CN110562299A - Intelligent inspection device for invasion of railway key regional personnel - Google Patents
Intelligent inspection device for invasion of railway key regional personnel Download PDFInfo
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- CN110562299A CN110562299A CN201910866731.7A CN201910866731A CN110562299A CN 110562299 A CN110562299 A CN 110562299A CN 201910866731 A CN201910866731 A CN 201910866731A CN 110562299 A CN110562299 A CN 110562299A
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- railway
- inspection device
- driving wheel
- robot
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- 238000007689 inspection Methods 0.000 title claims abstract description 38
- 230000009545 invasion Effects 0.000 title claims description 3
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims description 8
- 239000000725 suspension Substances 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 5
- 229920002635 polyurethane Polymers 0.000 claims description 5
- 239000004814 polyurethane Substances 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010892 electric spark Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000012905 input function Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
- B61D15/12—Railway inspection trolleys power propelled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/06—Control, warning or like safety means along the route or between vehicles or trains for warning men working on the route
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Transportation (AREA)
- Alarm Systems (AREA)
Abstract
The invention discloses an intelligent inspection device for railway key regional personnel intrusion, which comprises: the sensor unit is used for detecting whether obstacle information exists on the railway track along the railway track; the camera shooting unit is used for detecting video information along the track; the PLC controller receives the signal information transmitted by the sensor unit and the video information transmitted by the camera unit, judges and outputs a control instruction for advancing or stopping the device according to the received information and signals, and receives the instruction information transmitted by the PLC controller to control an actuating mechanism for the inspection device to move. The device adopts the inspection robot to replace manual inspection, and realizes real-time display and alarm of inspection results and report generation of the inspection results. And this intelligence inspection device can detect the idle personnel along the high-speed railway, trails and reports to the police the suspicious target of discovery, plays the powerful guarantee to the public security protection along the high-speed railway.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to an intelligent inspection device for railway key region personnel intrusion.
Background
And dividing the periphery of the bridge culvert along the high-speed rail into safety areas by 15-20 meters. Even if the obvious identification mark is set, a large number of mistaken entrances intentionally enter the warning area, so that potential safety hazards are generated to different degrees. One sentry box is generally responsible for 1-2 kilometers of line protection, but because of insufficient police strength, a long-time vacancy can also occur in patrol, so that intruders cannot be found in time, and the phenomenon that potential safety hazards cannot be effectively processed is caused.
the robot can realize uninterrupted work within twenty-four hours, can replace manual work to execute tasks such as patrol inspection, environment monitoring, fault early warning, image intelligent analysis and the like under complex and dangerous environments, and can be widely applied to occasions such as railway lines, pipe galleries, tunnels, subways, airports and the like, but the patrol robot in the prior art is not accurate enough in control of a moving mechanism in the walking process, so that the defect that the robot is slow in action when turning or cannot sensitively dodge when meeting obstacles is caused.
Disclosure of Invention
according to the problems existing in the prior art, the invention discloses an intelligent inspection device for railway key regional personnel intrusion, which comprises the following specific structures:
the sensor unit is used for detecting whether obstacle information exists on the railway track along the railway track;
The camera shooting unit is used for detecting video information along the track;
A PLC controller for receiving the signal information transmitted by the sensor unit and the video information transmitted by the camera unit, wherein the PLC controller judges and outputs a control instruction for advancing or stopping the device according to the received information and signal,
The execution mechanism receives the instruction information transmitted by the PLC controller to control the inspection device to move; the actuating mechanism at least comprises a robot main board, a direct current motor is connected to the robot main board, the output end of the direct current motor is connected with a driving wheel which is used for being installed on a running track of the device to bear all gravity of the device and provide friction force required by walking, the motor connecting shaft of the driving wheel is connected with the opposite side of the driving wheel, and the top end of the opposite side of the driving wheel is fixedly connected with a top plate.
A driven wheel suspension shaft is connected to a side stop at the top of the robot main board, a driven wheel support is connected to the driven wheel suspension shaft, a driven shaft is connected to the driven wheel support, a driven wheel is connected to the driven shaft, an electric brush holder is connected to the driven wheel, and an electric brush is arranged inside the electric brush holder;
The bottom of the robot mainboard is connected with a side gear, the side gear is connected with side inverted shafts positioned on two sides of the track, and the side inverted shafts are connected with side shafts.
the outer portion of the driving wheel is provided with a driving wheel grooved wheel which is in contact with the robot track and matched with the robot track in shape, and the outer surface of the driving wheel grooved wheel is provided with polyurethane frictioning.
The device still includes motor speed regulator, industry switch, voice module and alarm, motor speed regulator and industry switch are connected with direct current motor, voice module and alarm are used for receiving PLC controller's command signal and send voice broadcast information and alarm signal.
the device also comprises a wireless communication module and a power module, wherein the wireless communication module is used for receiving data information transmitted by the PLC and transmitting the information to the remote monitoring terminal, and the power module is connected with the robot mainboard to provide stable electric energy for the device.
the camera unit shoots the railway line in a 360-degree all-around mode.
Due to the adoption of the technical scheme, the intelligent inspection device for the personnel intrusion in the key areas of the railway provided by the invention adopts the PLC to control the actuating mechanism to stably walk on the track, when the camera unit and the sensor unit of the inspection device detect that people appear on the track, the PLC monitors the motion state of the actuating mechanism, tracks the pedestrians appearing along the railway in real time, and transmits the information to the remote monitoring terminal, and meanwhile, due to the cooperation among the side gear, the side reverse shaft and the side shaft, the device can be ensured to stably advance on the set special track. The intelligent inspection device adopts the inspection robot to replace manual inspection, and realizes real-time display and alarm of inspection results and report generation of the inspection results. And this intelligence inspection device can detect the idle personnel along the line of high-speed railway, tracks to the suspicious target of discovery and shouting to report to the police and drive away, can real-timely scene picture of watching at the management and control center of public security bureau simultaneously, plays the strong guarantee to the public security protection along the line of high-speed railway.
Drawings
in order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of the intelligent inspection device of the present invention;
FIG. 2 is a schematic diagram of the intelligent inspection device of the present invention;
FIG. 3 is a flow chart of the operation of the intelligent inspection device of the present invention;
FIG. 4 is a schematic view of the structure of an electric control part of the device of the present invention;
FIG. 5 is a schematic view of the structure of the driving wheel in the device of the present invention;
FIG. 6 is a schematic view of the driven wheel of the apparatus of the present invention;
1. A direct current motor 2, a motor speed regulator; 3. a power supply module; 4. a driving wheel 5 and an industrial exchanger; 6. a PLC controller; 7. a voice module; 9. scraping polyurethane glue; 10. a sensor unit; 11. the electric brush 12, the electric brush holder 13, the robot main board 16 and the top board; 17. the system comprises a driving wheel opposite side 18, an inspection robot track 19, driving wheel sheaves 20, an actuating mechanism 33 and a camera unit; 21. the side shaft, 22, side gear, 23, side reverse shaft, 24, side gear change, 25 and second side gear change; 39. an alarm; 40. a wireless communication module; 43. driven wheel support, 44, driven shaft, 45 driven wheel, 46, driven wheel suspension shaft.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:
As shown in fig. 1 and 2, the intelligent routing inspection device for railway key regional personnel intrusion specifically comprises: a sensor unit 10, an image pickup unit 33, a PLC controller 6, and an actuator 20. The sensor unit 10 is used for detecting signal information of pedestrians or other obstacles near a track specially arranged along the railway track, the camera unit 33 is used for detecting video information along the railway track, the camera unit 33 and the sensor unit 10 transmit the detected information to the PLC 6 in real time, and the PLC 6 judges and outputs a control instruction for advancing or stopping the device according to the received information and signals, namely, controls the device to stop or continue moving.
as shown in fig. 3 and 4, the track specially arranged on the track along the line is formed by connecting two iron pipes together through a middle vertical plate, and every three vertical plates are fixed on the fence, so that the track is laid along the fence, and the robot runs left and right along the fence on the track. The PLC controller 6 can be a Siemens S7-1200 series controller, and the PLC has the characteristics of compact structure, strong function, strong expandability, stable performance and the like. The power part of the actuating mechanism 20 adopts a 86-type high-power stepping motor for driving and walking, and the motor has the advantages of adjustable speed, stable operation, large torque, long service life and the like. The PLC adjusts the speed of the brushless controller through PWM. The camera unit 33 may be a starlight-level camera of DS-2DY3320IW-D4 of seacon, which transmits signals in an ethernet manner, and the method is characterized in that the interference of external signals is avoided during transmission, and the sharpness of the image can be optimized. The 360-degree tripod head can cover the on-site environment without dead angles, 300 ten thousand pixels and the maximum resolution of 2048 x 1536 can clearly see the acquisition of the human face at a distance of dozens of meters, and a powerful condition is provided for distinguishing suspect persons. The star-level camera can still clearly see scene illumination under the condition of no light illumination at night.
As shown in fig. 5 and fig. 6, wherein the actuating mechanism 20 of this device is an important research and development part of this application, in order to ensure that the intelligent inspection device can stably move forward without falling on the track specially arranged on the track edge line, the robot main board 13, the driving wheel 4, the driven wheel 45 and the matched structure in the actuating mechanism 20 in this application adopt special designs, and the concrete structure is: the executing mechanism 20 at least comprises a robot main board 13, the robot main board 13 is connected with a direct current motor 1, the output end of the direct current motor 1 is connected with a driving wheel 4 which is used for being installed on a running track of the device to bear all gravity of the device and provide friction force required by walking, a driving wheel opposite side 17 is connected to a motor connecting shaft of the driving wheel 4, and a top plate 16 is fixedly connected to the top end of the driving wheel opposite side 17. A driven wheel suspension shaft 46 is connected to a side stop at the top of the robot main board 13, a driven wheel support 43 is connected to the driven wheel suspension shaft 46, a driven shaft 44 is connected to the driven wheel support 43, a driven wheel 45 is connected to the driven shaft 44, a brush holder 12 is connected to the driven wheel 45, and a brush 11 is arranged inside the brush holder 12. In the working state, the track is electrified, and the driven shaft 44 is in contact with the driven wheel 45 to conduct current, but the bearing is easy to damage in this way, so that the service life of the bearing is shortened; in the device, the electric brush 11 is used for conducting electricity by rubbing with the driven shaft 44, and the current is conducted through the driven shaft 44 instead of through the bearing. As the negative pole of the robot power supply system is used for taking power through the driven wheel 45, the robot can reduce electric sparks in the moving process, the driven wheel 45 rotates rapidly in the moving process, current needs to be transmitted to the driven shaft 44 through the driven wheel 45, the driven wheel 45 is in contact with the driven shaft 44 through a bearing, the bearing is not suitable for serving as a conductor, therefore, the driven wheel 45 and the driven shaft 44 conduct electricity through the electric brush 11, the driven wheel 45 is provided with an electric brush holder, the electric brush 11 is arranged on the inner side of the holder and the electric brush 11 is in contact with the driven shaft, and further, the current does not pass through the bearing. The bottom of the robot main board 13 is connected with a side stop 22, the side stop 22 is connected with side inverted shafts 23 positioned at two sides of the track, and the side inverted shafts 23 are connected with side shafts 21. Therefore, the device can be ensured to stably run on the track, and the phenomena of slipping and derailing can not occur.
A driving wheel grooved wheel 19 which is in contact with the robot track and is matched with the robot track in shape is arranged outside the driving wheel 4, and polyurethane frictioning 9 is arranged on the outer surface of the driving wheel grooved wheel 19. The polyurethane frictioning 9 is used to increase the friction.
the device still includes motor speed regulator 2, industry switch 5, voice module 7 and alarm 39, motor speed regulator 2 and industry switch 5 are connected with direct current motor 1, voice module 7 and alarm 39 are used for receiving PLC controller 6's command signal and send voice broadcast information and alarm signal.
The device also comprises a wireless communication module 40 and a power supply module 3, wherein the wireless communication module 40 is used for receiving data information transmitted by the PLC 6 and transmitting the information to a remote monitoring terminal, and the power supply module 3 is connected with the robot mainboard 13 to provide stable electric energy for the device. Further, the power module 3 can use a safe dc 48V voltage, which is realized by using a 1500w dc regulated switching power supply. The power supply has AC and DC compatible input function and wide input voltage range; by adopting advanced switching power supply control technology and components and careful design, the whole machine has small volume, light weight and high efficiency, and ensures stable and reliable full-load operation for a long time. A temperature control fan for automatic protection of overheat; output over-voltage, over-current and short-circuit protection; and the startup delay soft start avoids the overshoot of the startup output voltage. The 48V direct current voltage supplies power to the robot through a trolley line above the track.
Preferably, the voice module 7 is arranged on the robot mainboard 13, and the module has the outstanding characteristics of supporting 7-30V wide voltage power supply, being externally connected with the SPI FLASH, being connected with a computer through a USB wire, directly loading voice without a downloader and upper computer software, being capable of realizing voice more distant by a terminal user, and being simple and convenient to operate. The alarm 39 with high brightness above the equipment can be an LED warning lamp which has two colors of red and blue, and the two colors are alternately displayed during power supply to play a role in warning. When triggering the alarm, the voice module 7 starts to send out alarm voice, and the two sound boxes on the robot send out sound to match with the burst flash of the alarm lamp to drive away suspicious personnel on site.
Preferably, the wireless communication module 40 may select an 802.11a wireless bridge in the current 5.8GHz band, where the wireless bridge is a store-and-forward device that implements Lan interconnection at a link layer, and may be used for long-distance high-speed wireless networking between a fixed digital device and other fixed digital devices. The multi-base station roaming function of the bridge is used for realizing breakpoint-free transmission for complicated terrain conditions.
The invention discloses an intelligent inspection device for railway key region personnel intrusion, which can adopt an inspection robot to replace manual inspection, and realize real-time display and alarm of inspection results and report generation of the inspection results. The project can detect idle personnel along the high-speed rail, can track the found suspicious target and shout, alarm and drive away, can watch the scene pictures in real time at the management and control center of a public security bureau, and plays a powerful guarantee for the public security protection along the high-speed rail. The existing products in the market do not have robot products which can accurately identify pedestrians, automobiles, animals and the like by using a vision technology in the driving process.
the above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (5)
1. The utility model provides a regional personnel invasion intelligence inspection device of railway key which characterized in that includes: a sensor unit (10) for detecting whether there is obstacle information along the railway track;
A camera unit (33) for detecting video information along the track;
a PLC (6) for receiving the signal information transmitted by the sensor unit (10) and the video information transmitted by the camera unit (33), wherein the PLC (6) judges and outputs a control instruction for advancing or stopping the device according to the received information and signal,
the execution mechanism (20) receives the instruction information transmitted by the PLC (6) and controls the inspection device to move; the executing mechanism (20) at least comprises a robot main board (13), a direct current motor (1) is connected to the robot main board (13), the output end of the direct current motor (1) is connected with a driving wheel (4) which is arranged on a running track of the device, bears all gravity of the device and provides friction force required by walking, a driving wheel opposite side (17) is connected to a motor connecting shaft of the driving wheel (4), and a top plate (16) is fixedly connected to the top end of the driving wheel opposite side (17);
A driven wheel suspension shaft (46) is connected to a side stop at the top of the robot main board (13), a driven wheel support (43) is connected to the driven wheel suspension shaft (46), a driven shaft (44) is connected to the driven wheel support (43), a driven wheel (45) is connected to the driven shaft (44), an electric brush holder (12) is connected to the driven wheel (45), and an electric brush (11) is arranged inside the electric brush holder (12);
The bottom of the robot main board (13) is connected with a side stop (22), the side stop (22) is connected with side inverted shafts (23) located on two sides of the track, and the side inverted shafts (23) are connected with side shafts (21).
2. The intelligent railway key region personnel intrusion inspection device according to claim 1, further characterized in that: the outer portion of the driving wheel (4) is provided with a driving wheel grooved wheel (19) which is in contact with the robot track and matched with the robot track in shape, and the outer surface of the driving wheel grooved wheel (19) is provided with a polyurethane frictioning (9).
3. The intelligent railway key region personnel intrusion inspection device according to claim 1, further characterized in that: the device still includes motor speed regulator (2), industry switch (5), voice module (7) and alarm (39), motor speed regulator (2) and industry switch (5) are connected with direct current motor (1), voice module (7) and alarm (39) are used for receiving the instruction signal of PLC controller and send voice broadcast information and alarm signal.
4. The intelligent railway key region personnel intrusion inspection device according to claim 1, further characterized in that: the device also comprises a wireless communication module (40) and a power supply module (3), wherein the wireless communication module (40) is used for receiving data information transmitted by the PLC (6) and transmitting the information to a remote monitoring terminal, and the power supply module (3) is connected with the robot main board (13) to provide stable electric energy for the device.
5. The intelligent railway key region personnel intrusion inspection device according to claim 1, further characterized in that: the shooting unit (33) shoots the whole range of 360 degrees along the railway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910866731.7A CN110562299A (en) | 2019-09-12 | 2019-09-12 | Intelligent inspection device for invasion of railway key regional personnel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910866731.7A CN110562299A (en) | 2019-09-12 | 2019-09-12 | Intelligent inspection device for invasion of railway key regional personnel |
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| Publication Number | Publication Date |
|---|---|
| CN110562299A true CN110562299A (en) | 2019-12-13 |
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| CN201910866731.7A Pending CN110562299A (en) | 2019-09-12 | 2019-09-12 | Intelligent inspection device for invasion of railway key regional personnel |
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| CN (1) | CN110562299A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111814761A (en) * | 2020-08-24 | 2020-10-23 | 国网湖南省电力有限公司 | Intelligent safety monitoring method for energy storage power station |
| CN111935451A (en) * | 2020-07-16 | 2020-11-13 | 中国铁道科学研究院集团有限公司电子计算技术研究所 | Railway safety monitoring device |
| CN113715041A (en) * | 2021-09-16 | 2021-11-30 | 济南祥控自动化设备有限公司 | Autonomous sampling system and method for train carriage of centralized transportation station |
| CN116001853A (en) * | 2022-12-30 | 2023-04-25 | 中国铁路成都局集团有限公司六盘水工电段 | Railway line inspection system |
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Application publication date: 20191213 |