According to the self-propelled equipment for train detection and the obstacle avoidance method thereof, at most one driving motor and at least three telescopic motors are adopted for driving and controlling three pairs of wheel sets to pass through an obstacle at a rail web, and meanwhile, based on two times of obstacle detection, a trolley can recognize the obstacle and avoid the obstacle more accurately and rapidly. Besides, the self-walking trolley with at least three pairs of wheel sets is adopted, at least two of the wheel sets control transmission switching through a clutch, so that only one pair of wheel sets of the trolley serve as driving wheels at the same moment, the trolley can be positioned and walk through the space at the rail web, the vehicle limit is not occupied, normal running of the train is not affected, and train detection during running of the train is achieved. And furthermore, through the design of a groove, a linear guide rail, a rotating module and the like, the part scanning camera can carry out mobile image acquisition work, a larger acquisition range is obtained, the adaptability to a narrow space is higher, and the practicability is effectively improved.

    本发明公开一种用于列车检测的自走设备及其避障方法,采用最多一个驱动电机和最少3个伸缩电机作为驱动,控制3对轮组通过轨腰处障碍物,同时基于两次障碍物检测,使得小车对于障碍物的识别以及避障更加精准、快捷。此外,采用最少3对轮组的自行走小车,其中至少两组通过离合器控制传动切换使小车在同一时刻只有1对轮组为驱动轮,使得小车可以利用轨腰处空间定位、行走,不侵占车辆限界,不影响列车正常运行,实现列车运行时的列车检测。并进一步通过凹槽、直线导轨、旋转模组等设计,使得部件扫查相机可以进行移动图像采集工作,获得更大的采集范围,对于狭小空间又更强的适应性,实用性得到有效提升。


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    Title :

    Self-propelled equipment for train detection and obstacle avoidance method thereof


    Additional title:

    一种用于列车检测的自走设备及其避障方法


    Contributors:
    ZHAO BO (author) / ZHANG YU (author) / ZHANG YONGCHENG (author) / LU RUI (author) / PENG JIANPING (author) / HUANG WEI (author) / ZHANG XIANG (author) / HU JIDONG (author) / NI XIAOXIA (author) / ZHAO PENGYU (author)

    Publication date :

    2023-11-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B61D Einzelheiten oder Arten des Wagenaufbaus von Eisenbahnfahrzeugen , BODY DETAILS OR KINDS OF RAILWAY VEHICLES / B61F Untergestelle für Schienenfahrzeuge, z.B. Fahrgestellrahmen, Drehgestelle oder Anordnungen der Radsätze , RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES / F16M Rahmen, Gehäuse oder Grundplatten von Kraftmaschinen oder anderen Maschinen oder von Apparaten, nicht auf eine besondere Art von Maschine oder Apparat eingeschränkt, die anderweitig vorgesehen ist , FRAMES, CASINGS, OR BEDS, OF ENGINES OR OTHER MACHINES OR APPARATUS, NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE / G01S RADIO DIRECTION-FINDING , Funkpeilung



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