CN211603941U - Rail inspection robot avoidance device and avoidance system - Google Patents

Abstract

The utility model discloses and provides a track patrols and examines robot and dodges device and dodge the system, makes many sets of tracks patrol and examine the robot and can accomplish the multizone and jointly and replace the function of patrolling and examining or putting out a fire through dodging. The utility model adopts the technical proposal that: the utility model discloses a track is patrolled and examined robot and is dodged device, the track is patrolled and examined the robot and is displaced in the main orbit, is provided with a plurality of districts of dodging on the main orbit, dodges the device and includes device main part and two perpendicular tracks, and the lower part of device main part is provided with two device tracks, device main part and perpendicular track sliding fit, and two device tracks all can dock with the main track. The utility model discloses can be used to the technical field of track robot.

Description

A track inspection robot avoidance device and avoidance system

technical field

The utility model relates to the technical field of orbital robots, in particular to an avoidance device and an avoidance system for an orbital inspection robot.

Background technique

The inspection robot is composed of mobile carrier, communication equipment and testing equipment, etc. It adopts remote control or fully autonomous operation mode, and takes the track as the travel and navigation path of the robot.

Fire partition refers to a local area (space unit) divided by fire partition measures that can prevent fire from spreading to the rest of the same building within a certain period of time. The measure of dividing fire zones in a building can effectively control the fire within a certain range in the event of a fire in the building, reduce fire losses, and at the same time provide favorable conditions for the safe evacuation of personnel and fire fighting. In order to protect the equipment, prevent the expansion of fire accidents and the convenience of handling in the building where the electrical equipment is installed, the regional isolation of the equipment is also achieved by dividing the fire zone.

At present, multiple sets of inspection robots are designed in the substations and power pipe corridors of the power system to inspect the equipment and its installation areas. At the same time, multiple sets of fire-fighting track inspection robots are designed on the same track to extinguish fires. However, in the existing design, because there is only one main track, when a certain inspection robot is repaired or a fire occurs in a fire zone, other areas The inspection robot or fire-fighting track inspection robot inside is difficult to cross and reach the area because it is blocked, so it cannot be replaced by other robots for inspection, there will be inspection blind spots and the fire cannot be extinguished in time.

Utility model content

The technical problem to be solved by the utility model is to provide a track inspection robot avoidance device and avoidance system, so that multiple sets of track inspection robots can complete the functions of multi-area combination and replacement inspection or fire extinguishing by avoiding.

The technical scheme adopted by the utility model is:

The utility model comprises a track inspection robot avoidance device, which is arranged in a main track, a track inspection robot is arranged on the main track, and a plurality of avoidance areas are arranged on the main track. The avoidance device includes a device main body and a device body. Two vertical rails that are perpendicular to the main rail and located above both ends of the avoidance area, the lower part of the device body is fixedly provided with two device rails parallel to the main rail, the main rail , The vertical track and the device track are both I-beams, the device body is slidingly matched with the vertical track, and the two device tracks can be slid on the vertical track through the device body. The main rails are butted against each other.

The upper surface of the main body of the device is provided with two grooves, and a driving wheel and a guide wheel are arranged in the grooves at intervals. The guide wheels are laterally arranged and matched with the inner side surfaces of the I-shaped grooves of the vertical rails.

Both end parts of the device track are provided with edge signs of the avoidance area, and the middle part of the device track is provided with four avoidance area stop signs and three parking position micro-motion contacts, the avoidance area stop signs and the stop Position micro-motion contacts are set alternately at intervals.

The track inspection robot includes a main body and a sensor, a driver and a transmission unit arranged in the main body. The upper part of the main body is symmetrically provided with two vertical plates, and the inner side of the vertical plate is provided with a number of driving rollers, a number of a guide pinch wheel and three elastic protrusions; the track inspection robot rolls with the device track or the I-beam structure of the main track through the drive roller and the guide pinch wheel; the The edge mark of the avoidance area and the stop mark of the avoidance area are matched with the electrical signal of the sensor, and the cooperation is used to judge the position of the track inspection robot in the device track; the parking position micro-motion contact and The elastic protrusions are matched, and the cooperation is also used for judging the position of the track inspection robot in the device track.

The front and rear of the main body are each designed with two elastic buffer contact elements, two adjustable lighting lamps, an adjustable camera and a navigation obstacle avoidance radar that can meet the requirements of low-speed collision contact.

There is a wall above the main track, a plurality of suspension columns are arranged on the lower end surface of the wall body, and the vertical rail and the main rail are fixedly connected through the suspension columns.

The avoidance device further includes a power supply, a drive motor, a display module, a control unit, a position signal collection unit, a status signal collection unit, a communication unit, and an operation and abnormality judgment unit, the drive motor is matched with the drive wheel, and the The position signal collection unit cooperates with the electrical signal of the sensor, the state signal collection unit includes a temperature collector, a humidity collector and a current signal collector, and both the position signal collection unit and the state signal collection unit are electrically connected to The operation and abnormality determination unit, the operation and abnormality determination unit is electrically connected with the control unit, the control unit is electrically connected with the communication unit, the drive motor and the display module, and the communication unit is electrically connected through the Wireless communication cooperates with the track inspection robot signal.

The track inspection robot is an inspection track inspection robot or a fire extinguishing track inspection robot or an integrated track inspection robot with inspection and fire extinguishing.

The utility model further includes a track inspection robot avoidance system, the track inspection robot avoidance system includes a main track, a track inspection robot avoidance device and at least two track inspection robots, and the two track inspection robots are in The main rail is displaced, and the main rail is provided with a charging device at both ends of one side of the vertical rail. The charging device is provided with a charging controller, and the charging device is used for the rail inspection. The robot is charged, the charging controller, the avoidance device and the track inspection robot all have a wireless communication interface, and the wireless communication interface communicates with the wireless communication interface of the track inspection robot avoidance system. The orbit inspection robot avoidance devices cooperate with each other through wireless communication.

The beneficial effects of the utility model are as follows: the avoidance device of the track inspection robot of the present invention, by establishing the avoidance area, on the one hand does not change the layout of the existing main track and the inspection method of the track inspection robot, and only needs to adjust the Some of the original track sections have been improved to add a double-track avoidance section that can move laterally, that is, the vertical track; on the other hand, the double-track avoidance section and the main track are automatically docked and switched to realize the cross avoidance of different robots, so that multiple fire protection areas can be shared. Multiple sets of track inspection robots; the use of this track inspection robot avoidance device can effectively improve the convenience and flexibility of operation and maintenance, and can also effectively improve the rapid fire extinguishing ability, and can effectively improve the rapid fire extinguishing ability in a large space. The design of the utility model is based on the principle of avoidance. On the one hand, the requirements of multi-machine joint inspection, cross avoidance, and multi-machine intensive inspection in key areas are realized; Function; effectively improve the convenience and flexibility of operation and maintenance. The design of the utility model is based on the principle of avoidance. On the one hand, it realizes the requirements of multi-machine joint fire-fighting, cross avoidance, and multi-machine intensive and rapid fire-fighting in fault areas; Alternative function; effectively improve the rapidity and reliability of fault extinguishing.

Description of drawings

Fig. 1 is the structural schematic diagram of the track inspection robot avoidance device;

Figure 2 is a schematic structural diagram of another angle of the track inspection robot avoidance device;

Fig. 3 is the structural representation of the main body of the device;

Fig. 4 is a schematic diagram of a track inspection robot patrolling;

Fig. 5 is the schematic diagram of avoidance device;

Fig. 6 is the inspection schematic diagram of the track inspection robot A and the track inspection robot B;

Fig. 7 is the schematic diagram of track inspection robot A performing avoidance;

8 is a schematic diagram of abnormal maintenance and avoidance of the track inspection robot B;

FIG. 9 is a schematic structural diagram of a track inspection robot;

10 is a schematic structural diagram of another angle of the track inspection robot;

Figure 11 is a schematic diagram of multi-machine joint fire extinguishing;

Figure 12 is a schematic diagram of multi-machine joint fire fighting and avoidance;

FIG. 13 is a schematic diagram of communication of the track inspection robot avoidance system.

Detailed ways

As shown in FIG. 1 to FIG. 13 , the specific embodiment is as follows: the present invention provides an avoidance device for a track inspection robot, which may be referred to as an avoidance device 30 hereinafter. It is especially suitable for equipment areas such as indoor substations, power pipe corridors and other pipe corridors or rail transit systems that use rail robots for inspection.

The avoidance device 30 is arranged in the main track 1, the main track 1 is provided with a track inspection robot 10, the track inspection robot 10 is displaced in the main track 1, and the track inspection robot 10 is an inspection track inspection robot 11 or the fire-fighting track inspection robot 12 or the inspection and fire-fighting integrated track inspection robot 13. The main track 1 is provided with a number of avoidance areas 2, and the avoidance device 30 is arranged in the avoidance area 2. The avoidance device 30 includes a device main body 31 and two perpendicular to the main track 1 and located in the The vertical rails 32 above both ends of the avoidance area 2, the lower part of the device main body 31 is fixedly provided with two device rails 33 parallel to the main rail 1, the main rail 1, the vertical rail 32 Both the device rail 33 and the device rail 33 are I-beams, the device main body 31 is slidingly matched with the vertical rail 32, and both the device rails 33 can slide on the vertical rail 32 through the device main body 31. Opposite to the main rail 1, the upper surface of the device main body 31 is provided with two grooves 34, the grooves 34 are provided with a driving wheel 35 and a guide wheel 36 at intervals, and the driving wheel 35 is vertically arranged The guide wheel 36 is arranged laterally and matched with the inner side of the I-shaped groove of the vertical rail 32 .

Both end parts of the device track 33 are provided with edge marks 37 of the avoidance zone, and the middle part of the device track 33 is provided with four avoidance zone parking marks 38 and three parking position micro-motion contacts 39, and the avoidance zone stops. The signs 38 and the parking position micro-motion contacts 39 are arranged alternately at intervals. The track inspection robot 10 includes a main body 90 , a sensor 41 , a driver and a transmission unit arranged in the main body 90 . The upper part of the main body 90 is symmetrical Two vertical plates 94 are provided. The inner side of the vertical plate 94 is provided with a number of driving rollers 95, a number of guide pressing wheels 96 and three elastic protrusions 91. Two elastic buffer contact elements 92 , two adjustable lighting lamps 97 , an adjustable camera 98 and a navigation obstacle avoidance radar 99 ; the track inspection robot 10 passes through the driving roller 95 and the guide pressing wheel 96 The device track 33 or the I-beam structure of the main track 1 is rolled and matched; the edge mark 37 of the avoidance area and the stop mark 38 of the avoidance area all cooperate with the electrical signal of the sensor 41, and the cooperation It is used for judging the position of the track inspection robot 10 in the device track 33 ; the parking position micro-motion contact 39 cooperates with the elastic protrusion 91 , and this cooperation is also used in the device track 33 Determine the position of the track inspection robot 10 . When the track inspection robot 10 enters the track inspection robot avoidance device, the precise position is determined by double identification of the edge mark 37 of the avoidance zone, the stop mark 38 of the avoidance zone, and the micro-motion contact 39 of the parking position.

There is a wall 5 above the main rail 1 , a plurality of hanging posts 51 are arranged on the lower end surface of the wall 5 , and the vertical rail 32 and the main rail 1 are fixedly connected through the hanging posts 51 .

The avoidance device 30 further includes a power supply 61, a drive motor 62, a display module 63, a control unit 64, a position signal acquisition unit 65, a status signal acquisition unit 66, a communication unit 67, and an operation and abnormality judgment unit 68. The drive motor 62 In cooperation with the drive wheel 35, the position signal acquisition unit 65 cooperates with the electrical signal of the sensor 41, and the state signal acquisition unit 66 includes a temperature collector, a humidity collector and a current signal collector. The signal acquisition unit 65 and the state signal acquisition unit 66 are both electrically connected to the operation and abnormality determination unit 68, the operation and abnormality determination unit 68 is electrically connected to the control unit 64, and the control unit 64 is electrically connected to the The communication unit 67 , the driving motor 62 and the display module 63 are electrically connected, and the communication unit 67 cooperates with the track inspection robot 10 through wireless communication.

The track inspection robot 10 is an inspection track inspection robot 11 or a fire extinguishing track inspection robot 12 or an integrated track inspection robot 13 for inspection and fire extinguishing.

The utility model also includes a track inspection robot avoidance system, hereinafter referred to as the avoidance system, which includes the main track 1 and the track robot avoidance device 30, the main track 1 and the track inspection robot avoidance device 30, so The main track 1 and the track inspection robot avoidance device 30 are provided with at least two of the track inspection robots 10, and both ends of the main track 1 on one side of the vertical track 32 are correspondingly provided with charging devices. 7. The charging device 7 is provided with a charging controller, and the charging device 7 charges the track inspection robot 10. The charging controller, the avoidance device 30 and the track inspection robot 10 all have A wireless communication interface, and the wireless communication interface communicates and cooperates with the wireless communication interface of the track inspection robot avoidance system, and the track inspection robot avoidance devices 30 communicate wirelessly with each other.

In this specific embodiment, the device main body 31 actually has only two standard workstations when the device main body 31 moves on the vertical rail 32 , respectively corresponding to the position of the device main body 31 when the two device rails 33 and the main rail 1 are in contact with each other. the location. The avoidance device 30 can realize "mutual avoidance" and "cross-passing" of the track inspection robot 10. The avoidance device 30 can be "switched" to realize the "track A section" and "track section" of the "dual track" which are parallel to each other. Section B" and the main track 1 are exchanged and docked, and the "dual track" is the vertical track 32. As shown in FIG. 4 , during normal operation, the track inspection robot 10 (for fire extinguishing) is the fire extinguishing track inspection robot 12, and the track inspection robot 10 (for inspection), that is, the track inspection robot 11, is on the main track. 1, to realize the inspection of the relevant fire protection zone 8; the fire-fighting track inspection robot 12 stops on one of the tracks of the avoidance zone 2, and is located in a position that does not affect the inspection of the inspection track inspection robot 11.

In this specific embodiment, each vertical rail 32 is designed with seven suspenders 51 uniformly, and one of the suspenders 51 is arranged just above the straightness of the main rail 1, so as to ensure that the main body 31 of the device 31 is in two standard working conditions. When in position, ensure that there are 4 directly bearing suspenders 51 above it.

In this specific embodiment, as shown in FIG. 2 , one avoidance zone edge marker 37 is designed at both ends of each section of the device track 33 , two in total; when the sensor 41 on the track inspection robot 10 recognizes the When the edge of the avoidance area is marked 37 , the track inspection robot 10 determines that it has entered or left the avoidance area 2 .

Each section of the device track 33 is designed with 4 avoidance area stop signs 38. When the advance direction sensor 41 of the track inspection robot 10 recognizes the first avoidance area stop sign 38, the track inspection robot 10 judges that it has entered the The "parking position" of the avoidance area 2 starts to execute the deceleration 1 and stop procedures; when the advancing direction sensor 41 of the track inspection robot 10 recognizes the second avoidance area stop sign 38, the track inspection robot 10 judges that Having entered the middle of the "parking position" in the avoidance area, start the deceleration 2 and stop procedures; when the track inspection robot 10's forward direction sensor 41 recognizes the third avoidance area stop sign 38, the track The inspection robot 10 judges that it has entered the over-center position of the "parking position" in the avoidance area, and starts to execute the deceleration 3 and stop procedures; when the track inspection robot 10's forward direction sensor 41 recognizes that the fourth avoidance area is parked At the time of marking 38, at the same time, when the forward reverse sensor 41 of the track inspection robot 10 recognizes the parking mark 38 in the first avoidance area, the track inspection robot 10 judges that it has completely entered the "parking position" of the avoidance area. , the track inspection robot 10 stops moving. With this design, the track inspection robot 10 can be decelerated step by step and parked smoothly and accurately.

Each section of the device track 33 is designed with three parking position micro-motion contacts 39, and three elastic protrusions 91 are correspondingly provided on the track inspection robot 10. When the three elastic protrusions 91 of the track inspection robot 10 are all connected with the 3 When the micro-motion contacts 39 of each of the parking positions are in contact, and the micro-motion contacts 39 of the three parking positions on the section of the track are all turned on and the turn-on time is greater than the settable time A, the avoidance device 30 determines that the track inspection robot 10 is normal Stop in this avoidance area; when the three elastic protrusions 91 of the track inspection robot 10 are all in contact with the three stop position micro-motion contacts 39 on a certain track, and make the two front and rear (the middle one is not connected) on the track to stop When the position micro-motion contacts 39 are all turned on and the on-time is longer than the settable time A, the avoidance device 30 determines that the track inspection robot 10 is parked in the avoidance area normally, and the intermediate stop position of the micro-motion contacts 39 is abnormal, and the avoidance device 30 sends an abnormal alarm signal to the avoidance system; when the three elastic protrusions 91 of the track inspection robot 10 all come into contact with the micro-motion contacts 39 at the three parking positions on a certain section of the track, and make 1 to 2 (excluding the The front and back two are connected together) When the micro-motion contact 39 at the parking position is turned on and the turn-on time is greater than the settable time A, the avoidance device 30 determines that there is a track inspection robot 10 parked in the avoidance area, but it cannot be confirmed whether it is parked normally or not. The avoidance device 30 sends an abnormal alarm signal to the avoidance system. At this time, the track inspection robot 10 received from the avoidance system is judged to have parked normally through the position identified by its sensor 41, and the avoidance device 30 judges that the parking is normal; at this time, the avoidance system is received. The sent track inspection robot 10 is judged to be parked abnormally through the position identified by its sensor 41, and the avoidance device 30 is judged to be not parked normally; in this case, the judgment result of the avoidance system cannot be received, and the avoidance device 30 is judged to be normal to not park; when When it is judged that the parking is abnormal, the avoidance device 30 starts the abnormal alarm and lights up until the abnormality disappears. At the same time, the avoidance device 30 does not perform the avoidance operation in order to prevent equipment damage.

In this specific embodiment, each groove 34 is designed with 4 pairs of guide wheels 36 and 3 pairs of driving wheels 35, wherein the driving wheels 35 are connected with the speed regulating gear in the main body 31 of the device through the "transmission shaft", and the speed regulating gear is connected by the "transmission shaft". The transmission chain is connected with the power adjustment transmission unit in the device main body 31 , and the transmission gear in the power adjustment transmission unit is connected with the output gear of the drive motor 62 to obtain power; the drive motor 62 is controlled by the control unit 64 of the avoidance device 30 and Obtain information such as forward and backward power, rotation time and speed.

In this specific embodiment, as shown in FIG. 5 , the position signal collection unit 65 is responsible for collecting the states of the three micro-motion contacts 39 at the parking positions, and sends the collected states to the operation and abnormality judging unit 68; the state signal collection unit 66 is responsible for collecting "environmental temperature state", "environmental humidity state", "drive motor current", and uploading the above collection results to the operation and abnormality judgment unit 68; According to the state information of the micro-motion contacts 39 at the three parking positions, the parking state of the track inspection robot 10 is judged according to the preset criteria, and the results are sent to the control unit 64; the operation and abnormality judgment unit 68 collects the state signals by receiving The ambient humidity value sent by the unit 66, according to the preset curve, adjusts the control speed and control time of the drive motor 62, and has less influence on the temperature; the operation and abnormality judgment unit 68 receives the drive motor operating current value, according to the preset value. It is judged whether there is "abnormal transmission circuit or abnormal track". When the running current of the drive motor 62 is greater than the settable value 1 and the duration is greater than the settable value M, it is judged as "the transmission circuit is abnormal with large resistance or the track is abnormal"; when the driving motor 62 When the running current is less than the settable value 2 and the duration is greater than the settable value N, it is judged as "abnormal idling of the transmission circuit". When the operation and abnormality judging unit 68 judges that "the transmission circuit is abnormal or the track is abnormal" or "the transmission circuit is abnormally idling", the information is sent to the control unit 64, and the control unit 64 notifies the display module 63 to light up until the abnormality disappears. On the other hand, the control unit 64 sends an alarm signal of “abnormal transmission circuit or abnormal track” or “abnormal idle running of transmission circuit” to the orbit robot avoidance system via the communication unit 67 .

In this specific embodiment, the power supply 61 converts the input working power supply into a constant voltage, on the one hand, as the working power supply of the avoidance device 30, and on the one hand as the driving power supply for the driving motor 62, to ensure that the rotational speed of the driving motor 62 is stable.

The control unit 64 is the core of the avoidance device 30, and is connected to the operation and abnormality judgment unit 68 to receive the operation and abnormality judgment results; it is connected to the power supply 61 to obtain a standard voltage and output to the motor controller; it is connected to the communication unit 67 to realize and avoid the system. It is connected with the driving motor 62 to issue motor speed, time control commands, and output standard voltage; it is connected with the display module 63, so that the display module 63 outputs the "normal operation" and "abnormal operation" signals, and the display module 63 may be an indicator light.

The utility model also provides a charging method and device in an orbital robot avoidance system. One avoidance area corresponds to two charging devices 7, and the charging devices 7 can be charging piles. A charging device 7 has one charging interface, that is, one avoidance area is designed with two charging interfaces, namely “charging A” interface and “charging B” interface. The two charging interfaces are controlled by one charging device, and the charging device communicates wirelessly. The antenna can exchange information with the track inspection robot 10 to realize the information exchange and monitoring of the charging state and the running state of the charging device. The normal driving track inspection robot 10 will monitor its own battery capacity and the position of the charging device in real time, and select the best charging device position according to the driving speed, the decreasing speed of the battery capacity and the position of the charging device in the forward direction. Charging position: After the best charging device position has been applied for and reserved by other track inspection robots 10, the normal running track inspection robot 10 will apply for the second best charging device position until the reservation is successful. When the orbital robot enters charging avoidance, the orbital robot avoidance device 30 switches the orbital inspection robot 10 to the avoidance position, and the orbital robot avoidance device sends the charging device at this position and the orbital robot avoidance system the information that the docked robot needs to be charged, and the charging device drives the The "Charging A" or "Charging B" interface charges the robot. When the charging device determines that the track inspection robot 10 parked in the charging area is completed, the charging device drives the "charging A" or "charging B" interface to stop charging the robot. The charging device can be a non-contact charging method. When the orbital robot avoidance device switches the orbital inspection robot 10 to the avoidance position, the “charging A” or “charging B” interface and the charging receiving end of the person are in the optimal charging gap range. Inside. The biggest advantage of the charging method designed by the present invention is that the charging of the orbital inspection robot 10 does not affect other orbital inspection robots 10 to continue to work; the non-contact charging method is adopted to meet the passive charging requirement of the non-electric robot being rescued to the avoidance area.

The utility model also provides an avoidance method applied to the avoidance system. The method is as follows: when the track inspection robot A and the track inspection robot B move toward each other on the main track 1, the track inspection robot A can autonomously or accept the avoidance system. After receiving the system avoidance command, start the avoidance procedure. The avoidance procedure is to first determine the no-load avoidance area 2 closest to the track inspection robot A. Then, the track inspection robot A enters the avoidance area 2 and lands on one of the avoidance devices 30. On the device track 33 , then, the avoidance device 30 is activated to make the other device track 33 dock with the main track 1 and make the track inspection robot A detach from the main track 1 .

Track inspection robot B can also change the inspection speed independently or change the inspection speed after receiving the command of the avoidance system to adjust the inspection speed, and after obtaining the track inspection robot A has successfully achieved avoidance, it can pass through the avoidance area 2 to achieve safe crossing Inspection.

When the track inspection robot B is abnormal but can still walk autonomously, at this time, the track inspection robot B independently judges or determines the closest unloaded avoidance area 2 through the avoidance system, and then starts the maintenance and avoidance rescue procedure. The maintenance and avoidance rescue procedure is: The track inspection robot B enters the avoidance area 2 autonomously and makes the track inspection robot B escape from the main track 1 through the avoidance device 30 in the avoidance area 2, or when the track inspection robot B is abnormal and cannot walk autonomously, the track inspection robot B The robot avoidance system sends the track inspection robot B's non-updated position and the closest empty avoidance area 2 to track inspection robot A, and starts the maintenance avoidance rescue program, which is promoted by track inspection robot A. The track inspection robot B enters the avoidance area, and makes the track inspection robot B escape from the main track 1 through the avoidance device 30 in the avoidance area 2 .

When the track inspection robot B starts the maintenance and avoidance rescue procedure, the avoidance system assigns the inspection task of the track inspection robot B to the track inspection robot A.

One or more track inspection robots 10 are arranged on the main track 1 to perform inspection, and after setting the inspection type and inspection frequency for the track inspection robot 10, the avoidance system sends the inspection method information to the said track inspection robot 10. The orbital inspection robot 10 and each orbital robot avoidance device 30 and the charging device 7, the orbital inspection robot 10 replies to receive the inspection mode information and has the conditions to complete the inspection task, and then the orbital robot avoidance device 30 is required. Reply to receive the inspection mode information, otherwise the avoidance system will set the location of the orbital robot avoidance device 30 as an area that cannot be inspected. In addition, the charging device 7 needs to reply to the inspection mode information, otherwise the avoidance system will The location of the charging device 7 is planned to be a non-charging parking location; when the avoidance system demarcates a specific key inspection area on the main track 1 , the number of the track inspection robots 10 is set to at least four.

The track inspection robot 10 includes two types of inspection track inspection robots 11 dedicated to inspection and fire extinguishing track inspection robots 12 dedicated to fire extinguishing. When the track inspection robot 10 inspects a certain area of the main track 1, it finds a fire hazard. At the same time, the track inspection robot 10 sends fire information and the location of the fire area to the avoidance system and related track inspection robots 10, track robot avoidance devices 30, and charging devices 7 in the nearby area, and the avoidance system starts the avoidance fire extinguishing preset program. After that, the patrol inspection robots 11 all enter the avoidance area to avoid, and the avoidance system notifies a specified number of fire-fighting orbit inspection robots 12 to go to the fire area. When the fire extinguishing is required, the fire extinguishing agent will be released at the same time. When the patrol inspection robot 11 cannot automatically drive to the avoidance area for avoidance, the corresponding fire extinguishing track inspection robot 12 starts the maintenance and avoidance rescue procedure to rescue and make it impossible to automatically The inspection track inspection robot 11 traveling to the avoidance area is sent into the avoidance area for avoidance.

The avoidance method can realize the inspection of the track inspection robot 10 in the underground tunnel or pipe gallery, that is, it can reciprocate inspection in a fixed area, and can also realize the crossing, reciprocating or reciprocating inspection in any tunnel or pipe gallery connected to the area. For cyclic inspection, the inspection area is not limited by the arrangement of charging facilities, nor is it limited by whether other track inspection robots 10 are in a charging state, nor is it limited by whether other track inspection robots 10 are out of service. The use of the method and the corresponding equipment can greatly improve the ability of the track inspection robot 10 to perform related inspection tasks.

In this specific embodiment, a track inspection robot A and a track inspection robot B are arranged in the two avoidance areas 2 on the main track 1, and the track inspection robot A and the track inspection robot B are both responsible for inspection. Track inspection robot 11; track inspection robot C and track inspection robot D are arranged in the other two avoidance areas 2. Track inspection robot C and track inspection robot D are both fire-fighting track inspection robots responsible for fire fighting. Inspection robot 12; charging devices 7 are designed in the four avoidance areas 2, which can be used for charging the inspection track inspection robot 11 and the fire-fighting track inspection robot 12; during normal operation, the track inspection robot C and the track inspection robot D each parked in the avoidance area 2 and is in a floating charging state. The track inspection robot A and the track inspection robot B conduct inspections on the main track 1 according to their respective inspection tasks.

①Description of avoidance between track inspection robots:

In the present invention, the patrol inspection robot 11 , the fire extinguishing track inspection robot 12 , the avoidance device 30 and the avoidance system are all designed with wireless communication interfaces and functions, and the same type of equipment can independently exchange information; exchange information.

The track inspection robot A and the track inspection robot B of the utility model may encounter a phenomenon when they inspect each other in opposite directions. In a certain area, if the track inspection robot A patrols from left to right, and the track inspection robot B patrols from right to left, there will be encounters that fail to pass. The avoidance system of the present invention follows the preset avoidance mechanism when the track inspection robot A and the track inspection robot B independently judge and confirm the encounter or before the avoidance system notifies the two track inspection robots 10 through the communication system that the two track inspection robots 10 are about to meet. Track inspection robot A can start the avoidance program autonomously or after receiving the avoidance command from the avoidance system, and choose to avoid track inspection robot B in the most suitable avoidance area; track inspection robot B can also change the inspection speed independently or accept the avoidance system. After adjusting the inspection speed command, change the inspection speed, and pass the crossing area after obtaining that the track inspection robot A has successfully avoided avoidance to realize safe cross inspection. (The principle of choosing avoidance is to avoid the person closest to the avoidance area, and give priority to the forward direction avoidance area 2)

The track inspection robot A and the track inspection robot B independently judge and confirm the encounter because a robot positioning system is designed in the avoidance system of the present invention. Through the positioning system, the track inspection robot 10 will send its own position information in real time. To the host of the avoidance system and other inspection robots; a certain track inspection robot 10 calculates its travel speed and inspection direction according to the position update of the adjacent track inspection robot 10, as well as the pre-set geographic information of the main track 1 , can independently judge that the inspection direction of the other party is opposite to its own inspection direction, then it is judged that an encounter phenomenon will occur, and it is necessary to communicate with the opposite adjacent track inspection robot 10 and the avoidance system to determine whether its inspection task will be with this track inspection. When the robot 10 meets, if it is confirmed that the encounter will occur, choose to start the avoidance program, select the appropriate avoidance area and inspection speed, and start to monitor the speed of both parties in real time, adjust the speed in real time, and avoid the robot if necessary. Stop the inspection and wait for the avoidance to succeed. Then pass the intersection.

The track inspection robot A autonomously selects the avoidance area because a robot positioning system is designed in the avoidance system of the present invention. Through the positioning system, the track inspection robot 10 can autonomously determine its own position, and can determine its own position according to the preset The best avoidance area position is determined by the location of the avoidance area. The track inspection robot B autonomously chooses to change the inspection speed because a robot positioning system is designed in the avoidance system of the present invention. Through the positioning system, the track inspection robot 10 can independently determine its own position and other track inspections. The position of the robot 10 can be determined according to the pre-set avoidance program, and the other party can be selected to avoid it, and the inspection speed can be adjusted by itself to pass the intersection area safely.

Specifically, as shown in FIG. 6 , the track inspection robot A first drives on the device track 33 of the avoidance device 30 , such as on “track A section” or “track B section”, and is determined according to the state of the avoidance device 30 at that time; Then the action of the avoidance device 30 switches the device track 33 where the track inspection robot A is located away from the main track 1, and connects another device track 33 with the main track 1 to realize the avoidance of the main track 1, as shown in FIG. 7; The inspection robot A has successfully avoided and entered the charging state. After learning the above information, the track inspection robot B can pass the intersection area safely and can continue the safety inspection to the left. Among them, the avoidance device 30 has the function of real-time communication with the avoidance system, and can interface with the control commands of the avoidance system in real time, so as to realize the docking operation between the “track A section” and the “track B section” of the avoidance device 30 and the main track 1 respectively.

When the track inspection robot A independently judges or receives the avoidance system information, and the track inspection robot B has passed the intersection and starts to inspect to the left, the track inspection robot A starts to continue the inspection procedure and stops charging, and then The track inspection robot A activates the avoidance device 30 or the avoidance system activates the avoidance device 30, and the action of the avoidance device 30 switches the track section where the track inspection robot A is located to the docking state with the main track 1, so as to satisfy the requirement that the track inspection robot A continues to patrol to the right inspection requirements.

②The description of the abnormal maintenance, avoidance and rescue method of the track inspection robot:

During normal inspection, if the track inspection robot B is abnormal (including: the communication with the avoidance system is interrupted, the battery power is insufficient and needs to be charged, the inspection instrument is abnormal and the inspection result needs to be quit, etc.), but the track inspection robot B can Walk autonomously. At this time, the track inspection robot B makes its own judgment (by its own position and the pre-set track and equipment layout information.) Or when the track inspection robot inspection system determines that a nearby avoidance area can avoid parking, Start the maintenance avoidance rescue procedure.

The track inspection robot B autonomously determines that a nearby avoidance area can avoid parking because a robot positioning system and an information exchange mechanism are designed in the avoidance system of the present invention; The location of itself and the location of the nearby avoidance area; through the above-mentioned information exchange mechanism, the track inspection robot 10 can independently obtain the operation status information of the nearby avoidance area, and can also obtain whether there are other devices that apply for parking in the avoidance area. A good maintenance and avoidance rescue program selects and applies for parking in a certain avoidance area. When the application for parking is passed, the track inspection robot B performs the maintenance and parking operation.

Preferred: There are two ways for the application to stop at a certain avoidance area:

One of the methods is to apply directly to the nearby avoidance area. The main control and judgment process is as follows (this method is used when the communication with the avoidance system is interrupted):

●The track inspection robot 10 that needs to stop sends the application information to the avoidance area avoidance device 30;

If the avoidance device 30 receives the docking information of the appeal application, it determines whether other robots have already applied for docking. If not, it is determined that the application has passed, and the avoidance device 30 replies to the applicant "parking allowed", and at the same time, it inspects the relevant tracks. The robot 10 sends the avoidance area information. After receiving the avoidance area information, the relevant track inspection robot 10 enters the avoidance procedure, and the avoidance procedure is terminated until it receives "the applicant has successfully entered the maintenance avoidance state"; if any robot has applied for parking, Then it is judged that the application is not approved, and the avoidance device 30 replies to the applicant that "docking is not allowed";

●When the track inspection robot 10 receives the message of "No Parking Allowed", it selects the second nearest avoidance area to apply for parking, until the "application for parking in a certain avoidance area" ends after receiving the "parking allowed" message.

The second method is to directly apply to the avoidance system to enter the avoidance area. The main control and judgment process is as follows (this method is used when the communication with the avoidance system is normal):

●The track inspection robot 10 that needs to park sends application information to the avoidance area avoidance system;

For example, the avoidance system determines the best parking position according to the running status, parking status and relevant parking application information of the relevant track inspection robot 10, and sends the information of the parking avoidance area to the applicant, and at the same time sends the avoidance area to the relevant track inspection robot 10. area information. After receiving the avoidance area information, the relevant track inspection robot 10 enters the avoidance procedure, and terminates the avoidance procedure until it receives "the applicant has successfully entered the maintenance avoidance state".

When the track inspection robot B has an abnormal inspection and parking application, the track inspection robot B drives to the track section of the avoidance device 30 in the avoidance area (on the "track A section" or "track B section", according to the current time of the avoidance device 30. Then the track inspection robot B starts the avoidance device 30 or the avoidance system starts the avoidance device 30, and the action of the avoidance device 30 switches the track segment where the track inspection robot B is located from the main track 1, and connects the other track segment with the The main track 1 is connected to realize the avoidance of the main track 1; at this time, the track inspection robot B has successfully realized the maintenance and avoidance.

Option 1: When the avoidance system obtains through the communication system that the avoidance device 30 in the avoidance area has normally entered the maintenance avoidance state about the track inspection robot B, reassign the inspection tasks to the track inspection robot A according to the preset program. The adjacent robots inside the track can replace the inspection area of the original track inspection robot B in real time. There is no abnormality or faulty equipment in the main track 1. The inspection area of the original track inspection robot B can be completely replaced by the track inspection robot A. alternative.

Option 2: When the track inspection robot B enters the maintenance and avoidance area, if the track inspection robot B enters the avoidance area due to "insufficient battery power and needs to be charged", start the charging procedure to charge the battery; if the track inspection robot B is due to other If the reason enters the avoidance area, it will stop running and wait for the maintenance personnel to deal with it. When the abnormal processing is completed, the track inspection robot B sends a normal working information to the avoidance system, and the avoidance system reassigns the inspection tasks to the avoidance system according to the preset program The track inspection robot B adjusts the inspection tasks of other related track inspection robots 10 at the same time.

During normal inspection, if the track inspection robot B is abnormal and the communication is abnormal, it cannot communicate with the avoidance system and related intelligent devices normally. At this time, the avoidance system judges that the position of track inspection robot B has not been updated for a long time and the communication is interrupted, and it is judged as a track. Inspection robot B needs to be rescued abnormally. Start the orbit inspection robot maintenance and avoidance rescue program, notify the nearby orbit inspection robot A to go to the rescue, and send the track inspection robot B to the orbit inspection robot A in the area where the position of the orbit inspection robot B is not updated.

When the track inspection robot A receives the signal from the avoidance system to rescue the track inspection robot B, it starts the rescue program and drives to the track inspection robot B. When it is judged that it is about to approach the track inspection robot B, it starts to decelerate, and slowly communicates with the track inspection robot B. B collides and docks, as shown in Figure 8, and then pushes the track inspection robot B into the nearby avoidance area.

When the track inspection robot A receives the signal from the avoidance system to rescue the track inspection robot B, the related track inspection robots 10 nearby also receive the information about the area to be avoided, and begin to enter the avoidance procedure until it receives the message "The abnormal person has succeeded. After entering the maintenance avoidance state", the avoidance program is terminated;

Preferably, the track inspection robot 10 is equipped with "navigation obstacle avoidance radar"; one "navigation obstacle avoidance radar" is designed in the front and rear, and the "navigation obstacle avoidance radar" can be used to analyze and judge the objects that may collide in the inspection area. , to realize the control of obstacle stop, retreat and deceleration;

Description of the preferred robot collision docking method: The track inspection robot 10 is designed with elastic buffer contact elements 92 at the front and rear, which can meet the requirements of low-speed collision contact.

Description of the preferred position identification method 1: in the present invention, the position identification codes are designed on the "track A section" and the "track B section" of the avoidance area avoidance device 30, and the position identification codes are also designed at equal intervals on the main patrol track, Position identification codes are also designed near the avoidance area on the main patrol track; the position identification codes on the "track A section" and "track B section" of the avoidance device 30 are used for correct judgment of the parking position and equal spacing on the main patrol track. The position identification code is used to determine the driving area and position of the track inspection robot 10, and the position identification code of the main inspection track near the avoidance area is used to determine whether it is close to the avoidance area and the address of the avoidance area.

Description of the preferred position identification method 2: In the present invention, the "track A section" and the "track B section" of the avoidance device 30 in the avoidance area are designed with three position micro-motion contacts, and the upper part of the track inspection robot 10 is designed with 3 elastic protrusions 91; when the track inspection robot 10 is pushed into the avoidance area by other robots, the three elastic protrusions 91 on the upper part of the track inspection robot 10 touch the "track A section" or "track B section" of the avoidance device 30 in the avoidance area. After the micro-motion contacts at the upper 3 positions are all connected, the avoidance device 30 determines that a track inspection robot 10 has entered the avoidance area, and on the one hand communicates with the avoidance system and sends a message that there is an abnormal device entering the avoidance area. In the area track (if it is a normal track inspection robot 10 entering the avoidance area track, the avoidance device 30 can obtain the identity of the entering equipment through the communication system, and through the avoidance system, it can be confirmed that it is a normal inspection, and will not be sent to the avoidance system. information), and wait for the next operation command information of the avoidance system. On the other hand, when it is unable to communicate with the avoidance system, the timing starts. After the timing time is equal to the settable delay T1, the avoidance device 30 moves to stop the track inspection robot B. Move the “track segment” of the device to the avoidance position, and connect the “track segment” with no equipment to dock with the main track 1. At this time, the track inspection robot B in the abnormal state is separated from the main track 1 and enters the avoidance state until the track inspection robot B After repairing and realizing normal communication, the avoidance device 30 sends the passable information and other equipment unable to stop information to the adjacent track inspection robot 10 and the avoidance system;

When the track inspection robot A receives the signal from the avoidance system that the track inspection robot B has entered the predetermined position of the track in the avoidance area, the track inspection robot A travels backwards to get out of contact with the track inspection robot B (for example, the track inspection robot B When A does not receive a signal from the avoidance system that the track inspection robot B has entered the predetermined position of the track in the avoidance area within the settable delay T2, the track inspection robot A also travels backwards to get out of contact with the track inspection robot B. Wherein T2 time is less than T1). And drive to the position identification code near the avoidance area on the main inspection track, and at the same time, send the out-of-contact information with the abnormal track inspection robot B to the avoidance system and the adjacent track inspection robot 10, and wait until the avoidance system allocation adjustment until the next inspection task.

When the avoidance system receives the information that the track inspection robot A has disengaged from the track inspection robot B in the abnormal state, it sends the avoidance program to the avoidance device 30 of the track inspection robot B in the avoidance area, and the track inspection robot 10 moves to The "track segment" where the track inspection robot B is docked is moved to the avoidance position, and the "track segment" without equipment is docked with the main track 1. At this time, the track inspection robot B in the abnormal state is separated from the main track 1 and enters the avoidance state. Until the track inspection robot B is repaired and normal communication is achieved, the avoidance system re-issues the inspection task to the track inspection robot B and related equipment according to the preset program.

The track inspection robot 10 provided by the present invention is shown in FIG. 9 . The track inspection robot 10 includes a main body 90 , a sensor 41 , a driver and a transmission unit arranged in the main body 90 , and the upper part of the main body 90 is symmetrically arranged There are two vertical plates 94 , and three driving rollers 95 and four guiding pressing wheels 96 are arranged on the inner side of the vertical plates 94 . Roll fit with the I-beam structure of the main track 1, which is similar to the structural fit between the device main body 31 and the vertical track 32, so it is not repeated; wherein the drive roller 95 is connected with the output gear of the driver; the driver and the inductor 41 Signal connection, the sensor 41 controls the drive to rotate to obtain forward and backward power, rotation time, speed and other information. The sensor 41 is arranged in the upper middle part of the main body 90; the front and rear of the main body 90 are each designed with two elastic buffer contact elements 92, through which the elastic buffer contact elements 92 can be used to realize between the cruise track inspection robots 10 and the inspection track inspection robot 11. Low-speed collision contact with the fire-fighting track inspection robot 12, and realize the rescue and push of the track inspection robot 10 or the fire-fighting track inspection robot 12 to the robot in abnormal operation or crash during normal operation; the body 90 is designed with 2 Adjustable lighting lamp 97, through which the illumination of different positions in the inspection area can be adjusted; an adjustable camera 98 is designed on the front and rear of the main body 90, and the adjustable camera 98 can realize the adjustment of the illumination in the inspection area. Status recognition, behavior analysis, video recording, photo generation, etc. of equipment in different positions; three elastic protrusions 91 are designed on the main body 90, and the "track A section" or "track B section" of the avoidance device 30 in the avoidance area is triggered by the elastic protrusions 91. The micro-motion contacts at the upper 3 positions make the three micro-motion contacts connect, so as to realize the judgment that the track inspection robot 10 has completely entered the avoidance area.

The left and right sides of the main body 90 are designed with 3 "sensing devices", and "gas sensing devices", "temperature and humidity sensing devices", "noise sensing devices" and "partial discharge sensing devices" can be selected and assembled as required. "Wait. Through "gas sensing device", "temperature and humidity sensing device", "noise sensing device" and "partial discharge sensing device", the harmful gas content, oxygen content, temperature and humidity, and spatial noise in different sections of the inspection space are collected , partial discharge signal size, etc., sent to the avoidance system, and through the linkage of the avoidance system with the "ventilation system", "online monitoring system", "tunnel comprehensive monitoring system", etc., to achieve intelligent analysis, intelligent judgment and intelligent control; A navigation obstacle avoidance radar 99 is designed at the front and rear. The navigation obstacle avoidance radar 99 can analyze and judge the objects that may collide in the inspection area, and realize the control of obstacle stop, retreat and deceleration.

The structure and appearance of the fire-fighting track inspection robot 12 of the present invention are the same as those of the fire-fighting track inspection robot 11. The difference is that the side elements of the fire-fighting track inspection robot 12 do not have the sensor 41 but are replaced with fire-extinguishing windows. There are 2-3 fire extinguishing windows in each of the 12 or so. The position and size of the fire extinguishing windows are matched with the fire extinguishers. They can be replaced according to the type of fire extinguishers that need to be mounted. The fire extinguishing windows are automatically opened when the fire needs to be extinguished. 12 control controls.

Description of joint inspection method of multi-track inspection robot based on avoidance principle:

Stand-alone independent inspection mode: when the avoidance system of the present invention is in normal operation, each inspection track inspection robot 11 inspects the inspection area allocated by the avoidance system. The fire-fighting track inspection robot 12 and the inspection track inspection robot 11 that needs to be charged or repaired are parked in the avoidance area. In order to save investment, one inspection track inspection robot 11 is responsible for inspection work in multiple fire compartments. The normal inspection frequency (the number of inspections in one day or one month) K is a settable value. At this time, the inspection frequency is It can be set according to the type of equipment, such as K1 is the inspection frequency of "cable joint"; K2 is the inspection frequency of "cable sheath grounding box"; K3 is the inspection frequency of "environmental gas monitoring, ventilation equipment monitoring, drainage equipment monitoring"; etc. etc. Note: When setting the inspection frequency, it is recommended to set it according to the multiple relationship.

The avoidance system of the utility model provides a definable setting function of the inspection frequency setting value according to the equipment type. After the inspection type and inspection frequency are set, the avoidance system sends the inspection method information (including the charging position) to the inspection track inspection robot 11, the fire-fighting track inspection robot 12, the avoidance device 30, and the charging device 7, corresponding to The inspection track inspection robot 11 replies that it has received the "inspection mode information" and has the conditions to complete the task, and avoids the system to determine that the task is established, otherwise it contacts the alternative inspection track inspection robot 11 until the task is established; the fire extinguishing track inspection in this inspection area The robot 12 replies to receive the "inspection mode information", stands by normally in the avoidance area, allows the inspection track inspection robot 11 to pass, and other equipment completes the inspection task conditions are met, the avoidance system judges that the task is established, otherwise the fire extinguishing track inspection robot 12 is located in an area that cannot be inspected, re-plan the inspection area, reassign the tasks and inspection areas of the inspection track inspection robot 11; the avoidance device 30 replies to receive the "inspection mode information", and the position of the avoidance device 30 is normal ( Including track docking complete information) is on standby normally, allows the inspection track inspection robot 11 to pass, and other equipment completes the inspection task conditions are met, the avoidance system judges that the task is established, otherwise the avoidance device 30 is located in an area that cannot be inspected, and the inspection is re-planned. The inspection area, reassign the task and inspection area of the inspection track inspection robot 11; the charging device 7 replies to receive the "inspection mode information", the charging device 7 is in normal working condition, and the inspection track inspection robot 11 is allowed to dock and charge at any time. . If the conditions for other equipment to complete the inspection task are met, the avoidance system judges that the task is established, otherwise the avoidance system plans the location of the charging device 7 as a non-charging parking position, re-plans the inspection and charging location area, and reassigns the inspection track inspection robot 11 Tasks and inspection areas (including charging locations).

When the avoidance system judges that the inspection time is reached, it starts autonomous inspection (when a certain avoidance system reaches the inspection time and should start inspection, the avoidance system will issue an inspection command to the track inspection robot 10, and the combination of autonomous and imperative Duplicated commands can improve reliability).

When the inspection task of the track inspection robot 10 is completed, the inspection information and the judgment result will be sent to the avoidance system, and the avoidance system will proceed further according to the inspection information and the judgment result sent by the track inspection robot 11. Comprehensive analysis and judgment. At the same time, the track inspection robot 10 supports real-time uploading of inspection information and judgment results to the avoidance system.

Multi-machine joint inspection mode: when a certain area has work tasks such as maintenance, when a key inspection is required to ensure power supply, when an abnormality requires a key inspection, or when a key inspection is required for other reasons, the avoidance system of the utility model provides a multi-inspection The joint inspection mode of the track inspection robots 11. In this joint inspection mode, according to the required inspection area size and inspection frequency requirements, the avoidance system allocates multiple inspection track inspection robots 11 in the inspection area. Inspection. The fire-fighting track inspection robot 12 and the inspection track inspection robot 11 that needs to be charged or repaired are parked in the avoidance area. As shown in FIG. 10, when key inspections are required in the fire protection zone A and the fire protection zone B, the inspection task defined by the avoidance system of the present invention will include the inspection method information (including the number of robots required, cooperation mode, whether fixed-point monitoring, charging or not). method and position planning results) are sent to the nearest 4 inspection track inspection robots 11, the fire extinguishing track inspection robots 12 in the inspection area and in the forward direction of the four inspection track inspection robots 11, in the inspection area and The avoidance devices 30 in the forward direction of the four inspection track inspection robots 11 , and the charging devices 7 in the inspection area and in the forward direction of the four inspection track inspection robots 11 , corresponding to the inspection track inspection robots 11 Reply received "Inspection mode information" and have the conditions to complete the task, let the system judge that the task is established, otherwise contact the alternative inspection track inspection robot 11 until the task is established; the fire-fighting track inspection robot 12 in this inspection area replies to receive the "inspection mode information" ”, stand by normally in the avoidance area, allow the inspection track inspection robot 11 to pass, and other equipment to complete the inspection task conditions are met, the avoidance system judges that the task is established, otherwise the fire-fighting track inspection robot 12 is located in an area that cannot be inspected, and restarts Plan the inspection area, reassign the tasks and inspection areas of the inspection track inspection robot 11; the avoidance device 30 replies to receive the "inspection mode information", the position of the avoidance device 30 is normal (including the track docking integrity information), and it is normally on standby and allowed. The inspection track inspection robot 11" passes and other equipment completes the inspection task conditions. The avoidance system determines that the task is established. Otherwise, the position of the avoidance device 30 is an area that cannot be inspected. The inspection area is re-planned and the inspection track is reassigned. The task and inspection area of the inspection robot 11; the charging device 7 replies to receive the "inspection mode information", the charging device 7 is in normal working state, the inspection track inspection robot 11 is allowed to dock and charge at any time, and the conditions for other equipment to complete the inspection task are met , the avoidance system judges that the task is established, otherwise the avoidance system plans the location of the charging device 7 as a non-charging parking position, re-plans the inspection and charging location area, reassigns the inspection track inspection robot 11 task and inspection area (including the charging position) ).

When the avoidance system determines that the inspection time is reached, the autonomous inspection starts (when a certain inspection track inspection robot 11 arrives at the inspection time and should start inspection, the inspection track inspection robot 11 will issue an inspection command to the avoidance system, The dual command method combining autonomous and imperative can improve reliability (.

When the inspection task of the avoidance system is completed, the inspection information and judgment results are sent to the avoidance system, and the avoidance system conducts further comprehensive analysis and judgment according to the inspection information and judgment results sent by the inspection track inspection robot 11 . At the same time, the avoidance system supports sending inspection information and judgment results to the avoidance system in real time.

When the inspection track inspection robot 11 outside the key inspection area is driving to the key area, the other inspection track inspection robots 11 and fire extinguishing track inspection robots 12 avoid the same way as described above, that is, select the avoidance in advance according to the avoidance procedure area to avoid.

When the inspection track inspection robot 11 outside the key inspection area is traveling to the key area and encounters the inspection track inspection robot 11 or the fire-fighting track inspection robot 12 that needs to be rescued, the rescue will be carried out according to the aforementioned rescue procedures. When a certain inspection track inspection robot 11 cannot reach the key inspection area through the rescue program, the inspection track inspection robot 11 sends the information of "rescue failure" and "unable to arrive on time" to the avoidance system, and the avoidance system re-plans the The inspection robots 11 of other inspection tracks on the side go to the key inspection areas, and at the same time, the maintenance personnel are notified to go for inspection, and the inspection robots 11 of the inspection tracks that cannot be reached are planned to perform other normal inspection tasks.

The utility model can realize one-to-one monitoring and inspection of equipment, two-to-one monitoring and inspection, and simultaneous forward and reverse monitoring and inspection by planning a plurality of inspection track inspection robots 11 to carry out inspection and monitoring work in the same area. .

A joint inspection method and system of 10 multi-track inspection robots based on the avoidance principle are designed. On the one hand, the requirements of multi-machine joint inspection, cross avoidance, and multi-machine intensive inspection in key areas are realized; Automatic rescue, avoidance and automatic replacement of inspection areas; effectively improve the convenience and flexibility of operation and maintenance, and at the same time increase the key monitoring content of robots to effectively prevent accidents.

The utility model also provides a multi-machine combined fire extinguishing method: when a patrol inspection robot 11 in a certain area finds a fire hazard during inspection, the patrol inspection robot 11 will move to the avoidance system and related inspection tracks in the nearby area. The inspection robot 11, the fire-fighting track inspection robot 12, the avoidance device 30, and the charging device 7, send fire information and the fire area address (including the fire zone address (including the fire zone address) and start the avoidance fire extinguishing preset program. At this time, the avoidance system is set according to the preset Good fire extinguishing plan, notify a specified number of fire extinguishing track inspection robots 12 to go to extinguish the fire, notify the fire extinguishing track inspection robot 12 to go to the corresponding inspection track inspection robot 11 on the fire extinguishing path to enter a certain "avoidance area" to avoid, and notify the corresponding avoidance area. The avoidance device 30 is ready to avoid checking the system condition.

When the patrol inspection robot 11 receives the fire information, the fire area address and the signal to start the avoidance and fire extinguishing preset program, it starts the aforesaid avoidance program and enters the avoidance area, and the avoidance area avoidance device 30 switches the inspection track inspection robot 11 to The avoidance position makes the fire-fighting track inspection robot 12 unblocked, as shown in FIG. 11 for details. If the first planned avoidance area of the inspection track inspection robot 11 cannot meet the conditions of the inspection track inspection robot 11 , the avoidance system or the inspection track inspection robot 11 will select the second planned avoidance area until success is inevitable. At this time, the application for patrolling the track patrol robot 11 is the highest-level avoidance application.

When the avoidance device 30 of the "avoidance area" receives the fire information and the address of the fire area and the preset program signal to start the avoidance fire extinguishing, the avoidance device 30 checks the system. The "can enter avoidance" signal, the avoidance system and the patrol inspection robot 11 that needs to enter the position to avoid it determine that it meets the requirements of avoidance and joint fire extinguishing, and the patrol inspection robot 11 starts to start the autonomous avoidance procedure, such as the avoidance device 30 checks When the system finds that the avoidance requirements are not met (such as abnormal power system, etc.), it will reply to the signal of "do not meet the avoidance requirements", and the orbital robot system "and the patrol inspection robot 11 that needs to enter the position to avoid it judges that it does not meet the avoidance joint fire extinguishing requirements. , apply for avoidance to the second preset avoidance area avoidance device 30 until the avoidance application is successful.

When the charging device 7 of the "avoidance area" receives the fire information, the address of the fire area and the signal of the preset program to start the avoidance fire extinguishing, it will check whether there is any equipment charging. The inspection track inspection robot 11 that needs to enter the position for avoidance determines that it meets the requirements of avoidance and joint fire fighting, and the inspection track inspection robot 11 starts the autonomous avoidance procedure; If the avoidance demand is required, the charging will be stopped, and the charging of the recovery equipment will meet the avoidance parking requirements. The avoidance system and the patrol inspection robot 11 that needs to enter the position for avoidance determine that it meets the avoidance joint fire extinguishing requirements, and the patrol orbit inspection robot 11 starts to start autonomous avoidance. Procedure; if there is charging and it is judged that the charging amount does not meet the avoidance requirements, it will reply that the charging of the equipment does not meet the avoidance parking requirements, and the avoidance system and the patrolling inspection robot 11 that needs to enter the position to avoid it determine that it does not meet the avoidance joint fire extinguishing requirements. , apply for avoidance to the charging device 7 in the second preset "avoidance area" until the application for avoidance is successful.

The multi-track fire-extinguishing robot joint fire-extinguishing method and system of the present utility model, when a fire occurs in a fire zone, the number of fire-fighting track inspection robots 12 that need to go to joint fire-fighting can be set, and the setting principle is based on the loading of one fire-fighting track inspection robot 12 The effective fire-extinguishing area of the fire-fighting equipment and the fire-fighting zone area that needs to be extinguished are calculated and determined. The calculation method is as follows:

M is: the number of 12 fire-fighting track inspection robots required;

N is: the effective fire-extinguishing area of 1 fire-fighting track inspection robot and 12 fire-fighting equipment;

L is: the fire compartment area that needs to be extinguished;

M=X+L÷N, if the calculation result is not an integer, round up, X is the number of 12 spare fire-fighting track inspection robots, selected according to the principle of greater than or equal to 1, the purpose is to prevent fire-fighting track inspection robots 12 from being unable to reach the needs in time fire extinguishing area.

Preferably, the fire-fighting track inspection robot 12 that has successfully applied for the application immediately goes to the fire-extinguishing area, and exchanges position information in real time with the avoidance system and other inspection robots 12 that come to the fire-extinguishing track. When the number of inspection robots 12 meets the fire extinguishing requirements, the fire extinguishing agent starts to be released at the same time.

Preferably, when other systems find a fire hazard, the other systems will need to send fire extinguishing information to the avoidance system first, and the track avoidance system will send the joint fire extinguishing information of the multi-track fire-extinguishing robot alone.

The utility model can realize one-to-one fire-fighting, two-to-one fire-fighting, and many-to-one fire-fighting of equipment by planning multiple fire-fighting track inspection robots 12 to carry out fire-fighting work in the same area.

Multi-track fire-fighting robot joint fire-extinguishing method and system based on avoidance principle Advantages: Design a multi-track fire-fighting robot joint fire-extinguishing method and system based on the avoidance principle, on the one hand, realize the requirements of multi-machine joint fire-fighting, cross avoidance, and multi-machine intensive and rapid fire-fighting in fault areas. It solves the shortcomings of insufficient capacity of single-machine fire extinguishing agent and small effective fire extinguishing space; on the other hand, it realizes the functions of automatic obstacle clearance of fire extinguishing routes, automatic rescue of faults between robots, avoidance and automatic replacement of fire extinguishing areas; it effectively improves the rapidity and reliability of fault fire extinguishing.

In the present invention, a track inspection robot 10 with avoidance and rescue functions is designed. When a certain "track inspection robot 10" exits abnormally, another one can replace it for inspection, which makes the system task allocation more flexible and reduces the overall investment.

Claims (9)

1. The utility model provides a device is dodged to robot is patrolled and examined to track, sets up in main track (1), be provided with track on main track (1) and patrol and examine robot (10), its characterized in that: be provided with a plurality of dodge district (2) in main track (1), dodge device (30) including device main part (31) and two perpendiculars main track (1) and lie in dodge perpendicular track (32) of the both ends tip of district (2), the fixed lower part of device main part (31) be provided with two with device track (33) that main track (1) is parallel, main track (1) perpendicular track (32) with device track (33) are the I-beam, device main part (31) with perpendicular track (32) sliding fit, two device track (33) all can pass through device main part (31) go up after sliding on perpendicular track (32) with main track (1) dock mutually.

2. The track inspection robot avoidance device according to claim 1, wherein: the upper surface of device main part (31) is provided with two recess (34), the interval is provided with drive wheel (35) and leading wheel (36) in recess (34), drive wheel (35) vertical setting and with the I-shaped groove up end of perpendicular track (32) cooperatees, leading wheel (36) transversely set up and with the I-shaped groove medial surface of perpendicular track (32) cooperatees.

3. The track inspection robot avoidance device according to claim 2, wherein: the device track (33) two terminal portions all are provided with dodge district edge sign (37), the middle part of device track (33) is provided with four dodges and distinguishes berth sign (38) and three berth position fine motion joint (39), dodge district berth sign (38) with berth position fine motion joint (39) interval sets up in turn.

4. The track inspection robot avoidance device according to claim 3, wherein: the track inspection robot (10) comprises a body (90), and an inductor (41), a driver and a transmission unit which are arranged in the body (90), wherein two vertical plates (94) are symmetrically arranged at the upper part of the body (90), and a plurality of driving rollers (95), a plurality of guide pinch rollers (96) and three elastic protrusions (91) are arranged on the inner sides of the vertical plates (94); the track inspection robot (10) is in rolling fit with the device track (33) or the I-beam structure of the main track (1) through the driving roller (95) and the guide pinch roller (96); the avoidance area edge mark (37) and the avoidance area stop mark (38) are matched with the electric signal of the sensor (41), and the matching is used for judging the position of the track inspection robot (10) in the device track (33); the resting position micro-joints (39) cooperate with the resilient protrusions (91) also for position determination of the track inspection robot (10) in the device track (33).

5. The track inspection robot avoidance device according to claim 4, wherein: two elastic buffer contact elements (92), two adjustable illuminating lamps (97), an adjustable camera (98) and a navigation obstacle avoidance radar (99) which can meet the low-speed collision contact requirement are respectively designed in the front and at the back of the body (90).

6. The track inspection robot avoidance device according to claim 1, wherein: the wall body (5) is arranged above the main track (1), a plurality of hanging columns (51) are arranged on the lower end face of the wall body (5), and the vertical track (32) is fixedly connected with the main track (1) through the hanging columns (51).

7. The track inspection robot avoidance device according to claim 5, wherein: dodge device (30) still include power (61), driving motor (62), display module (63), control unit (64), position signal acquisition unit (65), state signal acquisition unit (66), communication unit (67) and operation and unusual judgement unit (68), driving motor (62) with drive wheel (35) cooperate, position signal acquisition unit (65) with inductor (41) signal of telecommunication cooperation, state signal acquisition unit (66) are including temperature collector, humidity collector and current signal collector, position signal acquisition unit (65) with state signal acquisition unit (66) all electricity is connected to operation and unusual judgement unit (68), operation and unusual judgement unit (68) with control unit (64) electricity is connected, control unit (64) with communication unit (67) the operation and unusual judgement unit (68), The driving motor (62) is electrically connected with the display module (63), and the communication unit (67) is in signal fit with the track inspection robot (10) through wireless communication.

8. The track inspection robot avoidance device according to claim 1, wherein: the track inspection robot (10) is an inspection track inspection robot (11), an extinguishment track inspection robot (12) or an inspection and extinguishment integrated track inspection robot (13).

9. The utility model provides a track is patrolled and examined robot and is dodged system which characterized in that: comprising a main track (1) according to any one of claims 1 to 8 and a track inspection robot avoidance device (30), at least two track inspection robots (10) are arranged on the main track (1) and the track inspection robot avoiding device (30), the two ends of the main track (1) at one side of the vertical track (32) are respectively and correspondingly provided with a charging device (7), the charging device (7) is provided with a charging controller, the charging device (7) charges the track inspection robot (10), the charging controller, the avoidance device (30) and the track inspection robot (10) are all provided with wireless communication interfaces which are matched with the wireless communication interfaces of the track inspection robot avoidance system in a communication way, the track inspection robot avoidance device (30) is matched with the track inspection robot avoidance device in a mutual wireless communication mode.

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