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, and comprises a robot body used for arranging an inspection structure to obtain road traffic conditions; the first clamping part is connected with the robot body and abuts against the first side of the guardrail; and the second clamping part is connected with the robot body and abuts against the second side of the guardrail, and the first clamping part or the second clamping part is in rolling connection with the guardrail to drive the robot body to move back and forth along the guardrail so as to obtain the road traffic condition in real time.

Description

TECHNICAL FIELD

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

[0002] With the rapid growth of economic development and people's travel demand, the road transportation industry is developing rapidly. The number of motor vehicles, drivers and road mileage is increasing, and the level of urban motorization is further improving, and road traffic safety is becoming increasingly complex.

[0003] At present, the road traffic situation is mainly obtained by the traffic department and the driving terminal device, and the efficiency of obtaining the road safety situation and abnormal events is very low. CONTENT OF THE UTILITY MODEL

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

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

[0006] In a first aspect, the embodiments of the present application disclose a patrol robot, which can move back and forth along the guardrail, and the patrol robot comprises: a robot body, which is used to arrange a patrol structure to obtain the road traffic situation;

[0007] A first clamping part is connected with the robot body and abuts against a first side of the guardrail;

[0008] A second clamping part is connected with the robot body and abuts against a second side of the guardrail, wherein the first clamping part or the second clamping part is in rolling connection with the guardrail to drive the robot body to move back and forth along the guardrail, and the first side and the second side are opposite and located on the guardrail in the width direction of the guardrail.

[0009] In some embodiments, the first clamping part is configured as a first part and a second part in angular connection, the robot body is located on the first part, and the robot body is fixedly connected with the first part, wherein the first part is located on the second side of the guardrail; and the second part is located on the first side of the guardrail to abut against the first side of the guardrail.

[0010] In some embodiments, the guardrail comprises a first guardrail plate, the first guardrail plate extends in the extension direction of the guardrail, and the first side of the first guardrail plate is located above the second side of the first guardrail plate; the second part abuts against the first side of the first guardrail plate; and the second clamping part abuts against the second side of the first guardrail plate.

[0011] In some embodiments, the first side of the guardrail is closer to the road than the second side of the guardrail.

[0012] In some embodiments, the second part is configured to abut to the mating surface of the first barrier plate in linear contact

[0013] In some embodiments, the cross-sectional profile of the first barrier plate along its thickness direction is arc-shaped; the second part is configured as a plate member to be tangentially fitted to the first barrier plate

[0014] In some embodiments, the second part is configured as a wave plate to be fitted to the first barrier plate along its own extension direction.

[0015] In some embodiments, the second clamping part is in rolling connection with the second side of the guardrail, and the second clamping part is configured as a belt transmission structure, the pulley of the belt transmission structure is rotationally connected to the robot body along its own axial direction; the pulley can roll along the second side of the guardrail under the drive.

[0016] In some embodiments, the belt transmission structure includes a plurality of pulleys, the plurality of pulleys are connected by a belt; the plurality of pulleys are recessed inward along their own circumferential direction to form a guide groove, and the belt is located in the guide groove.

[0017] In some embodiments, the belt transmission structure includes a plurality of rotating shafts, each rotating shaft is arranged through the pulley and rotationally connected to the pulley; the belt transmission structure further includes two positioning plates, the positioning plates are arranged on the plurality of rotating shafts in a spaced manner, so that the plurality of pulleys are located between the two positioning plates.

[0018] In the first aspect, the embodiments of the present application disclose a robot inspection system, comprising a charging device and the aforementioned inspection robot, the charging device is arranged beside the guardrail, and the charging device is used to supply power for the inspection robot.

[0019] In the robot inspection system provided by the embodiments of the present application, the first clamping part is connected to the robot body to apply the gravity of the robot body to the first clamping part; the first clamping part abuts to the first side of the guardrail, and based on the gravity of the robot body applied to the first clamping part, the first clamping part applies a first clamping force to the guardrail, which points from the first side of the guardrail to the second side of the guardrail; the second clamping part is connected to the robot body and abuts to the second side of the guardrail, so that the second clamping part applies a second clamping force to the guardrail, which points from the second side of the guardrail to the first side of the guardrail; the first clamping force and the second clamping force cooperate to realize that the robot body is clamped to the guardrail; the first clamping part or the second clamping part is in rolling connection with the guardrail to realize that the inspection robot can move back and forth along the guardrail, so as to obtain the road traffic condition. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 A use scenario of the inspection robot provided by the embodiments of the present application is shown Figure 1 ;

[0021] Figure 2A use scene of a patrol robot provided by an embodiment of the present application Figure 2 ;

[0022] Figure 3 A cooperation structure diagram of a patrol robot and a guardrail Figure 1

[0023] Figure 4 A local enlarged view of A in FIG. 1 Figure 3

[0024] Figure 5 A structure diagram of the patrol robot shown in FIG. 2 Figure 1

[0025] Figure 6 A structure diagram of the patrol robot shown in FIG. 3 from another angle Figure 5

[0026] Figure 7 A structure diagram of the patrol robot shown in FIG. 4 from one angle Figure 5

[0027] Figure 8 A structure diagram of the patrol robot shown in FIG. 5 from another angle Figure 5

[0028] Figure 9 A structure diagram of the patrol robot shown in FIG. 6 from still another angle Figure 5

[0029] Figure 10 A structure diagram of the patrol robot shown in FIG. 7 from yet another angle Figure 5

[0030] Figure 11 A structure diagram of the patrol robot shown in FIG. 8 from an explosion angle Figure 5

[0031] Figure 12 A structure diagram of a second clamping part in the patrol robot shown in FIG. 9 Figure 5

[0032] Figure 13 A structure diagram of the second clamping part shown in FIG. 10 from one angle Figure 12

[0033] Figure 14 A structure diagram of the second clamping part shown in FIG. 11 from another angle Figure 12

[0034] Figure 15 An explosion structure diagram of the second clamping part shown in FIG. 12 Figure 12

[0035] Figure 16 A structure diagram of the second clamping part shown in FIG. 13​​​​​​​​​​​​​Figure 12 structure diagram of the second clamping part from another perspective;

[0036] Figure 17 The second clamping part provided by the embodiment of the present application is used for Figure 16 structure diagram of the second clamping part from another perspective.

[0037] Label explanation:

[0038] 100-inspection robot; 400-guardrail; 600-charging device; 200-robot body; 310-first clamping part; 320-second clamping part; 410-fixed frame;

[0039] 201-first shell; 202-second shell; 203-base; 220-inspection structure; 311-first part; 312-second part; 3121-mating surface; 420-first guardrail; 321-belt wheel; 3211-first belt wheel; 3212-second belt wheel; 322-belt; 323-guide slot; 324-rotation shaft; 3241-nut; 325-positioning plate; 3251-first positioning plate; 3252-second positioning plate; 326-sleeve; 327-washer; G-gravity; F1-first clamping force; F2-second clamping force; a1-first side; a2-second side; T1-width direction; T2-extension direction; H-height direction; d1-first size; d2-second size. DETAILED DESCRIPTION

[0040] In order to make the personnel in the technical field better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person of ordinary skill in the art without creative labor should belong to the protection scope of the present application.

[0041] 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 only for the convenience of describing the embodiments of the present invention and 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. In addition, 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, in this embodiment, "proximal end" can be used to indicate the end of the component closer to the trolley, and "far end" can be used to indicate the end of the component farther from the trolley; "inner peripheral side" can be used to indicate that the component outline is inward, and "outer peripheral side" can be used to indicate that the component outline is outward.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] Figure 1 This application provides an illustration of a usage scenario for an inspection robot.Figure 1 ; Figure 2 This application provides an illustration of a usage scenario for an inspection robot. Figure 2 .like Figure 1 and Figure 2 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.

[0047] In some examples, guardrail 400 is installed on both sides of highways or urban roads.

[0048] 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.

[0049] In some examples, guardrail 400 is installed along both sides of a highway.

[0050] 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.

[0051] 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.

[0052] In some examples, road traffic conditions may include information on unusual incidents, such as traffic accidents, traffic congestion, and abnormal parking.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] Figure 3 for Figure 1 The diagram shows the cooperative structure of the inspection robot 100 and the guardrail 400. Figure 4 for Figure 3 A magnified view of a portion of point A in the image. (See image below.) Figure 3 and Figure 4 As 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.

[0058] In some embodiments, the inspection structure 220 may include, but is not limited to, one or more of a camera, red and blue lights, a speaker, a flash, and a display screen.

[0059] In some examples, the robot body 200 can be a shell structure.

[0060] In some embodiments, the inspection robot 100 further includes a first clamping part 310, which is connected to the robot body 200 to apply the gravity of the robot body 200 to the first clamping part 310.

[0061] In some examples, the first clamping part 310 can be fastened from the top of the guardrail 400 to the guardrail 400, thereby fixing the robot body 200 to the guardrail 400 so that the inspection robot 100 can obtain road traffic conditions on the guardrail 400.

[0062] In some examples, the first clamping part 310 abuts against the first side a1 of the guardrail 400, and based on the gravity G from the robot body 200 acting on the first clamping part 310, the first clamping part 310 applies a first clamping force F1 to the guardrail 400 along the first side a1 of the guardrail 400 and pointing to the second side a2 of the guardrail 400.

[0063] In some examples, the first clamping part 310 can be constructed as a plate.

[0064] In some examples, the first clamping part 310 can be configured as a wave plate.

[0065] In some examples, the cross-sectional profile of the first clamping member along the height direction H can be constructed as an arc.

[0066] In order to enable the inspection robot 100 to move back and forth on the guardrail 400, thereby expanding the inspection area of ​​the inspection robot 100 and obtaining road traffic conditions in real time, in some embodiments, the first clamping part 310 is in a rolling connection with the first side a1 of the guardrail 400, so as to drive the robot body 200 to move back and forth along the guardrail and improve the efficiency of obtaining road traffic information.

[0067] In some examples, the inspection robot 100 also includes a second gripping part 320, which is connected to the robot body 200 and abuts against the second side a2 of the guardrail 400.

[0068] In some examples, the second clamping part 320 is in a rolling connection with the second side a2, so that the second clamping part 320 applies a second clamping force F2 to the guardrail 400 along the second side a2 of the guardrail 400 and pointing to the first side a1 of the guardrail 400. The first clamping force F and the second clamping force F2 cooperate to realize that the robot body 200 is clamped to the guardrail 400.

[0069] In some embodiments, the second gripping part 320 drives the robot body 200 to move back and forth along the guardrail 400. The first side a1 and the second side a2 are opposite each other and located on the guardrail 400 along the width direction T1. In this way, the second gripping part 320 and the guardrail 400 are in a rolling connection on the second side a2, and the friction between them is rolling friction. Based on the principle that rolling friction is relatively low, the damage to the guardrail 400 caused by the second gripping part 320 rolling along the second side a2 is reduced.

[0070] The width direction of the guardrail 400 is consistent with the width direction of the road, and both can be represented by the width direction T1 in the attached diagram of the instruction manual.

[0071] In some examples, the second clamping part 320 can be configured as a roller.

[0072] In some examples, the second gripping part 320 is rotatably connected to the robot body 200 along its axial direction, thereby enabling the second gripping part 320 to roll along the second side a2.

[0073] It should be noted that the accompanying drawings in this application specification are only used to describe the cooperation relationship between the various structures in the technical solution. For example, in order to illustrate the structure of the second clamping part 320, Figure 3 There is a gap between the second clamping part 320 and the guardrail 400. In actual application, the positional relationship between the second clamping part 320 and the guardrail 400 is determined based on the text of the instruction manual.

[0074] In some embodiments, the first clamping part 310 is fixedly connected to the side wall of the robot body 200 near the guardrail 400 and extends from the side wall to the first side a1 of the guardrail 400 to abut against the first side a1 of the guardrail 400, which helps to reduce the material cost and processing cost of the first clamping part 310.

[0075] Figure 5 for Figure 1 A schematic diagram of the inspection robot 100 shown; Figure 6 for Figure 5 A structural schematic diagram of the inspection robot 100 from another angle; Figure 7 for Figure 5 A structural schematic diagram of the inspection robot 100 from one perspective; Figure 8 for Figure 5 Another structural schematic diagram of the inspection robot 100 shown; Figure 9 for Figure 5 A structural schematic diagram of the inspection robot 100 from another perspective; Figure 10 for Figure 5 This is a structural schematic diagram of the inspection robot 100 from another perspective. (See diagram below.) Figures 5 to 10 As shown, in some other embodiments, the first clamping part 310 includes a first part 311, the robot body 200 is located on the first part 311, and the robot body 200 is fixedly connected to the first part 311, so that the gravity of the robot body 200 acts on the first part 311 along the normal direction of the first part 311, reducing the component force loss when there is an angle between the extension direction T2 of the first part 311 and the gravity direction of the robot body 200, thereby increasing the gravity of the robot body 200 on the first part 311.

[0076] In some other embodiments, the first clamping part 310 further includes a second part 312, which is configured to be connected at an angle to the first side a1 of the guardrail 400. Since the first part 311 and the second part 312 are integrally constructed, the second part 312 is subjected to the same gravity of the robot body 200 as the first part 311, thereby increasing the first clamping force F1 applied to the guardrail 400.

[0077] In some examples, the first part 311 is located on the second side a2 of the guardrail 400, and the second part 312 is located on the first side a1 of the guardrail 400, so that the first gripping part 310 is mounted on top of the guardrail 400. In this way, the robot body 200 is located on top of the guardrail 400, which is beneficial for the robot to have a larger inspection range.

[0078] like Figure 10As shown, in some examples, the first dimension d1 of the first part 311 along the extension direction T2 of the guardrail 400 is equal to the dimension of the bottom of the robot body 200 along the extension direction T2 of the guardrail 400, in order to prevent the robot body 200 from falling due to instability of the center of gravity.

[0079] In some embodiments, the guardrail 400 includes a first guardrail plate 420 extending along the extension direction T2 of the guardrail 400. A first side a1 of the first guardrail plate 420 is located above its own second side a2. A second portion 312 abuts against the first side a1 of the first guardrail plate 420. A second clamping portion 320 abuts against the second side a2 of the first guardrail plate 420. This allows the inspection robot 100 to be clamped on the guardrail 400 and move along the guardrail 400 using only the first guardrail plate 420, reducing the area occupied by the inspection robot 100 on the guardrail 400.

[0080] In some examples, the first panel 420 is constructed as a plate, in which case the first panel 420 is formed by rotating the vertical plate counterclockwise at an acute angle along its horizontal edge.

[0081] In some examples, guardrail 400 is a three-wave plate, then the first guardrail plate 420 is the top wave plate of the three-wave plate, that is, the wave plate that is farthest from the ground among the three wave plates.

[0082] In some examples, vehicles travel along the road surface and need to utilize the road space in the height direction H. Road space is particularly important in road traffic, and any blind spots or obstructions can cause traffic accidents. Guardrails 400 are generally placed on both sides of the road. In order to reduce the impact of deploying the inspection robot 100 on the road space, in some embodiments, the first side a1 of the guardrail 400 is closer to the road than the second side a2 of the guardrail 400. Since the inspection robot 100 is located on the first part 311, and the first part 311 is located on the second side a2 of the guardrail 400, the inspection robot 100 is placed on the side of the guardrail 400 facing away from the road, thereby preventing the inspection robot 100 from occupying the road space.

[0083] In some embodiments, the mating surface 3121 of the second portion 312 that abuts against the first guardrail 420 is configured to make line contact with the first guardrail 420 to reduce the contact area between the second portion 312 and the first guardrail 420, thereby reducing the friction between them and thus preventing the inspection robot 100 from moving along the guardrail 400 and causing damage to the guardrail 400.

[0084] In some embodiments, the first panel 420 has an arcuate cross-sectional profile along its thickness direction, and the second part 312 is constructed as a plate so that the plate is tangentially fitted to the first panel 420.

[0085] The thickness direction of the first guardrail 420 can be understood as the width direction T1 of the road when the guardrail 400 is set on both sides of the road.

[0086] In the case where the second part 312 is constructed as a plate, the shape of the cross section of the plate along the width direction T1 of the road is rectangular.

[0087] In some examples, the top of the first panel 420 is rounded, so the plate can be tangent to the first panel 420 at the rounded top corner. In other examples, the bottom of the first panel 420 is rounded, so the plate can be tangent to the first panel 420 at the rounded bottom corner.

[0088] As another example, if the first panel 420 is constructed as an arc surface, then the panel can have a tangent line on the arc surface for contact with the panel, depending on the production situation.

[0089] In some embodiments, the second part 312 is constructed as a wave plate, which is attached to the first guardrail 420 along its own extension direction T2 to form multiple line contacts with the first side a1 of the first guardrail 420, which helps to increase the number of support points and thereby increase the load capacity of the inspection structure 220.

[0090] It is understandable that the wave plate exhibits a continuous undulating waveform along the extension direction T2.

[0091] Figure 11 for Figure 5 The diagram shows an exploded view of the inspection robot 100. Figure 11 As shown, the robot body 200 may include a first housing 201, a second housing 202 and a base 203, wherein the first housing 201 is mounted on the top of the second housing 202 and the base 203 is mounted on the bottom of the second housing 202, that is, the first housing 201 and the base 203 are located at opposite ends of the second housing 202 along the height direction H.

[0092] In some examples, the camera is mounted inside the first housing 201 of the robot body 200.

[0093] In some examples, the drive components are located in the base 203 of the robot body 200.

[0094] Figure 12 for Figure 5 A schematic diagram of the structure of the second clamping part 320 in the inspection robot 100 shown; Figure 13 for Figure 12 A schematic diagram of the structure of the second clamping part 320 from one perspective; Figure 14 for Figure 12 A structural schematic diagram of the second clamping part 320 from another perspective;Figure 15 for Figure 12 A schematic diagram of the exploded structure of the second clamping part 320 shown; Figure 16 for Figure 12 A structural schematic diagram of the second clamping part 320 from another perspective; Figure 17 The second clamping part 320 provided in the embodiments of this application is in Figure 16 A schematic diagram of the cross-sectional structure from a given perspective. For example... Figures 12 to 17 As shown, in order to achieve a rolling connection between the second clamping part 320 and the second side a2 surface of the guardrail 400 and to apply a second clamping force F2 to the guardrail 400, in some embodiments, the second clamping part 320 is configured as a belt drive structure, and the pulley 321 of the belt drive structure is rotatably connected to the robot body 200 along its own axis; the pulley 321 can roll along the second side a2 of the guardrail 400 under drive.

[0095] Among them, the pulleys 321 of the belt drive structure are spaced apart along the extension direction T2 of the guardrail 400, and the pulleys 321 are connected by belt 322, so that the load of the inspection structure 220 is evenly distributed on the multiple pulleys 321 of the belt drive structure, thereby achieving uniform load distribution and obtaining the effect of buffering and shock absorption, so as to improve the stability of the inspection robot 100 moving along the guardrail 400.

[0096] In some embodiments, the pulley 321 is rolled to the middle of the second side a2 of the guardrail 400 to form a large space between the pulley 321 and the robot body 200. This space can be used to deploy a power unit that powers the pulley 321, thereby increasing the spatial flexibility of deploying the power unit.

[0097] In some other embodiments, the pulley 321 is in a rolling connection with the first guardrail plate 420 of the guardrail 400. In this case, the second part 312 of the first clamping part 310 also abuts against the first guardrail plate 420 of the guardrail 400, realizing that the first clamping force F1 applied by the first clamping part 310 to the guardrail 400 and the second clamping force F2 applied by the pulley 321 to the guardrail 400 form a set of symmetrical clamping forces, thereby improving the stability of the inspection robot 100 clamped to the guardrail 400 and strengthening the stability of the overall structure. In addition, the robot body 200 is relatively close to the first guardrail plate 420, which helps to reduce the rotation diameter of the pulley 321 and make the structure more compact.

[0098] In some embodiments, the belt drive structure includes a plurality of pulleys 321, which are spaced apart and have an overall size slightly larger than that of the bottom of the robot body 200 along the extension direction T2 of the guardrail 400, in order to increase the contact area between the belt drive structure and the guardrail 400, thereby providing greater support force to support the inspection robot 100.

[0099] In some embodiments, the inspection robot 100 includes a drive unit that is connected to at least one pulley 321 in a belt drive structure to drive the belt drive structure. The at least one pulley 321 drives other pulleys 321 to roll along the guardrail 400 via a belt 322.

[0100] In some examples, the drive components are located within the base 203 of the robot body 200.

[0101] In some embodiments, pulley 321 includes a first pulley 3211, which serves as the driving pulley of the belt drive structure. The driving member is connected to the driving pulley to drive the driving pulley to rotate.

[0102] In some embodiments, pulley 321 further includes a second pulley 3212, which serves as the driven pulley of the belt drive structure. The driving pulley drives the second pulley 3212 to roll together along the guardrail 400 via belt 322.

[0103] In some embodiments, the pulley 321 of the belt drive structure is recessed inward along its circumference to form a guide groove 323, and the belt 322 is located within the guide groove 323, so that the hub surface of the pulley 321 that does not correspond to the guide groove 323 is in rolling contact with the first side a1 of the guardrail 400. In addition, the belt 322 being located within the guide groove 323 facilitates the positioning of the belt 322 and also helps to prevent the belt 322 from shifting during the movement of the inspection robot 100, thereby improving the stability of the inspection robot 100 moving along the guardrail 400.

[0104] In some embodiments, the belt drive structure includes a plurality of rotating shafts 324, each rotating shaft 324 passing through and rotatably connected to a pulley 321. It is understood that, in order to achieve the transmission connection between the pulley 321 and the rotating shaft 324, the pulley 321 has a through hole formed at its axial center for rotatably connecting with the rotating shaft 324. Exemplarily, the pulley 321 and the rotating shaft 324 can be rotatably connected by a key.

[0105] In some embodiments, the belt drive structure further includes two positioning plates 325, which are spaced apart on a plurality of rotating shafts 324 so that a plurality of pulleys 321 are located between the two positioning plates 325, thereby positioning the pulleys 321 along their own axial direction.

[0106] In some examples, multiple pulleys 321 are arranged side-by-side along the moving direction of the inspection robot 100 (the extension direction T2 of the guardrail 400), and multiple rotating shafts 324 are rotatably connected to the multiple pulleys 321 respectively; the multiple rotating shafts 324 have a first end and a second end relative to the pulleys 321. One positioning plate 325 is spaced and sleeved on the first end of the multiple rotating shafts 324; another positioning plate 325 is spaced and sleeved on the second end of the multiple rotating shafts 324, thereby positioning the multiple pulleys 321 between the two positioning plates 325 to achieve axial restriction of the pulleys 321.

[0107] like Figure 16 As shown, in order to distinguish the two positioning plates 325, the positioning plate 325 closer to the power device is designated as the first positioning plate 3251, and the other is designated as the second positioning plate 3252.

[0108] In some embodiments, a mounting hole (not shown) is provided on the first positioning plate 3251 corresponding to the first pulley 3211, and the mounting hole is coaxially connected to the sleeve 326; the rotating shaft 324, which is rotatably connected to the first pulley 3211, extends into the sleeve 326 to be connected to the drive component for transmission. In this way, the sleeve 326 surrounds the rotating shaft 324 corresponding to the first pulley 3211 and the transmission structure connected to the drive component, thereby helping to prevent flying sand and stones from getting stuck in the transmission structure and causing mechanical failure, thus ensuring the structural stability of the second clamping part 320.

[0109] In some embodiments, the second clamping part 320 further includes a nut 3241. A fixing hole (not shown) is provided on the first positioning plate 3251 corresponding to the second pulley 3212. The rotating shaft 324 corresponding to the second pulley 3212 passes through the fixing hole and protrudes from the first positioning plate 3251. The nut 3241 is sleeved on the rotating shaft 324 protruding from the first positioning plate 3251 to achieve positioning of the rotating shaft 324 along its own axial direction.

[0110] In some embodiments, the rotating shafts 324 corresponding to the two outermost pulleys 321 of the belt drive structure are embedded in the grooves on the first positioning plate 3251 facing the second positioning plate 3252 and are rotatably connected to the grooves to achieve positioning of the rotating shafts 324 along their own axial direction.

[0111] In some other embodiments, the connection between the pulley 321 (including the first pulley 3211 and the second pulley 3212) and the second positioning plate 3252 can be such that the rotating shaft 324 corresponding to the pulley 321 is embedded in the groove of the second positioning plate 3252 facing the first positioning plate 3251, and the rotating shaft 324 is rotatably connected to the groove to achieve positioning of the rotating shaft 324 along its own axial direction.

[0112] In some examples, the number of grooves on the second positioning plate 3252 is equal to the number of pulleys 321 in the belt drive structure, and the opening shape of the groove is circular, and the opening size of the groove matches the cross-sectional size of the rotating shaft 324.

[0113] In some embodiments, the second dimension d2 of the positioning plate 325 along the width direction T1 is smaller than the radial dimension of the pulley 321 to prevent interference between the positioning plate 325 and the guardrail 400.

[0114] In some embodiments, the second clamping part 320 further includes a gasket, which is sleeved on the rotating shaft 324 and located between the positioning plate 325 and the nut 3241, to reduce the damage to the positioning plate 325 caused by the relative friction of the nut 3241 during the rolling process.

[0115] In some examples, the belt drive structure includes eight pulleys 321 arranged side-by-side along the extension direction T2 of the guardrail 400. The third and sixth pulleys 321 are the first pulleys 3211, and the remaining pulleys 321 are driven pulleys. A drive unit is connected to the third and sixth pulleys 321, while the other pulleys 321 are connected to them via belts 322. The drive unit drives the third and / or sixth pulleys 321 to rotate, thus enabling the belt drive structure to roll along the extension direction T2 of the guardrail 400. In this way, if the third or sixth pulley 321 fails, the drive unit can be adjusted to drive the rotation of the other pulley, preventing the inspection robot 100 from becoming completely inoperable due to the failure of one pulley 321.

[0116] It should be noted that the above-mentioned belt drive structure including 8 pulleys 321 is an example of a belt drive structure, and the embodiments of this application do not limit the structure of the pulleys 321 in the belt drive structure.

[0117] It should be noted that the third and sixth pulleys 321 among the above eight pulleys 321 are examples of the first pulley 3211. The embodiments of this application do not limit the number and position of the first pulleys 3211 in the belt drive structure.

[0118] Based on the same concept, this application also provides a robot inspection system, which includes a charging device 600 and the aforementioned inspection robot 100. The charging device 600 is disposed next to the guardrail 400 and is used to supply power to the inspection robot 100.

[0119] In some examples, the technical solution of the inspection robot 100 can refer to the aforementioned implementation method of the inspection robot 100.

[0120] It should be noted that the robot inspection system and the aforementioned inspection robot are based on the same concept. Therefore, the robot inspection system and the inspection robot have the same or similar technical effects, which will not be elaborated here.

[0121] 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.

[0122] 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. An inspection robot capable of moving back and forth along a guardrail, characterized in that, The inspection robot includes: The robot body is used to deploy inspection structures to obtain road traffic information. A first clamping part is connected to the robot body and abuts against the first side of the guardrail; The second clamping part is connected to the robot body and abuts against the second side of the guardrail; wherein, the first clamping part or the second clamping part is in a rolling connection with the guardrail, driving the robot body to move back and forth along the guardrail; the first side and the second side are located on the guardrail along the width direction of the guardrail.

2. The inspection robot according to claim 1, characterized in that, The first clamping part is constructed as a first part and a second part connected at an angle, the robot body is located on the first part, and the robot body is fixedly connected to the first part, wherein the first part is located on the second side of the guardrail; The second part is located on the first side of the guardrail so as to abut against the first side of the guardrail.

3. The inspection robot according to claim 2, characterized in that, The guardrail includes a first guardrail panel that extends along the extension direction of the guardrail, with a first side of the first guardrail panel located above its own second side. The second part abuts against the first side of the first guardrail; the second clamping part abuts against the second side of the first guardrail.

4. The inspection robot according to claim 3, characterized in that, The first side of the guardrail is closer to the road than the second side of the guardrail.

5. The inspection robot according to claim 3, characterized in that, The mating surface of the second part that abuts against the first guardrail is configured to be in line contact with the first guardrail.

6. The inspection robot according to claim 5, characterized in that, The first panel has an arc-shaped cross-sectional profile along its thickness direction; The second part is constructed as a plate so that the plate is tangentially fitted to the first railing.

7. The inspection robot according to claim 5, characterized in that, The second part is constructed as a wave plate, which is attached to the first railing along its own extension direction.

8. The inspection robot according to any one of claims 1 to 7, characterized in that, The second clamping part is in a rolling connection with the second side of the guardrail, and the second clamping part is configured as a belt drive structure, wherein the pulley of the belt drive structure is rotatably connected to the robot body along its own axis; The pulley is able to roll along the second side of the guardrail under drive.

9. The inspection robot according to claim 8, characterized in that, The belt drive structure includes multiple pulleys, which are connected by a belt drive. The plurality of pulleys are recessed inward along their own circumference to form guide grooves, and the belt is located in the guide grooves.

10. The inspection robot according to claim 9, characterized in that, The belt drive structure includes multiple rotating shafts, each of which passes through the pulley and is rotatably connected to the pulley. The belt drive structure further includes two positioning plates, which are spaced apart and sleeved on the plurality of rotating shafts so that the plurality of pulleys are located between the two positioning plates.

11. A robotic inspection system, characterized in that, It includes a charging device and an inspection robot according to any one of claims 1 to 10, wherein the charging device is disposed next to the guardrail and is used to power the inspection robot.

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