Rail type inspection robot positioning precision correction device

Abstract

The utility model relates to a track type inspection robot positioning accuracy correcting device which comprises a movable track and an inspection robot body, a walking device is arranged at the bottom of the inspection robot body, the walking device is sleeved on the movable track and used for driving the inspection robot body to walk on the movable track, and a bottom plate is fixed at the bottom of the movable track. The bottom plate extends in the length direction of the moving track, embedding grooves are formed in the side portion of the bottom plate in the length direction of the bottom plate at equal intervals, and two-dimensional code labels are arranged in the embedding grooves. The mobile track is divided into a plurality of sections by using the two-dimensional code labels, the distance between the inspection robot body and the starting point of movement is obtained by scanning the information of the two-dimensional code labels when the inspection robot body moves, and the distance is used as a reference and combined with the acceleration sensor to acquire acceleration and calculate the distance. And compared with a traditional speedometer, the device is more accurate in positioning.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robot positioning, in particular to a positioning accuracy correction device for a track-type inspection robot. Background Art

[0002] A track-mounted inspection robot is a robot system specifically designed to perform inspection and monitoring tasks on a fixed track. This robot is usually designed to move along a fixed track to detect and monitor the status of a specific area or equipment.

[0003] During the operation of the rail inspection robot, the precise positioning of the robot is always one of the core contents. An excellent positioning solution can effectively improve the inspection efficiency and accuracy. During the inspection process, conventional rail robots mainly rely on the built-in odometer for relative positioning, and the odometer will produce cumulative errors, affecting the positioning accuracy. In order to reduce the cumulative errors produced by the odometer, it is usually necessary to calibrate the odometer regularly, and frequent regular calibration work will undoubtedly increase the workload of the staff. Utility Model Content

[0004] The purpose of the utility model is to provide a positioning accuracy correction device for a track-type inspection robot, which effectively solves the problems raised in the above-mentioned background technology.

[0005] In order to achieve the above-mentioned purpose, the utility model provides the following technical solutions.

[0006] A track-type inspection robot positioning accuracy correction device comprises a mobile track and an inspection robot body. A walking device is provided at the bottom of the inspection robot body, and the walking device is mounted on the mobile track. The walking device is used to drive the inspection robot body to walk on the mobile track. A base plate is fixed at the bottom of the mobile track, and the base plate extends along the length direction of the mobile track. The sides of the base plate are provided with embedding grooves at equal intervals along its length direction. Two-dimensional code labels are provided in the embedding grooves. The scanning information of each two-dimensional code label is different. A two-dimensional code recognition module is also provided on the inspection robot body for identifying the information of each two-dimensional code label.

[0007] Furthermore, the QR code recognition module includes a support arm, a high-definition camera, an image processing module and a parsing module. The support arm is fixed at the bottom of the inspection robot body and extends vertically downward. The high-definition camera is fixed on the surface of the support arm close to the bottom plate and at the same height as the QR code label. An installation box is installed on the side of the inspection robot body, and the image processing module and the parsing module are installed in the installation box. The image processing module is electrically connected to the high-definition camera and the parsing module respectively.

[0008] Furthermore, a microprocessor is installed in the installation box, and the microprocessor is electrically connected to the analysis module.

[0009] Furthermore, an acceleration sensor is installed in the installation box, and the acceleration sensor is electrically connected to the microprocessor.

[0010] Furthermore, a wireless communication module is installed in the installation box, the wireless communication module is electrically connected to the microprocessor, and the wireless communication module adopts 5G communication technology.

[0011] Furthermore, the walking device includes a supporting mechanism and a driving mechanism. The supporting mechanism includes a first n-shaped frame, a pair of rotating shafts and a pair of walking wheels. The first n-shaped frame is fixed at the bottom of the moving track. The two rotating shafts are rotatably installed on the inner walls on both sides of the first n-shaped frame respectively. The two walking wheels are installed on the two rotating shafts one by one. The driving mechanism is arranged on the inner top wall of the first n-shaped frame.

[0012] Furthermore, the driving mechanism includes a second n-shaped frame, an axle, a driving wheel and a driving motor. The second n-shaped frame is fixed on the inner top wall of the first n-shaped frame, the axle is rotatably mounted on the second n-shaped frame, the driving wheel is fixedly sleeved on the axle, the driving motor is fixed on the side of the second n-shaped frame, and the output shaft of the driving motor is fixedly connected to one end of the axle.

[0013] Furthermore, the cross section of the moving track is in an I-shape, the two running wheels are respectively clamped in the concave cavities on both sides of the moving track, and the driving wheel abuts against the top surface of the moving track.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows.

[0015] The utility model divides the moving track into several sections by using two-dimensional code labels, and obtains the distance of the relative movement starting point of the inspection robot body by scanning the two-dimensional code label information when the inspection robot body moves, and takes the distance as a reference, and measures the acceleration of the inspection robot body on three axes when the acceleration sensor scans the nearest two-dimensional code label before the inspection robot body stops moving, and transmits the data to a microprocessor for analysis and processing, and calculates the acceleration of the inspection robot body, and integrates these acceleration values ​​twice to obtain displacement data, so as to measure the movement distance of the inspection robot body after scanning the nearest two-dimensional code label, and the microprocessor adds the movement distance and the result of scanning the two-dimensional code to obtain the specific movement distance of the robot, and the length range of the acceleration measurement distance collected by the acceleration sensor does not exceed ten centimeters, so the data measured and calculated by the acceleration sensor over a short distance is relatively accurate, and the positioning accuracy correction of the inspection robot body is realized. Compared with the traditional odometer, the positioning of the device is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the local structure of the bottom of the inspection robot body in the utility model;

[0018] Figure 3 It is a schematic cross-sectional view of a local structure of the utility model;

[0019] Figure 4 This is a schematic diagram of the internal structure of the installation box in the utility model;

[0020] Figure 5 It is a schematic diagram of the electrical connection structure of the utility model.

[0021] In the figure: 1. moving track; 11. concave cavity; 2. walking device; 21. supporting mechanism; 211. first n-shaped frame; 212. rotating shaft; 213. walking wheel; 22. driving mechanism; 221. second n-shaped frame; 222. shaft; 223. driving wheel; 224. driving motor; 3. inspection robot body; 4. installation box; 5. bottom plate; 51. embedding slot; 52. two-dimensional code label; 6. two-dimensional code recognition module; 61. supporting arm; 62. high-definition camera; 63. image processing module; 64. analysis module; 7. microprocessor; 8. acceleration sensor; 9. wireless communication module. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms, "connection" and "installation" should be understood in a broad sense. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. In addition, "connection" can be a direct connection or an indirect connection through an intermediate medium. Among them, "fixed" means that they are connected to each other and the relative position relationship after connection remains unchanged. The directional terms mentioned in the embodiments of the present utility model, such as "inside", "outside", "top", "bottom", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present utility model, 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 utility model.

[0024] In the embodiments of the present invention, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0025] See also Figure 1-Figure 5 The utility model provides a track-type inspection robot positioning accuracy correction device, including a mobile track 1 and an inspection robot body 3. A walking device 2 is provided at the bottom of the inspection robot body 3. The walking device 2 is mounted on the mobile track 1. The inspection robot body 3 can be driven to walk along the mobile track 1 through the operation of the walking device 2 to realize mobile inspection. The walking device 2 is used to drive the inspection robot body 3 to walk on the mobile track 1. A bottom plate 5 is fixed at the bottom of the mobile track 1. The bottom plate 5 extends along the length direction of the mobile track 1. The side of the bottom plate 5 is equidistantly spaced along its length direction. There are two embedded grooves 51 in each of the embedded grooves 51. The scanning information of each QR code label 52 is different. The spacing between two adjacent QR code labels 52 is 10 cm. The QR code labels 52 arranged at equal intervals are similar to milestones. The moving track 1 is divided into several sections by the QR code labels 52. The information scanned by each QR code label 52 represents the distance from the starting point. The inspection robot body 3 is also provided with a QR code recognition module 6 for identifying the information of each QR code label 52. For example, when the QR code recognition module 6 scans the QR code label 52 and identifies the content as 500 cm, it means that the distance between the point and the moving starting point is 500 cm.

[0026] Specifically, the QR code recognition module 6 includes a support arm 61, a high-definition camera 62, an image processing module 63 and a parsing module 64. The support arm 61 is fixed at the bottom of the inspection robot body 3 and extends vertically downward. The high-definition camera 62 is fixed on the surface of the support arm 61 on one side close to the bottom plate 5 and at the same height as the QR code label 52. A mounting box 4 is installed on the side of the inspection robot body 3. The image processing module 63 and the parsing module 64 are installed in the mounting box 4. The image processing module 63 is electrically connected to the high-definition camera 62 and the parsing module 64 respectively. The high-definition camera 62 captures the picture in real time, and transmits the picture to the image processing module 63 for image processing, and identifies the frame with the QR code label 52 in the picture, and automatically captures the photo containing the QR code, and transmits the photo containing the QR code to the parsing module 64 along with the image processing module 63. The parsing module 64 scans and parses the specific representative information of the QR code label 52, that is, the specific distance between the starting point of the movement is obtained.

[0027] Specifically, a microprocessor 7 is installed in the installation box 4, and the microprocessor 7 is electrically connected to the analysis module 64. The recognized data is transmitted to the microprocessor 7 through the analysis module 64, and the microprocessor 7 records the recognition result data of the closest side.

[0028] Specifically, an acceleration sensor 8 is installed in the installation box 4, and the acceleration sensor 8 is electrically connected to the microprocessor 7. When the inspection robot body 3 scans the nearest two-dimensional code label 52 before stopping moving, the acceleration sensor 8 works to measure the acceleration of the inspection robot body 3 on three axes, and transmits the data to the microprocessor 7 for analysis and processing, and calculates the acceleration of the inspection robot body 3. These acceleration values ​​are integrated twice to obtain displacement data, and the movement distance of the inspection robot body 3 after scanning the nearest two-dimensional code label 52 can be calculated. The microprocessor 7 adds the movement distance and the result of scanning the two-dimensional code to obtain the specific movement distance of the robot. The length range of the acceleration measurement distance collected by the acceleration sensor 8 does not exceed 10 cm. Therefore, the data measured and calculated by the acceleration sensor 8 over a short distance is relatively accurate, so that the positioning accuracy correction of the inspection robot body 3 is realized. Compared with the traditional odometer, the positioning of the device is more accurate.

[0029] Specifically, a wireless communication module 9 is also installed in the installation box 4. The wireless communication module 9 is electrically connected to the microprocessor 7. The wireless communication module 9 adopts 5G communication technology. The distance data obtained by calculation and analysis by the microprocessor 7 can be sent to the detection background through the wireless communication module 9 for data storage and application.

[0030] Specifically, the walking device 2 includes a supporting mechanism 21 and a driving mechanism 22. The supporting mechanism 21 includes a first n-shaped frame 211, a pair of rotating shafts 212 and a pair of walking wheels 213. The first n-shaped frame 211 is fixed to the bottom of the movable track 1. The two rotating shafts 212 are rotatably mounted on the inner walls on both sides of the first n-shaped frame 211 respectively. The two walking wheels 213 are mounted on the two rotating shafts 212 in a one-to-one correspondence. The driving mechanism 22 is arranged on the inner top wall of the first n-shaped frame 211.

[0031] Specifically, the driving mechanism 22 includes a second n-shaped frame 221, a shaft 222, a driving wheel 223 and a driving motor 224. The second n-shaped frame 221 is fixed on the inner top wall of the first n-shaped frame 211, the shaft 222 is rotatably mounted on the second n-shaped frame 221, the driving wheel 223 is fixedly sleeved on the shaft 222, the driving motor 224 is fixed on the side of the second n-shaped frame 221, and the output shaft of the driving motor 224 is fixedly connected to one end of the shaft 222.

[0032] Specifically, the cross section of the moving track 1 is in an I-shape, the two running wheels 213 are respectively mounted in the concave cavities 11 on both sides of the moving track 1 , and the driving wheel 223 abuts against the top surface of the moving track 1 .

[0033] By driving the motor 224, its output shaft drives the shaft rod 222 to rotate, and then drives the driving wheel 223 to rotate. The driving wheel 223 rubs against the top surface of the moving track 1 to generate a driving force, which can drive the first n-shaped frame 211 to move along the moving track 1. During the movement, the walking wheel 213 is stuck in the concave cavity 11 and rolls, playing a guiding and limiting role, ensuring that the movement process is smoother and more stable.

[0034] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. A positioning accuracy correction device for a track-type inspection robot, comprising a moving track (1) and an inspection robot body (3), characterized in that: A walking device (2) is provided at the bottom of the inspection robot body (3), the walking device (2) is mounted on the moving track (1), and the walking device (2) is used to drive the inspection robot body (3) to walk on the moving track (1); A bottom plate (5) is fixed at the bottom of the moving track (1), the bottom plate (5) extends along the length direction of the moving track (1), and the side of the bottom plate (5) is provided with embedding grooves (51) at equal intervals along the length direction thereof, and two-dimensional code labels (52) are each provided in the embedding grooves (51), and the scanning information of each of the two-dimensional code labels (52) is different; The inspection robot body (3) is also provided with a two-dimensional code recognition module (6) for recognizing the information of each of the two-dimensional code labels (52).

2. The positioning accuracy correction device for a track-type inspection robot according to claim 1 is characterized in that: The two-dimensional code recognition module (6) comprises a support arm (61), a high-definition camera (62), an image processing module (63) and a parsing module (64); The support arm (61) is fixed to the bottom of the inspection robot body (3) and extends vertically downward; The high-definition camera (62) is fixed on the surface of the support arm (61) on one side close to the bottom plate (5) and at the same height as the two-dimensional code label (52); A mounting box (4) is installed on the side of the inspection robot body (3), and the image processing module (63) and the analysis module (64) are installed in the mounting box (4); The image processing module (63) is electrically connected to the high-definition camera (62) and the analysis module (64) respectively.

3. The positioning accuracy correction device for a track-type inspection robot according to claim 2 is characterized in that: A microprocessor (7) is installed in the installation box (4), and the microprocessor (7) is electrically connected to the analysis module (64).

4. The positioning accuracy correction device for a track-type inspection robot according to claim 3 is characterized in that: An acceleration sensor (8) is installed in the installation box (4), and the acceleration sensor (8) is electrically connected to the microprocessor (7).

5. The positioning accuracy correction device for a track-type inspection robot according to claim 3 is characterized in that: A wireless communication module (9) is also installed in the installation box (4), and the wireless communication module (9) is electrically connected to the microprocessor (7); The wireless communication module (9) adopts 5G communication technology.

6. The positioning accuracy correction device for a track-type inspection robot according to claim 1, characterized in that: The walking device (2) comprises a supporting mechanism (21) and a driving mechanism (22); The support mechanism (21) comprises a first n-shaped frame (211), a pair of rotating shafts (212) and a pair of running wheels (213); The first n-shaped frame (211) is fixed to the bottom of the moving track (1), the two rotating shafts (212) are rotatably mounted on the inner walls of both sides of the first n-shaped frame (211), and the two running wheels (213) are mounted on the two rotating shafts (212) in a one-to-one correspondence; The driving mechanism (22) is arranged on the inner top wall of the first n-shaped frame (211).

7. The positioning accuracy correction device for a track-type inspection robot according to claim 6, characterized in that: The driving mechanism (22) comprises a second n-shaped frame (221), a shaft (222), a driving wheel (223) and a driving motor (224); The second n-shaped frame (221) is fixed on the inner top wall of the first n-shaped frame (211), the shaft (222) is rotatably mounted on the second n-shaped frame (221), and the driving wheel (223) is fixedly sleeved on the shaft (222); The driving motor (224) is fixed to the side of the second n-shaped frame (221), and the output shaft of the driving motor (224) is fixedly connected to one end of the shaft (222).

8. The positioning accuracy correction device for a track-type inspection robot according to claim 7, characterized in that: The cross section of the movable track (1) is in an I-shape, and the two running wheels (213) are respectively mounted in the concave cavities (11) on both sides of the movable track (1); The driving wheel (223) abuts against the top surface of the moving track (1).

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