| Freeways are an important component of road traffic and also an important component of national infrastructure.In order to prevent highway traffic accidents,it is of great significance to conduct random inspections of vehicles driving on highways.At the same time,it is also an important task to inspect the road surface of highways in complex environments and inspect transportation equipment.The current highway inspection methods mainly include traditional manual inspection,fixed road testing,and emerging mobile robot inspection.Manual inspection is time-consuming,laborintensive,inefficient,and high-risk;Although fixed road testing reduces risk,its coverage is limited.This project aims to address the mismatch between the inspection requirements in the field of road traffic and the operational capabilities of existing highway inspection robots.Based on summarizing and summarizing the advantages and disadvantages of other mature fields and existing inspection robots in the field of road traffic,a guardrail inspection robot suitable for high-speed highway operating environments is proposed,and its performance is analyzed in detail.Firstly,this project summarizes and analyzes the current research status of inspection robots in various fields and robots applied in the field of road traffic.Combined with the unique working environment of highways,a configuration plan for inspection robots to operate on guardrails was determined,and a detailed design of the robot’s tension fit type double wheel structure was carried out.The 3D modeling software Creo was used to establish a 3D model of the inspection robot,And based on the load,structural dimensions,and other parameters of the robot,the condition of the guardrail inspection robot not falling off on track is calculated,and the boundary value of the tension spring stiffness is analyzed and obtained;Then the mechanical analysis of the robot’s obstacle crossing behavior on the guardrail is carried out.The influence of the tension spring on the robot’s obstacle crossing performance is obtained by using the Control variates and Matlab,and several groups of optimal spring stiffness values are selected;Subsequently,the dynamic simulation analysis of the guardrail inspection robot was conducted.The simulation software Adams was used to simulate the robot’s operational performance and obstacle crossing performance under different working conditions,explore the influence of selected sets of spring stiffness values on obstacle crossing performance,select the optimal solution of spring stiffness,and analyze the impact force of the robot on the corrugated beam guardrail when crossing obstacles at different speeds.Then,the finite element analysis software Ansys Workbench was used to simulate the guardrail,Analyze the deformation and stress of the guardrail under different speed impacts to determine the optimal operating speed of the robot;Finally,a prototype of the guardrail inspection robot was made,a waveform beam guardrail group was built,and an experimental environment was set up to test the robot’s operational performance and obstacle crossing performance under different guardrail sections and obstacle types.Through testing,the overall feasibility and accuracy of the project have been verified,and data support has been provided for subsequent optimization work.Through the research of this topic,a practical robot mobile platform has been provided for the inspection,inspection,and other work of highways,and a tension fitting double wheel walking obstacle crossing mechanism has been innovatively designed for the mobile platform.Enable robots to operate stably and smoothly cross obstacles on various practical guardrail sections such as obstacle free,small curvature bending,straight obstacles,hill rise and turning obstacles.At the same time,a detailed analysis was conducted on the performance of the robot mobile platform,providing technical support for achieving intelligent inspection,inspection,and inspection of highways. |
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