end of the gimbal 4. It also includes a magnetic positioning mechanism 3, a self-cleaning mechanism 7 and a bonding mechanism 9. The upper side of the mobile shell 2 is provided with four evenly distributed fixed seats 8. The inner sides of two longitudinally adjacent fixed seats 8 are rotatably connected to bottom wheels 10 through a rotating shaft 2. The upper middle part of the mobile shell 2 is rotatably connected to longitudinally symmetrically distributed power wheels 11 through a rotating shaft 3. The top wall of the mobile shell 2 is provided with two brake motors 12. The upper side of the partition 13 is provided with a frequency converter 16. The input terminals of the brake motors 12 are electrically connected to the output terminals of the frequency converter 16. The input terminals of the frequency converter 16 are electrically connected to the output terminals of the microcontroller 15. The output shafts of the brake motors 12 are fixedly connected to the lower ends of the vertically adjacent rotating shafts 3. When using the rail vehicle inspection robot, first install the mobile shell 2 onto the guide rail 1 as follows. Figure 1 As shown, at this time, the bottom of the outer arc surface of the bottom wheel 10 is in contact with the bottom wall of the guide rail 1, the top of the outer arc surface of the top wheel 94 is in contact with the top wall of the guide rail 1, and the end of the outer arc surface of the power wheel 11 near the longitudinal center of the moving shell 2 is in contact with the side wall of the guide rail 1. When the rail vehicle inspection robot moves along the guide rail 1, the microcontroller 15 starts the two brake motors 12 through the frequency converter 16, so that the output shafts of the two brake motors 12 rotate in opposite directions. Through the rotating shaft 4, the corresponding power wheel 11 rotates synchronously. During the rotation of the power wheel 11, the contact friction between itself and the side wall of the guide rail 1 drives the moving shell 2 to move along the guide rail 1 for inspection. The frequency converter 16 outputs the same speed command to make the output shafts of the two brake motors 12 rotate at the same speed, thereby improving the rotation synchronization of the two power wheels 11. By the two sets of power wheels 11 in contact with the front and rear side walls of the guide rail 1, the large horizontal and longitudinal offset phenomenon between the two is avoided during the inspection movement of the moving shell 2 along the guide rail 1. Magnetic positioning mechanism 3 includes grooves 31, magnetic nails 32, cover plates 33, magnetic encoders 34, calibration components 35, electro-hydraulic push rods 36, and guide rods 37. Grooves 31 are evenly spaced on the lower side of the guide rail 1. Magnetic nails 32 are installed inside each groove 31. Cover plates 33 are installed at the bottom edge of each groove 31. The top wall of the movable shell 2 is equipped with a magnetic encoder 34 through the telescopic end of the electro-hydraulic push rods 36. A guide rod 37 is installed on the lower side of the magnetic encoder 34. The guide rod 37 is slidably connected to a sliding hole in the top wall of the movable shell 2. A calibration component 35 is installed between the movable shell 2 and the guide rail 1. The magnetic encoder 34 is bidirectionally electrically connected to the microcontroller 15. The calibration component 35 includes QR code labels 351 and a barcode scanner 352. The QR code labels 351 are evenly spaced. A barcode scanner 352 is located on the lower side of the guide rail 1 and the upper center of the movable shell 2. The barcode scanner 352 is bidirectionally electrically connected to the microcontroller 15. During the inspection movement of the movable shell 2 along the guide rail 1, multiple sets of magnetic nail coding groups are arranged at preset intervals at the bottom of the guide rail 1. Each set of magnetic nail coding groups consists of several magnetic nails 32 arranged in a specific polarity sequence. The N pole or S pole of each magnetic nail represents a binary bit 0 or 1, respectively. The microcontroller 15 starts the magnetic encoder 34. The magnetic encoder 34 consists of a fixed magnetic grid and a reading head with a magnetic sensitive element. There is a series of magnetic poles on the magnetic grid. During the inspection movement of the inspection robot along the guide rail 1, the magnetic encoder 34 detects and reads the magnetic pole signals of each magnetic nail 32 in the magnetic nail coding group in real time, and records the read magnetic poles. The signal is converted into a corresponding binary encoded sequence and transmitted to the microcontroller 15 as an electrical signal. The microcontroller 15 parses the unique position identifier represented by the binary sequence according to the preset encoding rules. Based on the position identifier and the actual placement of the magnetic nail encoding group on the track, the current position coordinates of the inspection robot are calculated. Before using the magnetic encoder 34, the microcontroller 15 activates the electro-hydraulic actuator 36, causing its telescopic end to move the magnetic encoder 34 vertically, thereby adjusting the height of the magnetic encoder 34. During this process, the microcontroller 15 adjusts the vertical movement distance of the magnetic encoder 34 based on its own timing element and the travel distance of the telescopic end of the electro-hydraulic actuator 36 per unit time, so that the installation height of the magnetic encoder 34 is aligned with the magnetic nail encoding group. The magnetic encoder 34 is positioned to match the vertical movement of the guide rod 37, which then slides adaptively along the sliding hole during vertical movement. Through the sliding connection between the sliding hole and the guide rod 37, the diameter of the guide rod 37's circular cross-section is the same as the diameter of the sliding hole. This allows the guide rod 37 to bear the radial pressure applied by the magnetic encoder 34 to the telescopic end of the electro-hydraulic push rod 36, preventing damage to the telescopic end of the electro-hydraulic push rod 36 due to radial pressure. Simultaneously, the microcontroller 15 activates the barcode scanner 352. The barcode scanner 352 uses optical scanning to identify and read the QR code label 351 on the lower side of the guide rail 1, converting it into an electrical signal and transmitting it to the microcontroller 15. The QR code label 351 on the lower side of the guide rail 1 contains the label's own position data.The microcontroller 15, combined with the location data uploaded by the barcode scanner 352, assists in calibrating the magnetic coding positioning data, thereby improving its own magnetic coding positioning accuracy. During magnetic coding positioning, the device utilizes the N and S poles of the magnetic nail for binary encoding, enhancing its positioning accuracy. Furthermore, the device employs a magnetic coding positioning and tag recognition auxiliary method to further improve the accuracy of uploading the location of inspection fault points. Self-cleaning mechanism 7: It is installed on the end housing of the gimbal 4. The self-cleaning mechanism 7 includes a mounting shell 71, a rotating shaft 72, a rotating plate 73, a circular shell 74, a brake motor 75, a cleaning rubber brush 76, a rubber ring 77, a storage component 78, and an infusion component 79. The mounting shell 71 is respectively located on the front and rear sides of the end of the gimbal 4. The left side of the mounting shell 71 is rotatably connected to the rotating plate 73 via the rotating shaft 72. The upper right side of the rotating plate 73 is provided with a circular shell 74. The left side of the circular shell 74 is provided with a brake motor 75. The input end of the brake motor 75 is electrically connected to the output end of the microcontroller 15. The output shaft of the brake motor 75 is provided with a cleaning rubber brush 76. The right side of the circular shell 74 is provided with a rubber ring 77. The mounting shell 71 and the adjacent rotating shaft 72 are connected. Each mounting shell 71 and adjacent circular shell 74 is equipped with a storage assembly 78. Each storage assembly 78 includes a reducer 781, a second brake motor 782, and an angle sensor 783. The reducers 781 are located on the left wall of the mounting shell 71. The second brake motor 782 is located on the right side of each reducer 781. The input terminals of the second brake motor 782 are electrically connected to the output terminals of the microcontroller 15. The output shafts of the second brake motor 782 are fixedly connected to the input shafts of the laterally adjacent reducers 781. The output shafts of the second reducers 781 are fixedly connected to the right end of the laterally adjacent rotating shaft 72. An angle sensor 783 is located on the left side of each mounting shell 71. The detection terminals of the angle sensors 783 are connected to the adjacent rotating shaft 72. The angle sensor 783 is fixedly connected to the microcontroller 15 bidirectionally. The infusion assembly 79 includes an outlet tank 791, a supply pump 792, a first pipe 793, a hose 794, a connecting pipe 795, and a drain pipe 796. The outlet tank 791 is located on the right side of the bottom wall of the mounting shell 71. The lower left wall of each outlet tank 791 is connected to the first pipe 793 via the supply pump 792. The input end of the supply pump 792 is electrically connected to the output end of the microcontroller 15. The upper end of the first pipe 793 passes through the top wall of the vertically adjacent mounting shell 71. The left wall of each circular shell 74 is connected to the connecting pipe 795. A hose 794 is provided between the left end of the connecting pipe 795 and the vertically adjacent first pipe 793. The inner arc wall of each circular shell 74 is connected to the drain pipe 796. 6. During the inspection process of the rail vehicle inspection robot, if the image captured by the high-definition camera 5 or the infrared image captured by the infrared camera 6 is blurry, the microcontroller 15 starts the brake motor 2 782, causing its output shaft to drive the input shaft 2 inside the reducer 781 to rotate. The reducer 781, through a worm gear, causes its output shaft 2 to drive the corresponding rotating shaft 1 72 to rotate at low speed and high torque. Simultaneously, during this process, the microcontroller 15 switches the positive and negative terminals of the output shaft of the brake motor 2 782 via GPIO pins, adjusting the direction of rotation of the output shaft of the brake motor 2 782. This causes the front brake motor 2 782 to indirectly drive the corresponding rotating shaft 1 72 to rotate clockwise around its own axis, and the rear brake motor 2 782 to indirectly drive the corresponding rotating shaft 1 72 to rotate counterclockwise around its own axis.The circular shells 74 rotate around the corresponding rotating shaft 72 via the rotating plate 73 towards the longitudinal center of the device. Simultaneously, the microcontroller 15 activates the angle sensor 783. The angle sensor 783 uses a high-performance integrated magnetic sensing element, utilizing the non-contact characteristic of magnetic signal sensing to measure the rotation angle of the rotating shaft 72. The measurement result is transmitted to the microcontroller 15 as an electrical signal. Based on the angle measurement result, the microcontroller 15 controls the opening and closing of the brake motor 782, causing the circular shells 74 to rotate 90 degrees around the corresponding rotating shaft 72 towards the longitudinal center of the device via the rotating plate 73 before stopping. At this point, the circular shells 74 are directly in front of the detection area of ​​the corresponding high-definition camera 5 or infrared camera 6, and the two are in longitudinal contact. The rear side of the circular shells 74... The rubber ring 77 presses against the front of the detection area of ​​the high-definition camera 5 or the infrared camera 6, improving the sealing of the contact surface while avoiding hard contact. At this time, the right side of the cleaning rubber brush 76 inside the circular shell 74 presses against the corresponding camera lens surface. Then, the microcontroller 15 starts the brake motor 75, causing its output shaft to drive the corresponding cleaning rubber brush 76 to rotate. During the rotation, the cleaning rubber brush 76 uses its own arc structure to move the dust and other dirt adhering to the surface of the camera lens to the surrounding area. At the same time, the microcontroller 15 starts the liquid supply pump 792. The operation of the liquid supply pump 792 causes the cleaning liquid stored in the liquid outlet tank 791 to enter through the pipe 793, the hose 794 and the connecting pipe 795. Inside the corresponding circular shell 74, the cleaning rubber brush 76 rotates and cleans simultaneously with the cleaning fluid, improving the cleaning effect on dust and other stains adhering to the camera lens surface. The cleaned liquid, carrying impurities, is discharged through the drain pipe 796. The microcontroller 15 uses an internal timing element to time the liquid supply pump 792 and brake motor 75 for one minute. After the timer is completed, the microcontroller 15 shuts off the liquid supply pump 792 and brake motor 75, and through the same principle, the rotating plate 73 drives the circular shell 74 to return to its initial state around the corresponding rotating shaft 72. By cleaning dust and other stains from the detection parts of the high-definition camera 5 or the infrared camera 6, the image clarity of the high-definition camera 5 and the infrared imaging accuracy of the infrared camera 6 are improved, thereby improving the track... To ensure the accuracy of vehicle inspection robot inspections, after a period of use, the cleaning rubber brush 76 and rubber ring 77 should be replaced periodically to prevent them from losing flexibility. The cleaning fluid in the outlet tank 791 should also be replenished periodically. To replenish the cleaning fluid in the outlet tank 791, simply remove the nut on the outlet tank 791 and then add fluid through the exposed hole. During operation, when brake motors 1 (75), 2 (782), and 3 (12) are powered on, the armature inside the brake motor is electromagnetically attracted, allowing the brake disc to rotate and the output shaft of the brake motor to rotate freely. When the brake motor is de-energized, the electromagnet is de-energized, and the armature is immediately held in place by the spring, pressing the brake disc against the rear end cover of the motor and stopping rotation.Therefore, the output shafts of the brake motors all have a self-locking function, and the output shafts will not rotate after power is cut off. This device can automatically clean dust and other dirt covering the inspection camera area, improving its fault inspection accuracy. Fitting mechanism 9: It is installed on the upper end of the movable shell 2. The fitting mechanism 9 includes a connecting frame 91, a guide rod 92, a lifting frame 93, a top wheel 94, an electro-hydraulic actuator 95, and a pressure sensor 96. The connecting frame 91 is respectively set between two horizontally adjacent fixed seats 8. The guide rod 92 is slidably connected in the two round holes opened on the upper side of the fixed seat 8. The lifting frame 93 is set between the two horizontally adjacent guide rods 92. The opposite inner sides of the two lifting frames 93 are rotatably connected to the horizontally symmetrically distributed top wheels 94 through the rotating shaft. The middle of the top wall of the connecting frame 91 is provided with an electro-hydraulic actuator 95. The input end of the electro-hydraulic actuator 95 is electrically connected to the output end of the microcontroller 15. Each telescopic end is equipped with a pressure sensor 96, which is bidirectionally electrically connected to the microcontroller 15. The detection end of each pressure sensor 96 contacts the lower side of the vertically adjacent lifting frame 93. During the inspection movement of the moving shell 2 along the guide rail 1, the microcontroller 15 activates the electro-hydraulic push rod 95, causing its telescopic end to move the corresponding pressure sensor 96 vertically upward. The detection end of the pressure sensor 96, through contact, drives the corresponding lifting frame 93 to move upward synchronously. The lifting frame 93 drives the corresponding top wheel 94 to press against the top wall of the guide rail 1 through upward movement. During the vertical movement of the lifting frame 93, the guide rod 92 is driven to slide adaptively along the corresponding circular hole. The diameter of the circular cross-section of the guide rod 92 is the same as the diameter of the circular hole. Through the sliding connection between the two, the radial pressure applied to the telescopic end of the electro-hydraulic actuator 95 by the lifting frame 93 via the pressure sensor 96 is borne, preventing damage to the telescopic end of the electro-hydraulic actuator 95 due to radial pressure. Simultaneously, the microcontroller 15 activates the pressure sensor 96. The pressure sensor 96 is a sensor made using the piezoresistive effect of single-crystal silicon material and integrated circuit technology. When the single-crystal silicon material is subjected to the reverse force applied by the lifting frame 93, the resistivity changes. The measuring circuit can then output an electrical signal proportional to the force change, thereby measuring the contact pressure between the top wheel 94 and the top wall of the guide rail 1, and converting the result into an electrical signal. The pressure is transmitted to the microcontroller 15. When the pressure value reaches a certain level, the microcontroller 15 closes the electro-hydraulic push rod 95, so that the top wheel 94 and bottom wheel 10 of the device are pressed into contact with the top and bottom walls of the guide rail 1, respectively. Through contact and pressing, the probability of vertical jitter between the moving shell 2 and the guide rail 1 during the inspection process is reduced. This avoids the signal error caused by the change in the vertical distance between the magnetic encoder 34 and the magnetic nail 32 due to the vertical gap during the magnetic coding positioning process, which would lead to a decrease in the magnetic coding positioning accuracy. The device reduces the vertical jitter between the magnetic encoder 34 and the magnetic nail 32 during its own track inspection through the transmission element, thereby further improving the magnetic coding positioning accuracy. A wireless transmitter 17 is provided on the upper side of the partition 13. The wireless transmitter 17 is bidirectionally electrically connected to the microcontroller 15. When the rail vehicle inspection robot detects a fault in an external device, the microcontroller 15 transmits the fault data and image to the wireless transmitter 17 in the form of an electrical signal. The wireless transmitter 17 uses electromagnetic waves or light waves as the signal transmission carrier and transmits the external device fault data and image to the external terminal device through modulation and demodulation, frequency band selection and signal processing technology.

[0021] A magnetic coding positioning method for a rail vehicle inspection robot includes the following steps: S1): Using magnetic nails 32 and magnetic encoders 34, the N and S poles of magnetic nails 32 in each group of magnetic nail coding are encoded using a binary method. During coding and positioning, the unique position identifier represented by the binary sequence of the position is parsed according to the preset coding rules. Based on the position identifier and the actual layout position of the magnetic nail coding group on the track, the magnetic coding of the rail vehicle inspection robot is accurately positioned. S2): The magnetic coding positioning accuracy of the rail vehicle inspection robot is further improved by using calibration component 35 to perform auxiliary calibration on the magnetic coding positioning of the robot itself. S3): The bonding mechanism 9 makes the rail vehicle inspection robot vertically tighten between itself and the guide rail 1 during the inspection process, reducing the vertical vibration between the two and avoiding the signal error caused by the change in the vertical distance between the magnetic encoder 34 and the magnetic nail 32 due to vertical vibration, which would affect the magnetic coding positioning accuracy and thus improve the magnetic coding positioning accuracy of the device. S4): Fault inspection is carried out through PTZ 4, HD camera 5 and infrared camera 6, and fault inspection points are remotely uploaded through wireless transmitter 17. S5): The self-cleaning mechanism 7 cleans the dust and other dirt adhering to the surface of the detection parts of the high-definition camera 5 and the infrared camera 6, avoiding interference with the fault inspection of the rail vehicle inspection robot and improving the inspection accuracy of the rail vehicle inspection robot.

[0022] The working principle of the magnetic coding positioning method for a rail vehicle inspection robot provided by this invention is as follows: When using the rail vehicle inspection robot, firstly, the movable shell 2 is installed on the guide rail 1 as follows: Figure 1As shown, at this time, the bottom of the outer arc surface of the bottom wheel 10 is in contact with the bottom wall of the guide rail 1, the top of the outer arc surface of the top wheel 94 is in contact with the top wall of the guide rail 1, and the end of the outer arc surface of the power wheel 11 near the longitudinal center of the moving shell 2 is in contact with the side wall of the guide rail 1. The battery 14 provides power support for the operation of the microcontroller 15. When the rail vehicle inspection robot moves along the guide rail 1, the microcontroller 15 starts the two brake motors 12 through the frequency converter 16, so that the output shafts of the two brake motors 12 rotate in opposite directions. Through the rotating shaft 4, the corresponding power wheel 11 rotates synchronously. During the rotation of the power wheel 11, the contact friction between itself and the side wall of the guide rail 1 drives the moving shell 2 to move along the guide rail 1 for inspection. 16. By using the same speed command output method, the output shaft speeds of the two brake motors 12 are made the same, improving the rotational synchronization of the two power wheels 11. Through the squeezing contact between the two sets of power wheels 11 and the front and rear side walls of the guide rail 1, large-scale horizontal and longitudinal offset between the two is avoided during the inspection movement of the moving shell 2 along the guide rail 1. During the inspection movement of the moving shell 2 along the guide rail 1, multiple sets of magnetic nail encoding groups are arranged at preset intervals at the bottom of the guide rail 1. Each set of magnetic nail encoding groups consists of several magnetic nails 32 arranged in a specific polarity sequence. The N pole or S pole of each magnetic nail represents a binary bit 0 or 1, respectively. The microcontroller 15 starts the magnetic encoder 34. The magnetic encoder 34 consists of a fixed magnetic grid and a reading head with a magnetic sensitive element. The system consists of a magnetic grid with a series of magnetic poles. During the inspection robot's movement along guide rail 1, the magnetic encoder 34 detects and reads the magnetic pole signals of each magnetic nail 32 in the magnetic nail coding group in real time. The read magnetic pole signals are converted into corresponding binary code sequences and transmitted to the microcontroller 15 as electrical signals. The microcontroller 15 parses the unique position identifier represented by this binary sequence according to preset encoding rules. Based on this position identifier and the actual placement of the magnetic nail coding group on the track, the current position coordinates of the inspection robot are calculated. Before using the magnetic encoder 34, the microcontroller 15 activates the electro-hydraulic actuator 36, causing its extension end to move the magnetic encoder 34 vertically, thereby adjusting the height of the magnetic encoder 34. During the process, the microcontroller 15 adjusts the vertical movement distance of the magnetic encoder 34 based on its own timing element and the stroke of the telescopic end of the electro-hydraulic actuator 36 within a unit time, so that the installation height of the magnetic encoder 34 matches the arrangement position of the magnetic nail encoding group. During the vertical movement of the magnetic encoder 34, it drives the guide rod 37 to slide adaptively along the sliding hole. Through the sliding connection between the sliding hole and the guide rod 37, the diameter of the circular cross-section of the guide rod 37 is the same as the diameter of the sliding hole, thereby bearing the radial pressure applied by the magnetic encoder 34 to the telescopic end of the electro-hydraulic actuator 36, and preventing damage to the telescopic end of the electro-hydraulic actuator 36 due to radial pressure. At the same time, the microcontroller 15 starts the barcode scanner 352.The barcode scanner 352 uses optical scanning to identify and read the QR code label 351 on the lower side of the guide rail 1 and converts it into an electrical signal, which is then transmitted to the microcontroller 15. The QR code label 351 on the lower side of the guide rail 1 contains the label's own position data. The microcontroller 15 combines the position data uploaded by the barcode scanner 352 to perform auxiliary calibration of the magnetic code positioning data, improving its own magnetic code positioning accuracy. During the inspection and movement of the moving shell 2 along the guide rail 1, the microcontroller 15 activates the electro-hydraulic push rod 95, causing its extension end to drive the corresponding pressure sensor 96 to move vertically upward. The detection end of the pressure sensor 96, through contact, drives the corresponding lifting frame 93 to move upward synchronously. The lifting frame 93 drives the corresponding top wheel 94 to make contact with the top wall of the guide rail 1 through upward movement. 3. During the vertical movement, the guide rod 92 is driven to slide adaptively along the corresponding circular hole. The diameter of the circular cross-section of the guide rod 92 is the same as the diameter of the circular hole. Through the sliding connection between the two, the radial pressure applied to the telescopic end of the electro-hydraulic actuator 95 by the lifting frame 93 via the pressure sensor 96 is supported, thus preventing damage to the telescopic end of the electro-hydraulic actuator 95 due to radial pressure. At the same time, during this process, the microcontroller 15 activates the pressure sensor 96. The pressure sensor 96 is a sensor made using the piezoresistive effect of single-crystal silicon material and integrated circuit technology. After the single-crystal silicon material is subjected to the reverse force applied by the lifting frame 93, the resistivity changes. Through the measuring circuit, an electrical signal output proportional to the force change can be obtained, thereby measuring the pressure between the top wheel 94 and the guide rod 95. The contact pressure between the top walls of rail 1 is measured and the result is transmitted to the microcontroller 15 as an electrical signal. When the pressure value reaches a certain level, the microcontroller 15 closes the electro-hydraulic push rod 95, causing the top wheel 94 and bottom wheel 10 of the device to press against the top and bottom walls of rail 1 respectively. This contact pressing reduces the probability of vertical jitter between the moving shell 2 and the guide rail 1 during the inspection movement, and avoids signal errors caused by changes in the vertical distance between the magnetic encoder 34 and the magnetic nail 32 due to vertical gaps during the magnetic coding positioning process, which would lead to a decrease in magnetic coding positioning accuracy. During the inspection movement of the moving shell 2 along rail 1, the microcontroller 15 activates the high-definition camera 5 to capture visible light images along the inspection path and transmits the captured images as an electrical signal. The signal is transmitted to the microcontroller 15. The microcontroller 15 processes the uploaded image using computer vision and deep learning algorithms to identify the image content, thereby recognizing and acquiring information such as the appearance of equipment, indicator light status, and instrument readings along the inspection path. This information is then compared with data stored internally, such as indicator light status and instrument readings indicating normal equipment operation, to facilitate troubleshooting during the inspection. Simultaneously, the microcontroller 15 activates the infrared camera 6. The infrared camera 6 collects infrared radiation emitted by the detection equipment through an optical system detector. The detector converts the radiation signal into an electrical signal, processes it to generate a thermal image, and transmits the result to the microcontroller 15 as an electrical signal. The microcontroller 15 then analyzes the temperature data within the thermal image using a temperature analysis algorithm.This enables the inspection of equipment temperature. Simultaneously, the microcontroller 15 activates the gimbal 4. Based on sensor detection and PID control algorithms, the gimbal 4 consists of three mutually perpendicular brake motor axes: pitch, roll, and yaw. Driven by a brushless brake motor, it achieves multi-dimensional rotation. Sensors monitor attitude changes in real time, and the control system calculates deviations and adjusts the brake motor speed, thereby precisely adjusting the position of the gimbal 4's end effector. This allows for adjustment of the inspection angles of the high-definition camera 5 and the infrared camera 6. Simultaneously, the microcontroller 15 prevents the rotation adjustment of the gimbal 4's end effector from exceeding 360 degrees in any dimension, thus avoiding wire tangling on the electrical components at the end effector. This is how the rail vehicle inspection robot... When an external device malfunction is detected, the microcontroller 15 transmits the fault data and image to the wireless transmitter 17 via an electrical signal. The wireless transmitter 17 uses electromagnetic waves or light waves as the signal transmission carrier and, through modulation and demodulation, frequency band selection, and signal processing technology, transmits the external device fault data and image to the external terminal device. During the inspection process of the rail vehicle inspection robot, if the image from the high-definition camera 5 or the infrared image from the infrared camera 6 is blurry, the microcontroller 15 starts the brake motor 782, causing its output shaft to drive the input shaft 2 inside the reducer 781 to rotate. Inside the reducer 781, through a worm gear, its output shaft 2 drives the corresponding rotating shaft 72 to rotate at low speed and high torque. At the same time, during this process, the microcontroller 15 transmits the external device fault data and image to the external terminal device via an electrical signal. The GPIO pins switch the positive and negative terminals of the output shaft of brake motor 2 (782), thereby adjusting the direction of rotation of the output shaft. This causes the front brake motor 2 (782) to indirectly drive the corresponding shaft 1 (72) to rotate clockwise around its own axis, and the rear brake motor 2 (782) to indirectly drive the corresponding shaft 1 (72) to rotate counterclockwise around its own axis. This causes the circular shell 74 to rotate around the corresponding shaft 1 (72) towards the longitudinal center of the device via the rotating plate 73. Simultaneously, the microcontroller 15 activates the angle sensor 783. The angle sensor 783 uses a high-performance integrated magnetic sensing element, utilizing the non-contact characteristic of magnetic signal sensing to measure the rotation angle of shaft 1 (72) and transmits the measurement result to the microcontroller 15 as an electrical signal. Based on the angle measurement results, the opening and closing of the second brake motor 782 is controlled, causing the circular shell 74 to rotate 90 degrees around the corresponding rotating shaft 72 towards the longitudinal center of the device via the rotating plate 73 and then stop. At this time, the circular shell 74 is directly in front of the detection area of ​​the corresponding high-definition camera 5 or infrared camera 6 and the two are in longitudinal contact. The rear side of the circular shell 74 is pressed against the front of the detection area of ​​the high-definition camera 5 or infrared camera 6 through the rubber ring 77. The rubber ring 77 improves the sealing of the contact surface between the two while avoiding hard contact between them. At this time, the right side of the cleaning rubber brush 76 inside the circular shell 74 is pressed against the corresponding camera lens surface. Then, the microcontroller 15 starts the first brake motor 75, causing its output shaft to drive the corresponding cleaning rubber brush 76 to rotate.During the rotation of the cleaning rubber brush 76, its arc-shaped structure removes dust and other dirt adhering to the camera lens surface. Simultaneously, the microcontroller 15 activates the liquid supply pump 792. The pump 792 causes the cleaning solution stored in the outlet tank 791 to flow through pipe 793, hose 794, and connecting pipe 795 into the corresponding circular shell 74. This allows the cleaning rubber brush 76 to rotate and clean while simultaneously rinsing with the cleaning solution, enhancing the cleaning effect on the dust and dirt adhering to the camera lens surface. The cleaned liquid, carrying impurities, flows through the drain pipe 796. After discharge, the microcontroller 15 uses its internal timing element to time the liquid supply pump 792 and brake motor 75 for one minute. After the timer completes, the microcontroller 15 shuts off the liquid supply pump 792 and brake motor 75. Using the same principle, the rotating plate 73 drives the circular shell 74 to reset to its initial state around the corresponding rotating shaft 72. By cleaning dust and other contaminants from the detection areas of the high-definition camera 5 or the infrared camera 6, the image clarity of the high-definition camera 5 and the infrared imaging accuracy of the infrared camera 6 are improved, thereby enhancing the inspection accuracy of the rail vehicle inspection robot.

[0023] It is worth noting that the magnetic encoder 34 disclosed in the above embodiments can be a WSN49 magnetic encoder, the barcode scanner 352 can be an XB-76M8, the gimbal 4 can be an SW801 ultra-small gimbal, the high-definition camera 5 can be a GD-C830N-AHD high-definition camera, the infrared camera 6 can be an IR-CAM100, the brake motor 75 and brake motor 782 can both be HDWZ1-50, the angle sensor 783 can be an HSM22M multi-turn non-contact magnetic potentiometer, the liquid supply pump 792 can be an mzr-11557, and the electro-hydraulic actuator 95 and electro-hydraulic actuator 36 can both be Z-Mod-EP-35RS-50. The pressure sensor 96 can be a CY-YB-200 strain gauge pressure sensor, the brake motor 12 can be a YEJ6324, the microcontroller 15 can be an STC15, the frequency converter 16 can be an ACS510, and the wireless transmitter 17 can be an FYZ-SH26D. The microcontroller 15 controls the magnetic encoder 34, the barcode scanner 352, the electro-hydraulic actuator 36, the pan-tilt unit 4, the high-definition camera 5, the infrared camera 6, the brake motor 75, the brake motor 782, the angle sensor 783, the liquid supply pump 792, the electro-hydraulic actuator 95, the pressure sensor 96, the brake motor 12, the frequency converter 16, and the wireless transmitter 17, all using methods commonly used in existing technologies.

[0024] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A magnetic coding positioning method for a rail vehicle inspection robot, characterized in that: A rail vehicle inspection robot with a magnetic coding positioning mechanism is provided. The robot includes a guide rail (1), a movable shell (2) is installed inside the guide rail (1), a gimbal (4) is provided at the bottom of the movable shell (2), and a high-definition camera (5) and an infrared camera (6) are provided at the ends of the gimbal (4). It also includes a magnetic positioning mechanism (3), a self-cleaning mechanism (7) and a bonding mechanism (9). Magnetic positioning mechanism (3): It includes a groove (31), a magnetic nail (32), a cover plate (33), a magnetic encoder (34), a calibration component (35), an electro-hydraulic push rod (36), and a guide rod (37). The groove (31) is evenly spaced on the lower side of the guide rail (1). The groove (31) is provided with magnetic nails (32) inside. The bottom edge of the groove (31) is provided with a cover plate (33). The top wall of the movable shell (2) is provided with a magnetic encoder (34) through the telescopic end of the electro-hydraulic push rod (36). The lower side of the magnetic encoder (34) is provided with a guide rod (37). The guide rod (37) is slidably connected to the sliding hole opened on the top wall of the movable shell (2). The calibration component (35) is provided between the movable shell (2) and the guide rail (1). Self-cleaning mechanism (7): It is installed on the end housing of the gimbal (4); Fitting mechanism (9): It is installed on the upper end of the movable shell (2).

2. The magnetic coding positioning method for a rail vehicle inspection robot according to claim 1, characterized in that: The upper part of the interior of the movable shell (2) is provided with a partition (13), the bottom of the movable shell (2) is provided with a storage battery (14), the upper side of the partition (13) is provided with a microcontroller (15), the input end of the microcontroller (15) is electrically connected to the output end of the storage battery (14), the output end of the microcontroller (15) is electrically connected to the input end of the gimbal (4), and the magnetic encoder (34), the high-definition camera (5) and the infrared camera (6) are all bidirectionally electrically connected to the microcontroller (15).

3. The magnetic coding positioning method for a rail vehicle inspection robot according to claim 2, characterized in that: The calibration component (35) includes a QR code label (351) and a barcode scanner (352). The QR code labels (351) are evenly spaced on the lower side of the guide rail (1), and the barcode scanner (352) is provided in the middle of the upper side of the movable shell (2). The barcode scanner (352) is bidirectionally electrically connected to the microcontroller (15).

4. The magnetic coding positioning method for a rail vehicle inspection robot according to claim 2, characterized in that: The self-cleaning mechanism (7) includes a mounting shell (71), a rotating shaft (72), a rotating plate (73), a circular shell (74), a brake motor (75), a cleaning rubber brush (76), a rubber ring (77), a storage assembly (78), and an infusion assembly (79). The mounting shell (71) is respectively located on the front and rear sides of the end of the gimbal (4). The left side of each mounting shell (71) is rotatably connected to a rotating plate (73) via a rotating shaft (72). The upper right side of each rotating plate (73) is provided with a circular shell (74). 74), a brake motor (75) is provided on the left side of the round shell (74). The input end of the brake motor (75) is electrically connected to the output end of the microcontroller (15). The output shaft of the brake motor (75) is provided with a cleaning rubber brush (76). A rubber ring (77) is provided on the right side of the round shell (74). A storage assembly (78) is provided between the mounting shell (71) and the adjacent rotating shaft (72). An infusion assembly (79) is provided between the mounting shell (71) and the adjacent round shell (74).

5. The magnetic coding positioning method for a rail vehicle inspection robot according to claim 4, characterized in that: The storage assembly (78) includes a reducer (781), a second brake motor (782), and an angle sensor (783). The reducer (781) is respectively disposed on the left wall of the mounting shell (71). The second brake motor (782) is disposed on the right side of the reducer (781). The input end of the second brake motor (782) is electrically connected to the output end of the microcontroller (15). The output shaft of the second brake motor (782) is fixedly connected to the input shaft of the horizontally adjacent reducer (781). The output shaft of the second reducer (781) is fixedly connected to the right end of the horizontally adjacent rotating shaft (72). Angle sensors (783) are disposed on the left side of the mounting shell (71). The detection end of the angle sensor (783) is fixedly connected to the adjacent rotating shaft (72). The angle sensor (783) is bidirectionally electrically connected to the microcontroller (15).

6. The magnetic coding positioning method for a rail vehicle inspection robot according to claim 4, characterized in that: The infusion assembly (79) includes an outlet tank (791), a supply pump (792), a first pipe (793), a hose (794), a connecting pipe (795), and a drain pipe (796). The outlet tank (791) is located on the right side of the bottom wall of the mounting shell (71). The lower left wall of the outlet tank (791) is provided with a first pipe (793) through the supply pump (792). The input end of the supply pump (792) is electrically connected to the output end of the microcontroller (15). The upper end of the first pipe (793) passes through the top wall of the vertically adjacent mounting shell (71). The left wall of the circular shell (74) is provided with a connecting pipe (795). The left end of the connecting pipe (795) is provided with a hose (794) between it and the vertically adjacent first pipe (793). The inner arc wall of the circular shell (74) is provided with a drain pipe (796).

7. The magnetic coding positioning method for a rail vehicle inspection robot according to claim 2, characterized in that: The upper side of the movable shell (2) is provided with four evenly distributed fixed seats (8). The inner sides of two longitudinally adjacent fixed seats (8) are rotatably connected to bottom wheels (10) through a rotating shaft two. The upper middle part of the movable shell (2) is rotatably connected to longitudinally symmetrically distributed power wheels (11) through a rotating shaft three. The top wall of the movable shell (2) is provided with two brake motors three (12). The upper side of the partition (13) is provided with a frequency converter (16). The input end of the brake motors three (12) is electrically connected to the output end of the frequency converter (16). The input end of the frequency converter (16) is electrically connected to the output end of the microcontroller (15). The output shaft of the brake motors three (12) is fixedly connected to the lower end of the vertically adjacent rotating shaft three.

8. The magnetic coding positioning method for a rail vehicle inspection robot according to claim 7, characterized in that: The bonding mechanism (9) includes a connecting frame (91), a guide rod (92), a lifting frame (93), a top wheel (94), an electro-hydraulic push rod (95), and a pressure sensor (96). The connecting frame (91) is respectively set between two horizontally adjacent fixed seats (8). The guide rod (92) is slidably connected in two round holes on the upper side of the fixed seat (8). The lifting frame (93) is set between two horizontally adjacent guide rods (92). The inner surfaces of the two lifting frames (93) are opposite to each other. All are connected by rotating shafts and are symmetrically distributed with top wheels (94). The top wall of the connecting frame (91) is provided with an electro-hydraulic actuator (95). The input end of the electro-hydraulic actuator (95) is electrically connected to the output end of the microcontroller (15). The telescopic end of the electro-hydraulic actuator (95) is provided with a pressure sensor (96). The pressure sensor (96) is electrically connected to the microcontroller (15) in both directions. The detection end of the pressure sensor (96) is in contact with the lower side of the vertically adjacent lifting frame (93).

9. The magnetic coding positioning method for a rail vehicle inspection robot according to claim 2, characterized in that: A wireless transmitter (17) is provided on the upper side of the partition (13), and the wireless transmitter (17) is bidirectionally electrically connected to the microcontroller (15).

10. A magnetic coding positioning method for a rail vehicle inspection robot, characterized in that: A magnetic coding positioning method for a rail vehicle inspection robot according to any one of claims 1-9 includes the following steps: S1): Using magnetic nails (32) and magnetic encoders (34), the N and S poles of the magnetic nails (32) of each magnetic nail coding group are encoded using a binary method. When coded for positioning, the unique position identifier represented by the binary sequence of the position is parsed according to the preset coding rules. Based on the position identifier and the actual placement of the magnetic nail coding group on the track, the magnetic coding of the rail vehicle inspection robot is accurately positioned. S2): The magnetic coding positioning accuracy of the rail vehicle inspection robot is further improved by using the calibration component (35) to perform auxiliary calibration on the magnetic coding positioning of the robot itself. S3): The bonding mechanism (9) makes the rail vehicle inspection robot vertically support itself and the guide rail (1) during the inspection process, reducing the vertical vibration between the two, avoiding the change in the vertical distance between the magnetic encoder (34) and the magnetic nail (32) due to vertical vibration, which introduces signal error, thereby affecting the magnetic coding positioning accuracy, and thus improving the magnetic coding positioning accuracy of the device. S4): Fault inspection is carried out through the pan-tilt unit (4), high-definition camera (5) and infrared camera (6), and the fault inspection points are remotely uploaded through the wireless transmitter (17). S5): The self-cleaning mechanism (7) cleans the dust and other stains adhering to the surface of the detection parts of the high-definition camera (5) and the infrared camera (6), avoiding interference with the fault inspection of the rail vehicle inspection robot and improving the inspection accuracy of the rail vehicle inspection robot.

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