CN116224366B - An automatic obstacle avoidance and walking device for a contact line wear detection robot - Google Patents
An automatic obstacle avoidance and walking device for a contact line wear detection robotInfo
- Publication number
- CN116224366B CN116224366B CN202111458703.5A CN202111458703A CN116224366B CN 116224366 B CN116224366 B CN 116224366B CN 202111458703 A CN202111458703 A CN 202111458703A CN 116224366 B CN116224366 B CN 116224366B
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- Prior art keywords
- obstacle avoidance
- rod
- contact line
- detection robot
- travel
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明公开了一种接触线磨耗检测机器人的自动避障及走行装置，该装置包括两个辅助行走轮（12）、一个主行走轮（11）、避障组件、步进电机1（13）、步进电机2（14）、步进电机控制器、中控单元（15）、两个线激光仪（10）和线激光控制器。避障功能的执行部以避障组件为主，由曲柄摇杆机构和曲柄滑块机构组合而成，通过中控单元控制。自动避障的功能实现由各单元协作完成。首先由线激光仪检测障碍物反馈信号给线激光控制器，然后由线激光控制器将信息传递给中控单元，最后给避障组件发出避障指令，完成整个避障过程。以此实现接触线磨耗检测机器人的完全自动化，可有效保障铁路沿线工作人员的人身安全。
The present invention discloses an automatic obstacle avoidance and running device for a contact line wear detection robot. The device comprises two auxiliary running wheels (12), a main running wheel (11), an obstacle avoidance component, a stepper motor 1 (13), a stepper motor 2 (14), a stepper motor controller, a central control unit (15), two line laser instruments (10), and a line laser controller. The execution unit of the obstacle avoidance function is mainly composed of the obstacle avoidance component, which is composed of a crank rocker mechanism and a crank slider mechanism and is controlled by the central control unit. The automatic obstacle avoidance function is achieved by the cooperation of various units. First, the line laser instrument detects the obstacle and feeds back a signal to the line laser controller. Then, the line laser controller transmits the information to the central control unit. Finally, an obstacle avoidance instruction is issued to the obstacle avoidance component to complete the entire obstacle avoidance process. In this way, the contact line wear detection robot is fully automated, which can effectively protect the personal safety of workers along the railway.
Description
Technical Field
The invention relates to the field of inspection of high-speed railways, in particular to a device which is applied to a contact line abrasion detection robot to realize an automatic running and obstacle avoidance function on a contact line.
Background
The operation speed of the high-speed train is gradually increased, and the abrasion of the contact line in the operation process of the train is accelerated. The existing abrasion detection method is relatively backward or low in efficiency, wherein the traditional contact line abrasion detection mode is to manually measure the contact line abrasion by using a vernier caliper, the measurement efficiency is low, the measurement data are single-point measurement, and in addition, potential safety hazards exist because the measurement personnel need to climb up. In addition, the contact line abrasion detection operation is required to be carried out in a skylight period, but the skylight period of a high-speed railway is mostly at night and the time is short, so the full-automatic obstacle avoidance climbing robot is used for realizing uninterrupted measurement of contact line abrasion in an unmanned control state, and has important significance for maintenance of a contact line and safety of staff.
The present invention has been made in view of the above-mentioned problems. The invention aims to design and manufacture an automatic obstacle avoidance and running device, which can be applied to a contact line abrasion detection robot and can realize the intellectualization of the contact line abrasion detection robot. The contact net abrasion detection robot can walk on the contact line under the condition of unmanned control and automatically avoid the contact line when encountering obstacles such as contact line clamps and the like, so that the detection robot can continuously and uninterruptedly collect abrasion information on the contact line. The running speed of the contact net abrasion detection robot is adjustable, and the speed of the contact net abrasion detection robot can be adjusted according to actual requirements.
Disclosure of Invention
The invention solves the technical problems through the following technical scheme:
An automatic obstacle avoidance and running device of a contact line abrasion detection robot comprises two auxiliary running wheels (12), a main running wheel (11), an obstacle avoidance assembly, a stepping motor 1 (13), a stepping motor 2 (14), a stepping motor controller, a central control unit (15), two line lasers (10) and a line laser controller. The device comprises two auxiliary travelling wheels (12), a main travelling wheel (11), an obstacle avoidance assembly, a stepping motor 1 (13), a stepping motor 2 (14) and a stepping motor controller, wherein the stepping motor 1 (13) drives the main travelling wheel (11) to realize the autonomous movement of the detection robot along the direction of a contact line.
The automatic obstacle avoidance and running device of the contact line abrasion detection robot is provided with four groups of obstacle avoidance and running modules, and the four groups of modules are arranged in a crossed mode at two sides, and a certain distance is arranged between every two groups of modules, so that the contact line abrasion detection robot can keep stable in the process of walking and obstacle avoidance. The main travelling wheels (11) of each group of obstacle avoidance and travelling modules can enable the contact line abrasion detection robot to be hung on a contact line, the two auxiliary travelling wheels (12) are matched with the lower surface of the contact line, the contact line can be clamped by the matching of the main travelling wheels (11) and the auxiliary travelling wheels (12), and the auxiliary travelling wheels (12) are arranged on the frame so as to ensure that the relative position of the auxiliary travelling wheels and the frame is kept unchanged. The automatic obstacle avoidance and running device of the contact line abrasion detection robot is provided with two groups of line lasers (10), the line lasers are symmetrically arranged at the front end of the shell, and the detection range of the line lasers is adjustable and used for detecting different obstacles.
The obstacle avoidance assembly is a combined mechanism and comprises a crank rocker mechanism consisting of a No. 1 rod (1), a No. 2 rod (2) and a No. 5 rod (5), a sliding block mechanism consisting of a No. 2 rod (2), a No. 3 rod (3), a No. 4 rod (4) and a No. 5 rod (5), two ends of the No. 2 rod (2) are respectively hinged with the No. 1 rod (1) and the No. 3 rod, the middle part of the No. 2 rod (2) is hinged with the middle part of the No. 5 rod (5), one end of the No. 5 rod is hinged with a machine shell, a driving part is the No. 1 rod (1), a driven part is the No. 2 rod (2), the No. 3 rod (3), the No. 4 rod (4) and the No. 5 rod, the No. 1 rod (1) is driven by a stepping motor 2 (14) fixed on the machine shell, and a stepping motor 1 (13) is arranged at one end of the No. 4 rod to drive a main walking wheel (11).
When no obstacle is detected, the built-in stepping motor 1 (13) of the No. 4 rod (4) drives the main travelling wheel (11) to normally travel, the main travelling wheel is lifted after the obstacle is detected, the stepping motor 1 (13) driving the main travelling wheel to travel is stopped, and after the obstacle is reset, the stepping motor 1 (13) is started again, so that the main travelling wheel is restored to operation.
The line laser instrument (10) is symmetrically arranged and fixed at the front end of the casing, emits line laser to detect the cross section direction of a contact line, transmits detected information to the line laser controller, processes the information and judges whether an obstacle exists or not, and then transmits a signal to the central control unit (15). The central control unit (15) sends out instructions to the obstacle avoidance and walking module, the step motor 2 (14) is controlled to drive the No. 1 rod (1) to move so that the No. 5 rod (5) swings by a certain set angle, thereby completing the obstacle avoidance action of the obstacle avoidance and walking module, and the four groups of obstacle avoidance and walking modules sequentially execute an obstacle avoidance program, so that the automatic obstacle avoidance function of the contact line abrasion detection robot is finally realized.
The contact line abrasion detection robot with the automatic obstacle avoidance function can avoid the step of manually passing an obstacle in the running process, thereby realizing the unmanned operation and uninterrupted measurement functions in the running process, in addition, the climbing speed of the contact line abrasion detection robot can be adjusted by changing the rotating speed of a driving motor of a main travelling wheel (11) in the device, and the swinging angle of a rod 5 can be changed according to the needs so as to adapt to the contact lines with different wire diameters.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall appearance of an automatic obstacle avoidance and running gear of a contact wire wear detection robot;
FIG. 2 is a schematic diagram of the internal structure of an automatic obstacle avoidance and running gear of a contact wire abrasion detection robot;
FIG. 3 is a front view of an obstacle avoidance and travel module of an automatic obstacle avoidance and travel device for a contact wire wear detection robot;
FIG. 4 is a schematic diagram of an obstacle avoidance and travel module of an automatic obstacle avoidance and travel device of a contact wire wear detection robot;
FIG. 5 is a schematic view of an obstacle avoidance and walking module obstacle avoidance state of an automatic obstacle avoidance and walking device of a contact wire abrasion detection robot;
FIG. 6 is a schematic diagram of the position of the step motor and the central control unit of the automatic obstacle avoidance and walking module of the contact line abrasion detection robot.
The reference numerals corresponding to the component names in the figures are as follows:
Rod 1 (1), rod 2 (2), rod 3 (3), rod 4 (4), rod 5 (5), first group obstacle avoidance and walking module (6), second group obstacle avoidance and walking module (7), third group obstacle avoidance and walking module (8), fourth group obstacle avoidance and walking module (9), line laser instrument (10), main walking wheel (11), auxiliary walking wheel (12), stepping motor 1 (13), stepping motor 2 (14) and central control unit (15).
Detailed Description
The present invention is described in further detail below:
In order to more clearly illustrate the features and objects of the present invention, the features and operation of the device will be described more fully hereinafter with reference to the accompanying drawings.
The invention discloses an automatic obstacle avoidance and running device of a contact line abrasion detection robot, which comprises two auxiliary running wheels (12), a main running wheel (11), an obstacle avoidance assembly, a stepping motor 1 (13), a stepping motor 2 (14), a stepping motor controller, a central control unit (15), two line lasers (10) and a line laser controller. The two auxiliary travelling wheels (12), the main travelling wheel (11), the obstacle avoidance assembly, the stepping motor 1 (13), the stepping motor 2 (14) and the stepping motor controller form an obstacle avoidance module.
When the contact line abrasion detection robot walks on a contact line without barriers, the main walking wheel (11) is driven by the stepping motor 2 (14) arranged in the No.4 rod (4) to walk on the contact line, and the main walking wheel (11) and the auxiliary walking wheel (12) clamp the contact line to prevent the contact line abrasion detection robot from falling off. When the contact line abrasion detection robot walks on the contact line to cause obstacles such as a contact line clamp and the like, the specific implementation of the automatic obstacle avoidance comprises the following steps:
after the line lasers (10) fixed on the symmetrical arrangement of the front end bearing of the shell scan and detect that the obstacle exists in front of the walking route of the contact line abrasion detection robot, the information of the obstacle detected by the line lasers is transmitted to the line laser controller, and the line laser controller receives the information and then collates the information and sends digital information of the obstacle in front to the central control unit (15).
After receiving the digital signal with the obstacle in front, the central control unit (15) sends an active obstacle avoidance instruction to control the first group of obstacle avoidance and walking modules to start, the step motor 1 (13) of the obstacle avoidance assembly is driven to start, and the step motor 1 (13) operates to drive the No.1 rod (1) in the obstacle avoidance assembly to do swinging motion by taking one end of the rod as a circle center, so that the crank rocker mechanism and the crank slider mechanism are driven.
The rod 1 (1) in the obstacle avoidance assembly performs circular motion, the rod 2 drives the rod 5 (5) to swing, the stepping motor 1 (13) driving the obstacle avoidance assembly to move stops when the rod 5 (5) swings to the maximum swing position, the rod 5 (5) swings to stop and keep the gesture to wait for the current obstacle avoidance and walking module to pass through the obstacle, and the first stage of the obstacle avoidance action of the obstacle avoidance assembly is shown in fig. 5.
When the crank rocker mechanism moves in the first section, the crank slider mechanism moves at the same time, and in the process that the No. 5 rod (5) swings to the maximum swing position, the No. 4 rod (4) in the crank slider mechanism, namely the slider part, moves to the maximum pushing position.
When the first group of obstacle avoidance and walking modules (6) is started by the driving stepping motor 1 (13) of the obstacle avoidance assembly after an obstacle is passed, the obstacle avoidance assembly works to reset the walking wheels, and after the walking wheels are reset, the driving motor is started to restore the walking wheels, so that the second stage of the obstacle avoidance action of the obstacle avoidance assembly is realized, and the obstacle avoidance action of the group is ended.
After the first group of obstacle avoidance and walking modules (6) complete the obstacle avoidance action, the second group of obstacle avoidance and walking modules (7) start to execute the obstacle avoidance action, the implementation steps of the obstacle avoidance action are the same as those of the steps 3, 4 and 5, and the third group of obstacle avoidance and walking modules (8) and the fourth group of obstacle avoidance and walking modules (9) have the same working mode.
After the obstacle avoidance action of the fourth group of obstacle avoidance and walking modules (9) is finished, the contact line abrasion detection robot resumes normal walking on the contact line, and when the robot detects the next obstacle, the robot activates the automatic obstacle avoidance function again, and the operation is repeated in such a way, so that the contact line abrasion detection task is finally completed under the condition of no human intervention.
Claims (9)
1. The automatic obstacle avoidance and traveling device of the contact line abrasion detection robot is characterized by comprising two auxiliary traveling wheels (12), a main traveling wheel (11), an obstacle avoidance assembly, a stepping motor 1 (13), a stepping motor 2 (14), a stepping motor controller, a central control unit (15), two line lasers (10) and a line laser controller, wherein the traveling wheels travel on a contact line through the stepping motor, the obstacle avoidance assembly is fixedly connected to a shell through a hinge, the obstacle avoidance assembly consists of a rod 1 and a rod 2, a rod 3, a rod 4 and a rod 5, the rod 1 is driven by the stepping motor fixed on the shell, one end of the rod 5 is hinged with the shell, one end of the rod 4 is internally provided with the stepping motor driving the main traveling wheel, two ends of the rod 2 are respectively hinged with the rod 1 and the rod 3, the middle part of the rod 2 is hinged with the rod 5, the line lasers are fixedly arranged at the front end of the shell, the line lasers are converted into a laser command of the rod 5, the laser controller is converted into a laser command of a corresponding language by a crank in the shell, the laser controller is arranged in the corresponding line avoidance device, the laser controller is driven by the rocking mechanism of the rod 5, and the laser controller is driven by the rod 5, and the language of the robot is controlled by the rocking device, thereby completing the obstacle avoidance program of the obstacle avoidance and walking module.
2. The automatic obstacle avoidance and travel device of the contact line abrasion detection robot according to claim 1, wherein the two auxiliary travel wheels (12), the main travel wheel (11), the obstacle avoidance assembly, the stepping motor 1 (13), the stepping motor 2 (14) and the stepping motor controller form an obstacle avoidance and travel module, and the automatic obstacle avoidance and travel device comprises four groups of obstacle avoidance and travel modules and two groups of line lasers.
3. The automatic obstacle avoidance and walking device of the contact line abrasion detection robot according to claim 2, wherein the four obstacle avoidance and walking modules are arranged in a crossed manner at two sides, and a certain distance is arranged between every two groups of modules, so that the contact line abrasion detection robot can keep stable in the obstacle avoidance process.
4. The automatic obstacle avoidance and travel device of a contact line abrasion detection robot according to claim 1, wherein the obstacle avoidance and travel module is provided with a main travel wheel and two auxiliary travel wheels, the main travel wheel is matched with the upper surface of a contact line, the auxiliary travel wheels are matched with the lower surface of the contact line, so that the contact line abrasion detection robot can be hung on the contact line, the contact line abrasion detection robot is clamped and guaranteed not to fall off, and a bearing seat of an auxiliary travel wheel shaft is a casing.
5. The automatic obstacle avoidance and travel device of the contact line wear detection robot of claim 1 wherein the stepper motor is stopped after being lifted during obstacle avoidance, the main travel wheel driven by the stepper motor stops rotating, and the stepper motor is started after the stepper motor is reset to provide power for the main travel wheel.
6. The automatic obstacle avoidance and traveling device of the contact line abrasion detection robot according to claim 1, wherein the obstacle avoidance assembly is a combined mechanism of a crank-rocker mechanism and a crank-slider mechanism, a crank-rocker mechanism is formed by a rod No. 1 (1), a rod No. 2 (2) and a rod No. 5 (5), and a slider mechanism is formed by a rod No. 2 (2), a rod No. 3 (3), a rod No. 4 (4) and a rod No. 5 (5).
7. The automatic obstacle avoidance and traveling device of the contact line wear detection robot according to claim 1, 2 or 3, wherein the line laser instrument transmits information of the detected obstacle to the central control unit, the central control unit sends instructions to the obstacle avoidance and traveling modules, and the four groups of obstacle avoidance and traveling modules execute an obstacle avoidance program according to the setting from the first group to the fourth group, so that the automatic obstacle avoidance function of the contact line wear detection robot is finally realized.
8. The automatic obstacle avoidance and traveling device of a contact line abrasion detection robot according to claim 1 or 6, wherein the crank rocker mechanism and the crank slider mechanism of the obstacle avoidance assembly can enable the main traveling wheel to be pressed to the contact line from the obliquely upper side of the contact line when the main traveling wheel is reset, so that the error of the action of hanging the contact line by resetting the main traveling wheel due to the gravity change caused by the stress change of the contact line abrasion detection robot is prevented.
9. The automatic obstacle avoidance and walking device of the contact wire abrasion detection robot according to claim 1 or 2, wherein the line laser instrument is symmetrically arranged and fixed at the front end of the machine shell, sends out a signal to scan the cross section direction of the contact wire, transmits a scanning signal to the line laser controller, processes the information and judges whether an obstacle exists or not, and then transmits the signal to the central control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111458703.5A CN116224366B (en) | 2021-12-02 | 2021-12-02 | An automatic obstacle avoidance and walking device for a contact line wear detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111458703.5A CN116224366B (en) | 2021-12-02 | 2021-12-02 | An automatic obstacle avoidance and walking device for a contact line wear detection robot |
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| Publication Number | Publication Date |
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| CN116224366A CN116224366A (en) | 2023-06-06 |
| CN116224366B true CN116224366B (en) | 2025-09-26 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110940633A (en) * | 2019-12-16 | 2020-03-31 | 哈工大机器人（合肥）国际创新研究院 | A Climbing Line Detection Robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201529352U (en) * | 2009-09-29 | 2010-07-21 | 广州飞达运动按摩器材有限公司 | Power-driven stepper |
| CN105014227A (en) * | 2015-07-27 | 2015-11-04 | 华东交通大学 | Thin-plate T-shaped joint friction-stir welding device and method assisted by lasers |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110940633A (en) * | 2019-12-16 | 2020-03-31 | 哈工大机器人（合肥）国际创新研究院 | A Climbing Line Detection Robot |
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