Track inspection robot

Abstract

The utility model relates to the technical field of robots, in particular to a track inspection robot which is remotely controlled to accurately move on a track through a remote controller, a driving mechanism and a limiting guide mechanism, and the track inspection robot can accurately move on the track when the track inspection robot accurately moves on the track. The real-time track image is collected through the arranged image collection module, real-time detection of the track passing condition is achieved, smooth routing inspection is facilitated, routing inspection workers do not need to climb to equipment, and therefore safety is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a track inspection robot. Background Art

[0002] Power towers are crucial components of the power system. Transmission line towers are tower-shaped structures used for power transmission. Their structural characteristics are that all tower types are spatial trusses, with members primarily composed of single equilateral angle steel or composite angle steel. Transmission line towers are generally used to support overhead conductors, lightning conductors, and other accessories. These towers ensure that conductors maintain specified safety distances between each other, between the tower and the tower, between the lightning conductor, and between the ground and any crossing structures.

[0003] During the current inspection process of power towers, inspectors are generally required to wear safety equipment, which is mounted on rails with anti-fall tools. This method poses a safety hazard to inspectors.

[0004] Currently, the inspection process for power towers uses a lift to drive the inspection equipment. This method uses a lift to raise the inspection equipment, that is, the camera equipment, to a certain height to inspect the power tower. If the power tower is tall, the lift cannot reach the height of the power tower, which will affect the inspection effect. This ground-based inspection method is only suitable for the inspection of low-height power towers and is not suitable for the inspection of tall power towers. It is also impossible to conduct mobile inspections on the top of the power tower or on the beams, which has a significant impact on the inspection work. Utility Model Content

[0005] The utility model aims to provide a track inspection robot which can walk on the equipment to be inspected, thereby facilitating the smooth progress of the inspection and eliminating the need for inspection workers to climb onto the equipment, thereby improving safety.

[0006] The specific technical solution provided by the utility model is as follows: A track inspection robot includes: a first shell, a second shell, a load-bearing body, a load-bearing guide mechanism installed on the load-bearing body, a driving mechanism that drives the load-bearing body to move on the track, a limit guide mechanism that cooperates with the track to limit the movement of the load-bearing body along the track, a remote controller, an antenna arranged on the first shell, an image acquisition module arranged on the second shell, and a control module, a wireless communication module, and a wireless signal receiver arranged inside the second shell; the load-bearing body, the load-bearing guide structure, and the driving mechanism are arranged in the first shell;

[0007] The wireless signal receiver is connected to the antenna, and the wireless signal receiver is connected to the remote control through the antenna to receive the control signal sent by the remote control;

[0008] The control module is connected to the wireless signal receiver and the driving mechanism to control the operating state of the driving mechanism based on the control signal received by the wireless signal receiver;

[0009] The control module is connected to the image acquisition module and the wireless communication module to obtain the real-time track image acquired by the image acquisition module, and sends the acquired real-time track image to the host computer for display through the wireless communication module.

[0010] Furthermore, the image acquisition module adopts a 720P Samsung ST6500 series high-definition camera with automatic light compensation; the host computer includes a user handheld terminal and a display installed in the monitoring room.

[0011] Furthermore, the antenna includes a first gain antenna and a second gain antenna that are redundant with each other.

[0012] Furthermore, a non-contact sensor for sensing obstacles on the track is included;

[0013] The control module is connected to the non-contact sensor so as to send a stop signal to the motor and an alarm signal to the user's handheld terminal when the non-contact sensor detects an obstacle.

[0014] Furthermore, the first gain antenna and the second gain antenna adopt full-angle gain antennas using FHSS spread spectrum technology.

[0015] Furthermore, the rail inspection robot further includes a power supply module installed in the second shell;

[0016] The power supply module includes a power supply battery and a multi-level voltage conversion unit.

[0017] Furthermore, the multi-stage voltage conversion unit includes: a 24V to 12V conversion circuit, a 12V to 5V conversion circuit, a 5V to 3.3V conversion circuit and a 3.3V to 1.5V conversion circuit.

[0018] Furthermore, the load-bearing guide mechanism includes: a load-bearing wheel shaft, a load-bearing wheel mounted on the load-bearing wheel shaft, and a driving wheel for driving the load-bearing wheel shaft to rotate;

[0019] Drive mechanism: includes a motor and a transmission component for transmitting the power of the motor to the drive wheel;

[0020] The position limiting guide mechanism comprises guide wheels matched with the two side surfaces of the track.

[0021] Furthermore, the motor adopts a planetary gear motor that supports speed regulation and forward and reverse rotation control.

[0022] Furthermore, the control module adopts an STM32F407ZG single chip microcomputer.

[0023] The beneficial effects of the present invention are:

[0024] (1) The utility model realizes remote control of the track inspection robot to accurately shift on the track through a driving mechanism and a limit guide mechanism, and remote control is performed through a remote controller, thereby realizing convenient operation. Moreover, when the track inspection robot accurately shifts on the track, the set image acquisition module is used to collect real-time track images, thereby realizing real-time detection of track traffic conditions, which helps to smoothly carry out inspections and does not require inspection workers to climb onto the equipment, thereby improving safety.

[0025] (2) By detecting obstacles on the track with non-contact sensors, foreign objects on the equipment to be inspected can be discovered in time, and obstacles can be detected and alarms can be issued in time, allowing inspection personnel to handle them and ensure smooth inspection.

[0026] (3) By setting up a multi-level conversion module, one power supply can power multiple components that require different voltages, saving resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 The figure shows the overall structure of a track inspection robot according to an embodiment of the present invention.

[0029] Figure 2 A partial structural schematic diagram of a track inspection robot according to an embodiment of the present utility model is shown.

[0030] Figure 3 The electrical principle diagram of the track inspection robot according to one embodiment of the utility model is shown.

[0031] 1-first shell; 2-second shell; 3-load-bearing body; 4-first gain antenna; 5-second gain antenna; 6-image acquisition module; 7-guide wheel; 8-motor; 9-load-bearing wheel; 10-driving wheel; 11-load-bearing wheel shaft; 12-control module; 13-wireless communication module; 14-host computer; 15-wireless signal receiver; 16-contactless sensor; 17-remote control; 18-host computer. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the following will be combined with the drawings of the embodiments of the present invention to clearly and completely describe the technical solutions of the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0033] Before further describing the embodiments of the present application in detail, the nouns and terms involved in the embodiments of the present application are explained. The nouns and terms involved in the embodiments of the present application are subject to the following interpretations.

[0034] It should be noted that the compressed air system can be installed outside the machine room and can also be installed according to actual needs.

[0035] Example 1:

[0036] like Figures 1 to 3 As shown, this embodiment provides a rail inspection robot, comprising a first housing 1, a second housing 2, a load-bearing body 3, a non-contact sensor 16, a load-bearing guide mechanism mounted on the load-bearing body 3, a drive mechanism for driving the load-bearing body 7 on a track, a limit guide mechanism for cooperating with the track to restrict the movement of the load-bearing body along the track, a remote controller 17, an antenna disposed on the first housing 1, an image acquisition module 6 disposed on the second housing 2, and a control module 12, a wireless communication module 13, and a wireless signal receiver 15 disposed within the second housing 2. The load-bearing body 3, the load-bearing guide structure, and the drive mechanism are disposed within the first housing 1. The control module 12 utilizes an STM32F407ZG single-chip microcomputer.

[0037] The load-bearing guide mechanism includes a load-bearing wheel shaft 11 , a load-bearing wheel 9 mounted on the load-bearing wheel shaft 11 , and a driving wheel 10 for driving the load-bearing wheel shaft 11 to rotate.

[0038] The driving mechanism includes a motor 8 and a transmission component for transmitting the power of the motor 8 to the driving wheel. The motor 8 can be a planetary gear motor that supports speed regulation and forward and reverse rotation control.

[0039] The antenna includes a first gain antenna 4 and a second gain antenna 5 which are redundant with each other; the first gain antenna 4 and the second gain antenna 5 both adopt full-angle gain antennas using FHSS spread spectrum technology. By adopting redundant full-angle gain antennas, the communication capability of the signal is greatly enhanced.

[0040] The wireless signal receiver 15 is connected to the first gain antenna 4 and the second gain antenna 5. The wireless signal receiver 15 is connected to the remote controller 17 via the first gain antenna 4 and the second gain antenna 5 to receive control signals sent by the remote controller 17. The control signals include a motor start signal and a motor stop signal.

[0041] The control module 12 is connected to the wireless signal receiver 15 and the motor 9 to control the operating state of the motor based on the control signal received by the wireless signal receiver 15. For example, when the wireless signal receiver 15 receives the motor start signal sent by the remote control through the first gain antenna and the second gain antenna, the motor is controlled to start. After the motor 8 is started, the power of the motor 8 is transmitted to the drive wheel 10 through the transmission component, so that the drive wheel 10 drives the load-bearing wheel shaft 11 to rotate. The rotation of the load-bearing wheel shaft 11 drives the load-bearing wheel 9 to move along the track. The guide wheel 7 cooperates with the two side surfaces of the track to limit the movement of the load-bearing body 3 on the track, thereby realizing a high-precision limiting and guiding effect on the movement of the track robot.

[0042] The image acquisition module 6 uses a 720P Samsung ST6500 series high-definition camera with automatic light compensation to collect real-time track images.

[0043] The non-contact sensor 16 is used to detect obstacles on the track.

[0044] The control module 12 is connected to the image acquisition module 6 and the wireless communication module 13 to obtain real-time track images captured by the image acquisition module 6. The acquired real-time track images are then transmitted to the host computer 18 via the wireless communication module 13 for display. This enables real-time monitoring of track traffic conditions, preventing maintenance workers from being unable to pass due to track congestion, thereby improving safety. Furthermore, when track congestion is detected, the track robot can be controlled by the remote control 17 to stop operation, making operation more convenient. The host computer 18 includes a display installed in the monitoring room and a user handheld terminal.

[0045] The control module 12 is also connected to the non-contact sensor 16 so that when the non-contact sensor 16 detects an obstacle, the control module 12 automatically sends a motor stop signal to the motor 14 to control the motor to stop working, thereby avoiding the situation of missing the track due to human factors and further improving safety.

[0046] Among them, the second shell 2 also includes a power supply module, which includes a power supply battery and a multi-level voltage conversion module. The multi-level voltage conversion module includes: 24v to 12v conversion circuit, 12v to 5v conversion circuit, 5v to 3.3v conversion circuit and 3.3v to 1.5v conversion circuit, etc.

[0047] The multi-level voltage conversion module is connected to the power supply battery and converts the voltage of the power supply battery according to actual needs to provide the different voltages required by the track inspection robot.

[0048] The utility model realizes remote control of the track inspection robot to accurately shift on the track through a remote control, a driving mechanism and a limiting guide mechanism. When the track inspection robot accurately shifts on the track, a set image acquisition module is used to collect real-time track images, thereby realizing real-time detection of the track traffic condition, avoiding maintenance workers being unable to pass due to track blockage, thereby improving safety.

[0049] Before using this utility model, each component in the track inspection robot is connected to the corresponding voltage level according to the power supply voltage required by each component. For example, a component that requires a 12V voltage is connected to the output of a 24V to 12V conversion circuit, so that one power supply can power multiple components that require different voltages, saving resources.

[0050] When the utility model is in use, a motor start signal is sent through a remote control. When the wireless signal receiver receives the motor start signal through the first gain antenna and the second gain antenna, the motor is controlled to start. After the motor is started, the power of the motor is transmitted to the driving wheel through the transmission component, so that the driving wheel drives the load-bearing wheel shaft to rotate, and the rotation of the load-bearing wheel shaft drives the load-bearing wheel. Since the guide wheel cooperates with the two side surfaces of the track, the load-bearing wheel moves along the track. The movement of the load-bearing wheel causes the load-bearing body to move along the track, and then the track inspection robot moves along the track.

[0051] When the track inspection robot moves along the track, the image acquisition module collects real-time images of the track and sends the collected real-time images of the track to the user's handheld terminal for display via the wireless communication module, so that the operation and maintenance personnel can detect the track clearance status in real time and control the robot according to the detected track clearance status, such as sending a motor stop command through the remote control.

[0052] At the same time, when the track inspection robot moves along the track, if the non-contact sensor detects an obstacle in front, it will send an obstacle detection signal to the control module. Based on the received obstacle signal, the control module sends a motor stop signal to the motor to control the motor to stop moving, so as to remind the operation and maintenance personnel that there is an obstacle in front of the track. At the same time, the operation and maintenance personnel can also further confirm the track image captured by the image acquisition module, which helps to further confirm the track condition. By using contact sensors, the situation of missed track blockages due to human factors is avoided.

[0053] When it is necessary to stop the track inspection robot, a motor stop signal is sent through the remote control, the signal receiver receives the motor stop signal through the first gain antenna and the second gain antenna, and sends the received motor stop signal to the control module. The control module controls the motor to stop working based on the received motor stop signal, so that the track inspection robot stops moving.

[0054] Although the present invention has been described in detail with reference to the accompanying drawings and in conjunction with preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, a person skilled in the art may make various equivalent modifications or substitutions to the embodiments of the present invention, and such modifications or substitutions shall be within the scope of the present invention. Any person skilled in the art who can easily conceive of changes or substitutions within the technical scope disclosed in the present invention shall be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope of protection of the claims.

Claims

1. A track inspection robot, characterized in that: include: A first shell, a second shell, a load-bearing body, a load-bearing guide mechanism installed on the load-bearing body, a driving mechanism that drives the load-bearing body to move on the track, a limit guide mechanism that cooperates with the track to limit the movement of the load-bearing body along the track, a remote controller, an antenna provided on the first shell, an image acquisition module provided on the second shell, a control module provided inside the second shell, a wireless communication module, and a wireless signal receiver; The load-bearing body, the load-bearing guide structure and the driving mechanism are arranged in the first shell; The wireless signal receiver is connected to the antenna, and the wireless signal receiver is connected to the remote control through the antenna to receive the control signal sent by the remote control; The control module is connected to the wireless signal receiver and the driving mechanism to control the operating state of the driving mechanism based on the control signal received by the wireless signal receiver; The control module is connected to the image acquisition module and the wireless communication module to obtain the real-time track image acquired by the image acquisition module, and sends the acquired real-time track image to the host computer for display through the wireless communication module.

2. The rail inspection robot according to claim 1, characterized in that: The image acquisition module adopts a 720P Samsung ST6500 series high-definition camera with automatic light compensation; the host computer includes a user handheld terminal and a display installed in the monitoring room.

3. The rail inspection robot according to claim 1, characterized in that: The antenna includes a first gain antenna and a second gain antenna which are redundant with each other.

4. The rail inspection robot according to claim 1, characterized in that: Also included are contactless sensors for sensing obstacles on the track; The control module is connected to the non-contact sensor so as to send a stop signal to the motor and an alarm signal to the user's handheld terminal when the non-contact sensor detects an obstacle.

5. The rail inspection robot according to claim 3, characterized in that: The first gain antenna and the second gain antenna adopt full-angle gain antennas using FHSS spread spectrum technology.

6. The rail inspection robot according to claim 1, characterized in that: Also included is a power supply module mounted in the second housing; The power supply module includes a power supply battery and a multi-level voltage conversion unit.

7. The rail inspection robot according to claim 6, characterized in that: The multi-level voltage conversion unit includes: a 24V to 12V conversion circuit, a 12V to 5V conversion circuit, a 5V to 3.3V conversion circuit, and a 3.3V to 1.5V conversion circuit.

8. The rail inspection robot according to claim 1, characterized in that: The load-bearing guide mechanism includes: a load-bearing wheel shaft, a load-bearing wheel mounted on the load-bearing wheel shaft, and a driving wheel for driving the load-bearing wheel shaft to rotate; Drive mechanism: includes a motor and a transmission component for transmitting the power of the motor to the drive wheel; The position limiting guide mechanism comprises guide wheels matched with the two side surfaces of the track.

9. The rail inspection robot according to claim 8, characterized in that: The motor uses a planetary gear motor that supports speed regulation and forward and reverse control.

10. The rail inspection robot according to claim 1, characterized in that: The control module adopts STM32F407ZG single chip microcomputer.

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