Inspection robot and robot inspection system

Abstract

The embodiment of the utility model provides an inspection robot and a robot inspection system, the inspection robot can move back and forth along a guardrail of a road, and the inspection robot comprises a robot body used for arranging an inspection structure to obtain a road traffic condition; the first supporting piece is connected with the robot body through the connecting structure, and the first supporting piece is wound to the second side of the guardrail from the first side of the guardrail; the first clamping piece and the second clamping piece are connected to the first supporting piece and abut against the first side and the second side of the guardrail respectively; and the rotating part is connected to the first supporting part and is in rolling connection with the guardrail, so that the robot body is driven to move along the guardrail, and the efficiency of obtaining the road traffic condition is improved.

Description

Technical Field

[0001] This application relates to the field of emergency equipment, and more particularly to an inspection robot and a robot inspection system. Background Technology

[0002] With rapid economic development and the increasing travel demands of the people, the road transportation industry has developed rapidly. The number of motor vehicles, drivers, and road mileage continues to grow, the level of urban motorization has further increased, and road traffic safety has become increasingly complex.

[0003] Currently, road traffic conditions are mainly obtained from traffic authorities and driver terminal equipment, which is extremely inefficient in obtaining information on road safety and abnormal events. Utility Model Content

[0004] This application provides an inspection robot and a robot inspection system that can move back and forth along road guardrails to improve the efficiency of obtaining road traffic conditions.

[0005] To address the aforementioned technical problems, the embodiments of this application disclose the following technical solutions:

[0006] This application discloses an inspection robot capable of moving back and forth along a guardrail, including:

[0007] The robot body is used to deploy inspection structures to obtain road traffic information.

[0008] The first support member and the connecting structure are connected to the robot body through the connecting structure, and the first support member goes around the first side of the guardrail to the second side of the guardrail.

[0009] The first clamping member and the second clamping member are both connected to the first support member and respectively abut against the first side and the second side of the guardrail.

[0010] A rotating component is connected to the first support component and is in a rolling connection with the guardrail to drive the robot body to move along the guardrail; wherein, the first side and the second side of the guardrail are arranged opposite each other along the width direction of the guardrail.

[0011] In some embodiments, the first clamping member is configured as a first roller, the first roller being in a rolling connection with a first side of the guardrail; and / or

[0012] The second clamping element is configured as a second roller, which is in a rolling connection with the second side of the guardrail.

[0013] In some embodiments, the inspection robot further includes a first bending member, one end of which is fixedly connected to a first support member, and a first roller is rotatably connected to the first bending member along its own axial direction; and / or

[0014] The inspection robot also includes a second bending component, one end of which is fixedly connected to the first support component, and a second roller is rotatably connected to the second bending component along its own axis.

[0015] In some embodiments, the guardrail includes at least a first guardrail and a second guardrail arranged at an angle along its own extending direction.

[0016] The first roller is in rolling connection with the first guardrail; and / or

[0017] The second roller is in a rolling connection with the second guardrail.

[0018] In some embodiments, the axial direction of the first roller is parallel to the first extension surface of the first guardrail; and / or

[0019] The axis of the second roller is parallel to the second extension surface of the second guardrail.

[0020] In some embodiments, the rotating element is configured as a hollow structure;

[0021] The inspection robot also includes a power structure, which is located inside the rotating parts and is used to drive the rotating parts to rotate along their own axis.

[0022] In some embodiments, the outer peripheral surface of the rotating member is recessed inward to form a recess, thereby configuring the outer peripheral surface of the rotating member and the guardrail to form a concave-convex contact.

[0023] In some embodiments, the rotating element is configured as a hub motor.

[0024] In some embodiments, the inspection robot further includes an elastic element that abuts against the first support and the guardrail.

[0025] In some embodiments, the inspection robot further includes a second support member, which is fixedly connected to the robot body and extends to the second side of the guardrail at one end.

[0026] The inspection robot also includes an elastomer and a fixing element, the fixing element being connected to the second support element and extending towards the guardrail;

[0027] The elastomer is fitted onto the fixing member and located between the second support member and the guardrail.

[0028] In some embodiments, the inspection robot also includes a bearing and a bearing shaft, wherein the bearing shaft is fixedly connected to one end of the fixing member near the guardrail;

[0029] The bearing is fitted onto the bearing shaft, and the outer circumferential surface of the bearing abuts against the guardrail so that the bearing can roll along the guardrail.

[0030] In some embodiments, the connection structure is configured as a fastener that extends into the robot body and the first support member to securely connect the robot body and the first support member.

[0031] In some embodiments, the connection structure is configured as a fixed base, which is located between the robot body and the first support member, with the robot body fixedly connected to the fixed base and the first support member fixedly connected to the fixed base.

[0032] In some embodiments, the outer contour dimension of the mounting base is larger than the outer contour dimension of the bottom of the robot body.

[0033] In some embodiments, the ends of the guardrail and the first support form a receiving space for accommodating directional signs on the guardrail or beside the road.

[0034] In some embodiments, the first support includes a first part and a second part connected together, the robot body is located on the first part and the robot body is fixedly connected to the first part, the first part is configured to have a clearance distance from the indicator sign in the width direction, the indicator sign is located on the side of the road; the second part is used to go around to the second side of the guardrail via the first side of the guardrail.

[0035] This application also discloses a robot inspection system, including a charging device and the aforementioned inspection robot. The charging device is located next to the guardrail and is used to power the inspection robot.

[0036] In the inspection robot and robot inspection system provided in this application embodiment, the first support member goes around the first side of the guardrail to the second side of the guardrail; the first clamping member and the second clamping member are both connected to the first support member and abut against the first side and the second side of the guardrail respectively. The first support member is clamped to the guardrail by the first clamping member and the second clamping member. The rotating member is connected to the first support member and is in a rolling connection with the guardrail to drive the robot body to move along the guardrail, thereby reducing the size of the blind spot of the inspection structure and improving the efficiency of obtaining road traffic conditions. Attached Figure Description

[0037] Figure 1 This is a structural diagram of the inspection robot provided in the embodiments of this application in a usage scenario;

[0038] Figure 2 for Figure 1 The diagram shows the structure of the inspection robot.

[0039] Figure 3 for Figure 1 The diagram shows the interaction structure between the inspection robot and the guardrail.

[0040] Figure 4 for Figure 2The diagram shows a structural schematic of the inspection robot from one perspective.

[0041] Figure 5 for Figure 2 A structural schematic diagram of the inspection robot from another perspective;

[0042] Figure 6 for Figure 2 The diagram shows another view of the inspection robot.

[0043] Figure 7 for Figure 2 The diagram shows another view of the inspection robot.

[0044] Figure 8 for Figure 2 The diagram shows the structure of the inspection robot after the camera is installed.

[0045] Figure 9 for Figure 8 The diagram shows the exploded structure of the inspection robot.

[0046] Figure 10 for Figure 2 The diagram shows the structure of the inspection robot after the robot body has been removed.

[0047] Figure 11 for Figure 10 The diagram shows a structural schematic of the inspection robot from one perspective after the robot body has been removed.

[0048] Figure 12 for Figure 10 The diagram shows a structural schematic of the inspection robot from another perspective after the robot body has been removed.

[0049] Figure 13 for Figure 10 The diagram shows another perspective of the inspection robot after removing the robot body.

[0050] Explanation of reference numerals in the attached figures:

[0051] 100 - Inspection robot; 200 - Robot body; 400 - Guardrail;

[0052] 410-Fixed frame; 210-Connecting structure; 220-Inspection structure; 221-Camera; 310-First support member; 320-First clamping member; 330-Second clamping member; 340-Rotating member; 350-Second support member; 321-Second bending member; 401-First guardrail; 402-Second guardrail; 403-Third guardrail; 341-Third bending member; 351-Elastic body; 352-Fixed member; 355-Bearing; 356-Bearing shaft; a1-First side; a2-Second side; H-Height direction; T1-Extension direction; T2-Width direction; p-First extension surface; q-Second extension surface; r-Third extension surface. Detailed Implementation

[0053] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0054] In the description of the embodiments of the present invention, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the embodiments of the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Unless otherwise stated, "outer peripheral side" can be used to indicate that the outline of a component points outwards.

[0055] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0056] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0057] With rapid economic development and the increasing travel demands of the public, the road transportation industry has experienced rapid growth. The number of motor vehicles, drivers, and road mileage continues to increase, further enhancing urban motorization and making road traffic safety increasingly complex. Currently, road traffic conditions are primarily obtained through traffic authorities and driver terminal equipment, resulting in extremely low efficiency in acquiring information about road safety and abnormal events.

[0058] In view of the above problems, this application provides an inspection robot that can move back and forth along the road guardrail to obtain real-time road traffic conditions.

[0059] Figure 1 This is a structural diagram of the inspection robot provided in the embodiments of this application, in a usage scenario. Figure 1 As shown, the inspection robot 100 can move back and forth along the road guardrail 400 to inspect the road traffic conditions and obtain real-time road traffic information.

[0060] In some examples, guardrail 400 is installed on both sides of highways or urban roads.

[0061] In some examples, guardrail 400 is mounted on the ground by a mounting bracket 410, with the mounting bracket 410 located on the side of guardrail 400 facing away from the road.

[0062] In some examples, guardrail 400 is installed along both sides of a highway.

[0063] In some examples, guardrail 400 is used to protect the safety of drivers and vehicles, preventing vehicles from going out of control and running off the road.

[0064] In some examples, guardrail 400 features reflective markings, providing drivers with clear warnings at night or in inclement weather, thus enhancing road safety. Clearly, the role of guardrail 400 in road traffic is particularly significant.

[0065] In some examples, road traffic conditions may include information on unusual incidents, such as traffic accidents, traffic congestion, and abnormal parking.

[0066] In some examples, road traffic conditions may also include road surface condition information, such as whether there are cracks, potholes or other damage to the road surface. Furthermore, the length, width and depth of the cracks or potholes may be obtained.

[0067] In some examples, road traffic conditions may also include the status of traffic facilities, such as missing guardrails, damaged road markings, missing manhole covers, etc.

[0068] It should be noted that the aforementioned abnormal accident information, road condition information, and traffic facility status are all examples of road traffic conditions. The content of road traffic conditions can be determined based on the actual conditions of the roads where the inspection robot 100 is deployed. This application embodiment does not limit the content of road traffic conditions.

[0069] In related technologies, robots are installed on guardrails to monitor road traffic conditions using onboard monitoring and alarm devices. However, the robots occupy a large area of ​​the guardrails, rendering reflective markings ineffective at night or in inclement weather. Furthermore, the heavy loads of the robots cause vibrations during operation, resulting in significant structural damage to the guardrails and a substantial reduction in their lifespan. Therefore, the use of robots not only hinders traffic monitoring but also damages the existing traffic environment.

[0070] Figure 2 for Figure 1 The diagram shows the structure of the inspection robot 100. Figure 3 for Figure 1 A schematic diagram of the cooperation structure between the inspection robot 100 and the guardrail 400 shown. Figure 4 for Figure 2 A structural schematic diagram of the inspection robot 100 from one perspective; Figure 5 for Figure 2 Another structural schematic diagram of the inspection robot 100 shown; Figure 6 for Figure 2 A structural schematic diagram of the inspection robot 100 from another perspective; Figure 7 for Figure 2 A structural schematic diagram of the inspection robot 100 from another perspective; Figure 8 for Figure 2 A schematic diagram of the inspection robot 100 after installing camera 221; Figure 9 for Figure 8 The diagram shows an exploded view of the inspection robot 100. Figures 2 to 9As shown, the inspection robot 100 provided in this application embodiment includes a robot body 200, which is used to deploy the inspection structure 220 to obtain road traffic conditions.

[0071] In some embodiments, the inspection structure 220 may include, but is not limited to, one or more of the following: camera 221, red and blue lights, speaker, flash, and display screen.

[0072] In some examples, the inspection structure 220 includes a camera 221.

[0073] For example, camera 221 is configured as a wide-angle camera.

[0074] For example, camera 221 is configured as a pop-up camera.

[0075] In some examples, the robot body 200 can be a shell structure.

[0076] In some embodiments, the inspection robot 100 further includes a first support member 310, which is connected to the robot body 200 and passes through a first side a1 of the guardrail 400 to a second side a2 of the guardrail 400.

[0077] Among them, the first side a1 and the second side a2 of the guardrail 400 are arranged opposite each other along the width direction T2 of the guardrail 400.

[0078] It should be noted that the width direction T2 of the guardrail 400 is consistent with the width direction T2 of the road.

[0079] In some embodiments, the inspection robot 100 further includes a connection structure to securely connect the robot body 200 and the first support member 310.

[0080] In some examples, the connection structure is configured as a fastener that extends into the robot body 200 and the first support 310.

[0081] For example, the fastener passes through the bottom wall of the robot body 200 and extends into the first support member 310, thereby achieving a fixed connection between the robot body 200 and the first support member 310.

[0082] In some examples, the robot body 200 has a structure that is larger at the top and smaller at the bottom along the height direction, such as an inverted triangular pyramid structure. In this case, if the robot body 200 is fixedly connected to the first support member 310, the support area between the robot body 200 and the first support member 310 is small due to the small bottom of the robot body 200, resulting in an unstable connection between the robot body 200 and the first support member 310. To prevent the above situation from occurring, in some embodiments, the connection structure is configured as a fixed seat 210, which is located between the robot body 200 and the first support member 310. The robot body 200 is fixedly connected to the fixed seat 210, and the first support member 310 is fixedly connected to the fixed seat 210, so as to achieve a fixed connection between the robot body 200 and the first support member 310.

[0083] For example, the projected area of ​​the fixed base 210 on the ground plane is larger than the projected area of ​​the bottom of the robot body 200 on the ground plane, thereby enhancing the stability of the fixed connection between the robot body 200 and the first support member 310. In other words, the outer contour dimension of the fixed base 210 is larger than the outer contour dimension of the bottom of the robot body 200.

[0084] It should be noted that, in the height direction, the relationship between the outer contour dimensions of the fixed base 210 and the outer contour dimensions of the bottom of the robot body 200 is not restricted.

[0085] In some examples, the first support 310 is fixedly connected to the guardrail 400, thereby enabling the inspection robot 100 to be fixed to the guardrail 400 so as to obtain road traffic conditions.

[0086] In some examples, the first support 310 is constructed as a frame structure.

[0087] In some examples, the first support member 310 is constructed as a plate.

[0088] It is understandable that in order to securely connect the guardrail 400 and the first support member 310, it may be necessary to drill holes in the guardrail 400 or to weld the surface of the guardrail 400, thereby causing irreversible damage to the guardrail 400.

[0089] Figure 10 for Figure 2 A schematic diagram of the inspection robot 100 after removing the robot body 200; Figure 11 for Figure 10 The diagram shows a structural schematic of the inspection robot 100 after removing the robot body 200 from one perspective. Figure 12 for Figure 10 The diagram shows a structural schematic of the inspection robot 100 from another perspective after removing the robot body 200. Figure 13 for Figure 10The diagram shows another structural view of the inspection robot 100 after removing the robot body 200. Figures 1 to 13 As shown, in order to prevent irreversible damage to the guardrail 400, in some embodiments, the inspection robot 100 further includes a first clamping member 320 and a second clamping member 330, both connected to the first support member 310 and respectively abutting against the first side a1 and the second side a2 of the guardrail 400, thereby enabling the first support member 310 to be clamped onto the guardrail 400 by the first clamping member 320 and the second clamping member 330, so as to prevent irreversible damage to the guardrail 400.

[0090] The inspection structure 220 obtains road traffic conditions by collecting external images and audio and processing them. However, since the inspection robot 100 is fixed to the guardrail 400, the road traffic conditions within the blind spot of the inspection robot 100 cannot be obtained, thus affecting the efficiency of obtaining road traffic conditions.

[0091] To improve the efficiency of the inspection robot 100 in acquiring road traffic conditions, in some embodiments, the inspection robot 100 further includes a rotating component 340, which is connected to the first support component 310 and is in a rolling connection with the guardrail 400, so as to drive the robot body 200 to move along the guardrail 400, thereby reducing the blind spot size of the inspection structure 220 and improving the efficiency of acquiring road traffic conditions.

[0092] The guardrail 400 or the mounting bracket 410 is equipped with mileage markers, delineators, and other indicator signs. To prevent the inspection robot 100 from interfering with these indicator signs as it moves along the guardrail 400, thus avoiding hindrance to its operation or damage to the indicator signs, in some embodiments, the first support member 310 and the end of the guardrail 400 form an accommodating space. The indicator signs can be located within this accommodating space, preventing interference between the inspection robot 100 and the indicator signs and ensuring the safe operation of the inspection robot 100. Here, the end of the guardrail 400 refers to the edge of the guardrail 400 along the height direction H.

[0093] In some examples, the first support 310 includes a first part and a second part. The first part is located at the end of the guardrail 400 and is fixedly connected to the robot body 200. The second part is used to go around the first side a1 of the guardrail 400 to the second side a2 of the guardrail 400. The first part and the end of the guardrail 400 are configured to have a first distance along the height direction H. The first support 310 and the guardrail 400 form an accommodating space corresponding to the first distance.

[0094] In some examples, the upper end of the guardrail 400 or the mounting bracket 410 is provided with a mile marker or delineator. Based on the accommodating space formed by the robot body 200, the first support 310 and the guardrail 400 corresponding to the first distance, as the inspection robot 100 moves along the guardrail 400, the mile marker or delineator is accommodated in the accommodating space and can pass through it along the extension direction T1, thereby preventing interference between the inspection robot 100 and the mile marker or delineator.

[0095] For example, a mile marker may include information displaying the highway number, the number of meters, or the number of kilometers.

[0096] As another example, delineators can reflect light actively or passively to show the outline of a road, thereby guiding vehicles.

[0097] In some embodiments, signs and other indicators are placed on the side of the road. In order to prevent the inspection robot 100 from interfering with the signs and other indicators while moving along the guardrail 400, the robot body 200 is located on a first part. The first part is configured to have a clearance distance from the indicator along the width direction T2 to prevent the inspection robot 100 from interfering with the indicator and to ensure the safe operation of the inspection robot 100.

[0098] In some implementations, the first side a1 is closer to the road than the second side a2. In order to prevent the inspection robot 100 from falling onto the road in the event of a vehicle accident, the center of gravity of the robot body 200 is configured to be located on the second side a2 of the guardrail 400. The first part has a clearance distance from the edge of the road along the width direction T2 and from the indicator sign, so as to prevent the inspection robot 100 from interfering with the indicator sign.

[0099] In some other embodiments, the positional relationship between the robot body 200 and the first part in the width direction T2 is different, and the avoidance distance should be determined based on the positional relationship between the robot body 200 and the first part in the width direction T2.

[0100] In some examples, the robot body 200 extends beyond the first portion of the over-dimension dimension along the width direction T2 on the second side a2, so the avoidance distance can be configured to be greater than the over-dimension dimension.

[0101] For example, signs may display directional information, driving routes, or speed limit information.

[0102] In some other implementations, the second side a2 is closer to the road than the first side a1.

[0103] In some embodiments, the first clamping member 320 is configured as a first roller, which is in a rolling connection with the first side a1 of the guardrail 400, thereby changing the engagement between the first clamping member 320 and the guardrail 400 from sliding to rolling. Based on the principle that rolling friction is less than sliding friction, this reduces frictional damage to the guardrail 400 caused by the first clamping member 320.

[0104] In some embodiments, the first roller is rotatably connected to the first support member 310 via a pivot.

[0105] In some embodiments, the inspection robot 100 further includes a first bending member (not shown), one end of which is fixedly connected to the first support member 310. A first roller is rotatably connected to the first bending member along its own axial direction, enabling the rolling surface of the first roller to engage with the first side a1 surface of the guardrail 400. Furthermore, the inclusion of the first bending member improves the ease of deploying the first roller. Moreover, by rationally configuring the bending angle of the first bending member, the first roller can be adapted to different guardrails 400, expanding the applicability of the inspection robot 100.

[0106] In some embodiments, the second clamping member 330 is configured as a second roller, which is in a rolling connection with the second side a2 of the guardrail 400, thereby changing the engagement between the second clamping member 330 and the guardrail 400 from sliding to rolling. Based on the principle that rolling friction is less than sliding friction, this reduces frictional damage to the guardrail 400 caused by the second clamping member 330.

[0107] In some embodiments, the inspection robot 100 further includes a second bending member 321. One end of the second bending member 321 is fixedly connected to the first support member 310, and the second roller is rotatably connected to the second bending member 321 along its own axial direction, so that the rolling surface of the second roller mates with the second side a2 surface of the guardrail 400. Furthermore, the inclusion of the second bending member 321 improves the ease of deploying the second roller. Moreover, by rationally configuring the bending angle of the second bending member 321, the second roller can be adapted to different guardrails 400, expanding the applicability of the inspection robot 100.

[0108] In some embodiments, the guardrail 400 is constructed as a three-wave plate, which can be understood as a flat plate arranged along the height direction H, the flat plate bends outward along the width direction T2 to form a curved section extending along the extension direction T1. There are three such curved sections, and the three curved sections are arranged at intervals, which is called a three-wave plate.

[0109] For example, the three bends of the three-wave plate are all configured to bend toward the first side a1 of the plate.

[0110] For example, a curved section includes two panels angled along the extension direction T1.

[0111] At this time, the first clamping member 320, the second clamping member 330 and the rotating member 340 can respectively abut against a guardrail plate, so as to use the first clamping member 320 and the second clamping member 330 to cooperate with the first support member 310 to clamp the inspection robot 100 on the guardrail 400; and then use the rotating member 340 to drive the inspection robot 100 to move along the guardrail 400.

[0112] In some embodiments, the guardrail 400 includes at least a first guardrail 401, and by reasonably configuring the bending angle of the first bending member, the first roller and the first guardrail 401 are in a rolling connection.

[0113] In some embodiments, the guardrail 400 further includes a second guardrail 402 arranged at an angle to the first guardrail 401 along its extension direction T1, and the second roller is rolled in connection with the second guardrail 402 by reasonably configuring the bending angle of the second bending member 321.

[0114] In some examples, the first guardrail 401 and the second guardrail 402 can be two guardrails on a curved section of a three-wave plate, so that the forces of the first roller and the second roller acting on the guardrail 400 form a set of symmetrical clamping forces, which helps to improve clamping stability.

[0115] For example, the first guardrail 401 and the second guardrail 402 are guardrails on the curved portion at the lowest part of the three-wave plate along the height direction T1. At this time, the first roller is in rolling connection with the first side a1 surface of the first guardrail 401, and the second roller is in rolling connection with the second side a2 surface of the second guardrail 402.

[0116] In some examples, the first panel 401 and the second panel 402 may also belong to two curved sections respectively, improving the flexibility of the structural layout.

[0117] In order to ensure that the first roller runs smoothly along the first guardrail 401, in some embodiments, the axial direction of the first roller is parallel to the first extension surface p of the first guardrail 401, so that the tangent of the rolling surface of the first roller is parallel to the first extension surface p of the first guardrail 401, thus preventing the rolling surface of the first roller from having an angle with the first extension surface p of the first guardrail 401, which would cause unstable operation.

[0118] Similarly, in order to achieve smooth operation of the second roller along the second guardrail 402, in some embodiments, the axial direction of the second roller is parallel to the second extension surface q of the second guardrail 402, so that the tangent of the rolling surface of the second roller is parallel to the second extension surface q of the second guardrail 402, thus preventing the rolling surface of the second roller from having an angle with the second extension surface q of the second guardrail 402, which would cause unstable operation.

[0119] In some embodiments, the rotating member 340 is configured as a hollow structure, thereby reducing the weight of the rotating member 340 borne by the guardrail 400 and preventing the fixed connection between the guardrail 400 and the ground from loosening after the guardrail 400 has been subjected to force for a long time, thus affecting the function of the guardrail 400.

[0120] In some embodiments, the inspection robot 100 further includes a power structure (not shown), which is disposed within the rotating member 340 and is used to drive the rotating member 340 to rotate along its own axis. This facilitates moving the overall center of the inspection robot 100 toward the center line of gravity of the guardrail 400, thereby reducing the risk of the inspection robot 100 tipping over due to a large deviation of its center of gravity from the guardrail 400.

[0121] In some examples, the power structure may include a drive unit and a transmission unit, etc.

[0122] In some examples, the drive device can be configured as a rotary motor, motor, worm gear motor, or other drive components, and the embodiments of this application are not limited thereto.

[0123] In some examples, the transmission device can be configured as a clutch, reducer, or other transmission component; however, this application does not impose any limitations on the embodiments thereof.

[0124] In some other embodiments, the drive device is located at the bottom of the robot body 200, and the transmission device is partially located inside the robot body 200 and partially located in the space between the robot body 200 and the guardrail 400. The drive device and the transmission device cooperate to operate the rotating component 340 to roll along the guardrail 400.

[0125] In some embodiments, the outer peripheral surface of the rotating member 340 contacts the guardrail 400. Since the power structure is arranged inside the rotating member 340, the overall weight of the rotating member 340 is relatively large. In order to prevent the rotating member 340 from detaching from the surface of the guardrail 400, the outer peripheral surface of the rotating member 340 is recessed inward to form a concave portion, so that the outer peripheral surface of the rotating member 340 and the guardrail 400 are configured to have a concave-convex contact, thereby increasing the frictional force when the outer peripheral surface of the rotating member 340 contacts the guardrail 400 and preventing the rotating member 340 from detaching from the surface of the guardrail 400.

[0126] In some embodiments, the rotating member 340 is in a rolling connection with the first side a1 surface of the guardrail 400.

[0127] For example, the rotating member 340 is in a rolling connection with the first guardrail 401.

[0128] As another example, the rotating member 340 is in a rolling connection with the second guardrail 402.

[0129] In some embodiments, the guardrail 400 further includes a third guardrail 403 which is angled to the first guardrail 401 and / or the second guardrail 402 along its extending direction T1, and the rotating member 340 is in a rolling connection with the third guardrail 403.

[0130] For example, the first guardrail 401 and the second guardrail 402 can be two guardrails on one curved section of a three-wave plate, and the third guardrail 403 can be a guardrail on another curved section of a three-wave plate.

[0131] As another example, the third guardrail 403 is the uppermost guardrail in the height direction H of the guardrail 400. The distance between the third guardrail 403 and the robot body 200 is relatively large, which is conducive to the placement of the rotating parts 340.

[0132] In some examples, the rotating component 340 is in a rolling connection with the first side a1 surface of the third guardrail 403 to reduce the degree to which the center of gravity of the inspection robot 100 deviates from the guardrail 400.

[0133] In order to ensure that the rotating component 430 runs smoothly along the third railing 403, in some embodiments, the axial direction of the rotating component 430 is parallel to the third extension surface r of the third railing 403, so that the tangent of the rolling surface of the rotating component 430 is parallel to the third extension surface r of the third railing 403, thus preventing the rolling surface of the rotating component 430 from having an angle with the third extension surface r of the third railing 403, which would cause unstable operation.

[0134] In some embodiments, the rotating member 340 is configured as a hub motor. It should be noted that the hub motor is only one example of the rotating member 340, and the embodiments of this application do not limit the type of the rotating member 340.

[0135] In some embodiments, the inspection robot 100 further includes a third bending member 341, one end of which is fixedly connected to the first support member 310. A rotating member 340 is rotatably connected to the third bending member 341 along its own axial direction, so that the rolling surface of the rotating member 340 engages with the first side a1 surface of the guardrail 400. Furthermore, the inclusion of the third bending member 341 improves the ease of deploying the rotating member 340. Moreover, by rationally configuring the bending angle of the third bending member 341, the rotating member 340 can be applied to different types of guardrails 400, expanding the applicable scenarios of the inspection robot 100.

[0136] During the movement of the inspection robot 100 along the guardrail 400, there may be some vibration. To reduce this vibration and make the movement smoother, in some embodiments, the inspection robot 100 also includes an elastic element (not shown), which abuts against the first support member 310 and the guardrail 400. In this way, when the inspection robot 100 vibrates, the elastic element will contract to achieve the effect of shock absorption and energy release, thereby improving the stability of the inspection robot 100 as it moves along the guardrail 400.

[0137] In some other embodiments, the inspection robot 100 also includes a second support member 350, which is fixedly connected to the robot body 200 and extends at one end to the second side a2 of the guardrail 400.

[0138] In some embodiments, the second support 350 abuts against the second side a2 of the guardrail 400 to support the robot body 200.

[0139] In some embodiments, the first support member 310 and the second support member 350 may be an integral structure, fixedly connected to the robot body 200, and located on the first side a1 and the second side a2 of the guardrail 400.

[0140] In some embodiments, the inspection robot 100 further includes an elastic body 351 and a fixing member 352. The fixing member 352 is connected to the second support member 350 and extends toward the guardrail 400. The elastic body 351 is sleeved on the fixing member 352 and located between the second support member 350 and the guardrail 400. When the inspection robot 100 shakes, the elastic body will contract to achieve the effect of shock absorption and energy release, thereby improving the stability of the inspection robot 100 as it moves along the guardrail 400.

[0141] The fastener 352 extends from the second support 350 toward the guardrail 400 so that the elastic body 351 is located between the second support 350 and the guardrail 400.

[0142] In some embodiments, the elastic body 351 and the fixing member 352 in the inspection robot 100 are in two sets. The two sets of elastic bodies 351 and fixing members 352 are arranged side by side on the second support member 350 along the extension direction T1 of the guardrail 400, thereby improving the effect of shock absorption and energy release and improving the stability of the inspection robot 100 when moving along the guardrail 400.

[0143] In some embodiments, the center of gravity of the inspection robot 100 is located on the second side a2 of the guardrail 400. When the inspection robot 100 shakes, it will tilt towards the second side a2 of the guardrail 400. In order to stabilize the inspection robot 100 on the guardrail 400, the inspection robot 100 also includes a bearing 355 and a bearing 355 shaft. The bearing 355 shaft is fixedly connected to the end of the fixing member 352 near the guardrail 400.

[0144] The bearing 355 is sleeved on the bearing 355 shaft, and the outer peripheral surface of the bearing 355 abuts against the guardrail 400. The bearing 355 can roll along the guardrail 400. In this way, the bearing 355 can bear the load of the inspection robot 100 and prevent it from tipping over.

[0145] In some examples, bearing 355 is configured as a rolling bearing.

[0146] In some examples, the inner ring of bearing 355 is fixedly connected to the bearing 355 shaft, while the outer ring of bearing 355 is suspended.

[0147] In some embodiments, the bearing 355 shaft and the fixing member 352 are fixedly connected by welding.

[0148] Based on the same concept, this application also provides a robot inspection system, which includes a charging device and the aforementioned inspection robot 100. The charging device is located next to the guardrail 400 and is used to supply power to the inspection robot 100.

[0149] In some examples, the technical solution of the inspection robot 100 can refer to the aforementioned implementation method of the inspection robot 100.

[0150] It should be noted that the robot inspection system and the aforementioned inspection robot 100 are based on the same concept. Therefore, the robot inspection system and the inspection robot 100 have the same or similar technical effects, which will not be elaborated here.

[0151] It is readily understood that, based on the several embodiments provided in this application, those skilled in the art can combine, split, or reorganize the embodiments of this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0152] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A patrol robot capable of moving back and forth along a guardrail, characterized by, The utility model relates to a kind of inspection robot, including: Robot body, for laying out inspection structure, to obtain road traffic condition; First support, connecting structure, the first support is connected with the robot body by the connecting structure, and the first support is around to the second side of guardrail by the first side of guardrail; First clamping piece and second clamping piece are connected to the first support and respectively abut to the first side and the second side of guardrail; Rotating member, rotating member is connected to the first support and is in rolling connection with the guardrail, to drive the robot body along the guardrail moves;Wherein, the first side and the second side of guardrail are oppositely arranged along the width direction of guardrail.

2. The patrol robot according to claim 1, characterized in that, The first clamping piece is configured as first roller, and the first roller is in rolling connection with the first side of guardrail;And / or The second clamping piece is configured as second roller, and the second roller is in rolling connection with the second side of guardrail.

3. The patrol robot according to claim 2, wherein, The inspection robot further includes first bending piece, one end of the first bending piece is fixedly connected to the first support, and the first roller is in rotational connection with the first bending piece along the axial direction of itself;And / or The inspection robot further includes second bending piece, one end of the second bending piece is fixedly connected to the first support, and the second roller is in rotational connection with the second bending piece along the axial direction of itself.

4. The patrol robot according to claim 2, wherein, The guardrail at least includes first barrier plate and second barrier plate arranged at an angle along its own extension direction, The first roller is in rolling connection with the first barrier plate;And / or The second roller is in rolling connection with the second barrier plate.

5. The patrol robot according to claim 4, wherein, The axial direction of the first roller is parallel to the first extension surface of the first barrier plate;And / or The axial direction of the second roller is parallel to the second extension surface of the second barrier plate.

6. The patrol robot according to any one of claims 1 to 5, characterized in that, The rotating member is configured as a hollow structure; The inspection robot further includes power structure, the power structure is arranged in the rotating member, and the power structure is used to drive the rotating member to rotate along its own axis.

7. The patrol robot according to claim 6, characterized in that, The outer circumferential surface of the rotating member is recessed inward to form a recess, so that the outer circumferential surface of the rotating member is configured in concave-convex contact with the guardrail.

8. The patrol robot according to claim 7, characterized in that, The rotating member is configured as a hub motor.

9. The patrol robot according to any one of claims 1 to 5, characterized in that, The inspection robot further includes elastic member, which is in abutment between the first support and the guardrail.

10. The patrol robot according to any one of claims 1 to 5, characterized in that, The inspection robot further includes second support, the second support is fixedly connected to the robot body, and one end extends to the second side of the guardrail; The inspection robot further includes elastic body and fixing member, the fixing member is connected with the second support and extends towards the guardrail; The elastic body is sleeved on the fixing member and located between the second support and the guardrail.

11. The patrol robot according to claim 10, wherein, The inspection robot further includes bearing and bearing shaft, the bearing shaft is fixedly connected with the fixing member at one end close to the guardrail; The bearing is sleeved on the bearing shaft, and the outer circumferential surface of the bearing is in abutment with the guardrail, so that the bearing can roll along the guardrail.

12. The patrol robot according to any one of claims 1 to 5, characterized in that, The end of the guardrail and the first support enclose a containing space, and the containing space is used to accommodate the indication sign on the guardrail or beside the road.

13. The patrol robot according to any one of claims 1 to 5, characterized in that, The first support includes a first part and a second part connected, the robot body is located on the first part and fixedly connected with the first part, the first part is configured to have an avoiding distance with a sign along the width direction, the sign is located beside a road; the second part is used to pass through a first side of the guardrail to a second side of the guardrail.

14. The patrol robot according to any one of claims 1 to 5, characterized in that, The connecting structure is configured as a fastener extending into the robot body and the first support to fixedly connect the robot body and the first support.

15. The patrol robot according to any one of claims 1 to 5, characterized in that, The connecting structure is configured as a fixing seat located between the robot body and the first support, the robot body is fixedly connected with the fixing seat, and the first support is fixedly connected with the fixing seat.

16. The inspection robot of claim 15, wherein, An outer contour size of the fixing seat is greater than an outer contour size of a bottom of the robot body.

17. A robotic inspection system, comprising: The inspection robot also comprises a charging device arranged beside the guardrail and used for supplying power to the inspection robot.

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